Fundamentals of Robotics Project

Matteo Grisenti - Angelo Nutu - Mattia Barborini - Filippo Adami

Requirements

In order to be able to run the project, it's required to follow the locosim procedure up until the locosim repository and catkin setup

How to run

After setting up locosim move into the workspace folder and clone the repo:

cd ~/ros_ws/src
git clone [email protected]:barbomattia/Robotica.git

Following this step, we should generate a new simulation world, following these steps very closely (the paths are important!):

0. open the docker or VM
1. move to the appropriate path

cd ~/ros_ws/src 

2. run

python3 Robotica/vision_planner/src/generate_world.py

3. open locosim/ros_impendance_controller_ur5.launch and modify line 12 to <arg name="world_name default="bricks.world"/>
4. in locosim/robot_controller/base_controllers/ur5_generic.py comment lines 71-72-73 relating the world name and add

self.world_name = 'bricks.world'

5. modify ~/.bashrc by adding at the eof export GAZEBO_MODEL_PATH=/home/{USER}/ros_ws/src/Robotica/vision_planner/worlds/models:$GAZEBO_MODEL_PATH
6. run

source ~/.bashrc
rm ~/ros_ws/install
cd ~/ros_ws
catkin_make install

And you should be able to find a new world with randomly placed blocks.

Then, since our code provides a default homing procedure that moves each joint singularly to make sure no collision with the table occurs, you should comment line 271 in ~/ros_ws/src/locosim/robot_control/base_controllers/ur5_generic.py:

#p.homing_procedure(conf.robot_params[p.robot_name]['dt'], v_des, conf.robot_params[p.robot_name]['q_0'], rate)

Finally, open 3 other terminals and run:

rosrun motion_planner inverse_kinematic_node 

rosrun vision_planner main.py

rosrun task_planner state_machine_task_node 

python3 -i ~/ros_ws/src/locosim/robot_controller/base_controllers/ur5_generic.py

Documentation

To access the documentation you need to follow the path below to access the html folder and then open the index.html file in your browser:

cd ~/ros_ws/src/Robotica/docs/html/

Read the full report - Watch the demo