This repository contains the code for the Course ENPM663 - Building a Manufacturing Robotic Software System The course will focus on the development of a simulation-based control system that will address challenges presented in the Agile Robotics for Industrial Automation Competition(ARIAC)
- Sanchit Kedia (UID: 119159620)
- Adarsh Malapaka (UID: 118119625)
- Tanmay Haldankar (UID: 119175460)
- Sahruday Patti (UID: 118218366)
- Kshitij Karnawat (UID: 119188651)
- ROS2(Galactic)
- ARIAC 2023 Workspace
- Ubuntu 20.04 LTS
- OpenCV: Requires both Python and C++ versions. C++ version can be installed from link. You will also need opencv-contrib for the ArucoDetector functionality.
- cv_bridge: Can be installed using -
sudo apt-get install ros-galactic-cv-bridge
source /opt/ros/galactic/setup.bash
source <Your workspace>/install/setup.bash
cd <Your ROS2 workspace src folder>
git clone https://github.com/Sanchitkedia/ARIAC_2023.git group3
cd ..
rosdep update --include-eol-distros
rosdep install --from-paths src -y --ignore-src
colcon build --packages-select group3source /opt/ros/galactic/setup.bash
source <Your workspace>/install/setup.bash
# For RWA3
ros2 launch ariac_gazebo ariac.launch.py trial_name:=rwa3 competitor_pkg:=group3 sensor_config:=group3_sensors
# For RWA4
ros2 launch ariac_gazebo ariac.launch.py trial_name:=rwa4 competitor_pkg:=group3 sensor_config:=group3_sensors
# Launch the group3 node
ros2 launch group3 group3.launch.pyNote: If your computer has OpenCV 4.7.0 installed, you might run into issues with cv::ArucoDetector which is meant for older versions of OpenCV like 4.2.0. In such a case, uncomment lines 23-24 and comment out 27-30 in tray_id_detect.cpp and rerun the demo.
.
├─ CMakeLists.txt
├─ LICENSE.md
├─ README.md
├─ config
│ └─ group3_sensors.yaml # Sensor YAML file for RWA3/RWA4
├─ document
│ ├─ Activity_Diagram_v1.jpg # Activity Diagram for RWA2
│ ├─ Activity_Diagram_v2.jpg # Activity Diagram for RWA3/4
│ ├─ Class_Diagram_v1.jpg # Class Diagram for RWA2
│ └─ Class_Diagram_v2.jpg # Class Diagram for RWA3/4
├─ etc
│ ├─ instructions.txt # Instructions to run the package for RWA3/4
│ ├─ rwa3.yaml
│ └─ rwa4.yaml
├─ group3
│ └─ __init__.py
├─ include
│ └─ group3
│ ├─ ariac_competition.hpp
│ ├─ map_poses.hpp
│ ├─ part_type_detect.hpp
│ └─ tray_id_detect.hpp
├─ launch
│ └─ group3.launch.py # Launch file for RWA3/4
├─ msg
│ ├─ Part.msg # Message for Type Part
│ └─ Parts.msg # Message for Type Parts
├─ nodes
│ ├─ .placeholder
│ └─ part_detector.py # To detect the Part using OpenCV
├─ package.xml
├─ rviz
│ └─ ariac.rviz
└─ src
├─ ariac_competition.cpp
├─ map_poses.cpp
├─ part_type_detect.cpp
└─ tray_id_detect.cpp # To detect the Tray ID using OpenCV
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