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Author SHA1 Message Date
Derek Witcpalek
ba6901d32a Modified arm controller node to handle all arm control. It receives desired end effector poses and actuates the arm. Also includes some clean up. 2020-04-15 15:52:49 -04:00
Sravan Balaji
aa19a69917 Rename Folder, Remove Submodules, & GEAR Container 
- Update gitignore to ignore build, devel, and install folders in rrrobot_ws
- Remove git submodules
- Rename rrrobot_src to rrrobot_ws indicating that this is a catkin workspace
- Create GEAR docker container
- Move GEAR specific documentation to its own page
- Add link to overleaf report on home page
- Add tips & tricks section to home page
 2020-04-13 00:59:15 -04:00
Sravan Balaji
432b0b7e3d Add GEAR Source Submodules 
- Add submodule for ariac and gazebo packages
 2020-04-12 15:30:41 -04:00
Sravan Balaji
75f0d553fe Remove Submodule & Fix Dockerfile 
- Remove gazebo source submodule
- Fix dockerfile to use sudo to install ariac3 package
- Remove instructions related to submodule
- Remove sourcing setup.bash in workspace from instructions
 2020-04-12 14:45:24 -04:00
Derek Witcpalek
ef26d8ffef Working arm movement to specific pose (x,y,z,roll,pitch,yaw). There are a lot of other changes too. 
-Removed gravity (temporary, I hope). I was struggling to get inverse dynamics working correctly to provide a torque to compensate for gravity. Eventually, I think we want to have a PID, plus gravity compensation.
  -Created a demo world with setpoints that the robot heads to.
  -Arm kinematic representation is working.
  -PID control of each joint is working to a basic extent. Some segments are more responsive than others.

Still to do:
  -reading in SDF should be more robust, and should support all joint types
  -better control
  -obstacle avoidance in arm movement path
  -control with gravity
  -arm joint limits, and shortest path to angle (ie considers that theta wraps at 2 pi
 2020-04-12 14:18:01 -04:00
Sravan Balaji
705f7ac662 Merge branch 'master' into warehouse 
- Move warehouse & gazebo sim instructions from README to home.md
 2020-04-12 11:54:29 -04:00
Sravan Balaji
60bc79aea5 Warehouse Documentation & Docker 
- Add instructions for running warehouse simulation to README
- Create new warehouse docker service based on gazebo service
- Add new warehouse Dockerfile with commands for installing GEAR
 2020-04-12 11:51:52 -04:00
Sravan Balaji
30f39c7fdd Update gitignore 
Ignore all build, devel, and install folders in rrrobot_src
 2020-04-12 10:55:03 -04:00
Sravan Balaji
a6374ff9b9 Warehouse Catkin Workspace 
- Add CMakeLists.txt for warehouse catkin workspace
 2020-04-12 10:40:58 -04:00
Sravan Balaji
5319a1d252 ARIAC GEAR Simulation Environment 
- Add submodule for ariac Gazebo ROS Packages
 2020-04-12 10:38:41 -04:00
Sravan Balaji
030e354474 Set theme jekyll-theme-cayman 2020-04-11 09:12:24 -04:00
Sravan Balaji
011975cbbe GitHub Pages Setup 
- Rename Documents folder to docs
- Add _config.yml to define GitHub pages jekyll theme
- Move README to homepage of website
- Add new README with link to project website
- Fix links to documents in website
 2020-04-11 09:09:16 -04:00
Derek Witcpalek
24ae0bd01d Added inverse kinematics and inverse dynamics calculations for the arm. The controller makes a feeble attempt at reaching target locations. 2020-04-09 20:03:19 -04:00
Derek Witcpalek
653a19e4b0 Added stronger test case to verify that all transformations work 2020-04-09 17:24:50 -04:00
Derek Witcpalek
6acb7158a0 Working kinematic representation. One caveat: there is no link representation between the world frame and the robot base frame. Sometimes when the simulation starts, the arm slides slightly off of (0, 0, 0) which causes joint positions to be slightly off (by the same amount). 2020-04-09 17:05:06 -04:00
Derek Witcpalek
496a7351c2 Some cleanup 2020-04-09 11:50:23 -04:00
Derek Witcpalek
007a5aca1a Added forward kinematics calls into Arm class 2020-04-09 11:02:13 -04:00
Derek Witcpalek
6a73cd2371 Forward kinematics verification is mostly working for individual joints. The axis of rotation is correct for all joints, but some cause incorrect amounts of motion. Specifically, moving the wrist_pivot joint causes a circular motion of the end effector, when (I believe) it should cause no movement, just rotation, of the end effector. 2020-04-08 23:06:53 -04:00
Derek Witcpalek
8e25bb09a3 Implemented initial dynamics model which is read in from an sdf file. There are currently some issues with coordinate transforms. 2020-04-07 22:45:22 -04:00
Derek Witcpalek
6f5b2f6142 Fixed build script to only continue if it was successful 2020-04-07 22:39:33 -04:00
Derek Witcpalek
9618d6885e Removed some unnecessary levels of directories 2020-04-06 00:09:03 -04:00
Sravan Balaji
5d891787e1 README Fix & build.sh unix newlines 
- Fix instructions in README for building and running simulation environment
- Convert build.sh from dos to unix format and add shebang
 2020-04-05 15:38:19 -04:00
Sravan Balaji
faf12547ca Docker-Compose -> Docker_Env Folder 
- Move docker-compose back to docker_env folder
- Update relative paths to Dockerfiles and volume mounts
 2020-04-05 15:37:13 -04:00
Sravan Balaji
45f241fc95 Remove Symbolic CMake Link 
- Copy /opt/ros/melodic/share/catkin/cmake/toplevel.cmake instead of using a symbolic link

Ran into issue with symbolic link and docker toolbox, so just copied the
file that was being linked to.
 2020-04-05 15:33:28 -04:00
Derek Witcpalek
64bd1690bb Updated network settings to allow roscore to run 2020-04-05 15:14:14 -04:00
Derek Witcpalek
be2db72832 Added missing include folder 2020-04-05 14:44:47 -04:00
Derek Witcpalek
4f4a07e4f9 Fixed volumes in docker-compose.yml for gazebo Dockerfile 2020-04-05 13:51:44 -04:00
Derek Witcpalek
8824e33936 Added motor control to the simulation, and a test program to verify that it is working as expected 2020-04-04 18:29:38 -04:00
Derek Witcpalek
93ebfef825 Added picture naming the joints and links used in the model description (model.sdf) 2020-04-03 22:43:46 -04:00
Derek Witcpalek
9050681d95 Clean up & commenting 2020-04-03 22:42:55 -04:00
Derek Witcpalek
dac62c69d5 Updated README with instructions for running the simulation. Also, moved build commands to a script to make it easier to build. 2020-04-03 21:43:04 -04:00
Derek Witcpalek
a881191bc6 Added a joint position publisher. It currently publishes all joint angles for the robotic arm, but could be adapted to a different model 2020-04-03 20:57:47 -04:00
Derek Witcpalek
4e30756b75 Added a basic plugin to read one arm joint's angle and publish that over ROS 2020-04-03 16:52:26 -04:00
Derek Witcpalek
bf55093420 Splits project into a docker environment folder and source code folder (for development). This change is mostly just renaming and moving files, but there are some changes to the gazebo Dockerfile to include all dependencies required for final development. 2020-04-03 16:50:47 -04:00
Derek Witcpalek
13d2ea9883 Added a basic functional version of a robotic arm that can be used in gazebo. 2020-04-02 17:34:59 -04:00
Derek Witcpalek
927be9269d Added scripts for running gui applications in docker on ubuntu. 2020-03-25 19:07:49 -04:00
Sravan Balaji
fd2039e610 File Comments & ROS Development Container 
- Add comments to files explaining what the file is
- Add ros-dev container for development
 2020-03-25 12:12:09 -04:00
Sravan Balaji
e4c6c7470b README Restructure 
- Add table of contents
- Make "Running Containers" a sub-section of "Development Guide"
- Add description of all docker compose services
- Add section for "GUI Support" and explain how to resolve OpenGL issue in WSL
 2020-03-25 12:10:37 -04:00
Sravan Balaji
4300de9346 config.xlaunch OpenGL Fix 
- Disable native OpenGL option since it was causing errors when trying to open Gazebo GUI
 2020-03-25 10:39:43 -04:00
Sravan Balaji
15b40071aa README Updates 
- Add course staff to list of contributors
- Make filepath links consistent (no leading ./)
- Remove CAD model links (moved to google doc)
- Add section with instructions on running containers
 2020-03-22 21:20:27 -04:00
Sravan Balaji
718a3e070e Docker-Compose Comments and Variable 
- Add comments to docker-compose.yml
- Add ros-turtlesim service
- Use IP_ADDRESS environment variable in docker-compose.yml
- Add .env to specify IP_ADDRESS environment variable
 2020-03-22 21:19:17 -04:00
Sravan Balaji
ca33adc3c0 ROS Turtlesim Container 
- Add Dockerfile for running turtlesim
- Add turtlesim.sh to run ros commands inside container
 2020-03-22 21:18:00 -04:00
Sravan Balaji
1d5406423d ROS Dockerfile Install Dependencies 
- Use ros:melodic instead of ros:melodic-ros-core
- update packages and install build-essential for ROS container
 2020-03-22 21:16:59 -04:00
Sravan Balaji
b7c50253db config.xlaunch 
- Add config.xlaunch to repo for easy XLaunch start
 2020-03-22 21:15:02 -04:00
Sravan Balaji
c9eae80028 CAD Model Formatting 
- Put CAD links in bullet list
 2020-03-22 19:33:29 -04:00
Sravan Balaji
1162a95702 Merge branch 'master' into docker 
- Put CAD model links under "CAD Models of Items for Simulation" header
 2020-03-22 19:32:56 -04:00
chenxgu
72e3f30c8c Update README.md 2020-03-22 19:28:14 -04:00
Sravan Balaji
bfa43a8168 Getting Started w/ Docker Containers 
- Add docker block post to README
- Add docker-compose.yml with ros and gazebo services
- Add Dockerfile for ros and gazebo using official images
 2020-03-18 15:00:06 -04:00
Sravan Balaji
d5d8fa1023 Poster & Proposal 
- Add team info, document links, and introduction to README
- Add project poster to repo
- Add project proposal to repo
 2020-02-22 17:31:56 -05:00
Sravan Balaji
4dd1651b56 Initial commit 2020-02-22 17:21:46 -05:00