eYRC Cosmo Logistic Theme 2023-24

Packages

This repository contains ten packages:

1. aws-robomaker-small-warehouse-world: Contains warehouse rack and package models

2. ebot_description: Contains mobile robot (ebot) description model

3. ebot_docking: Contains script for the ebot to perform docking operation

4. ebot_nav2: Contains configurations and paramters for autonomous navigation

5. eyantra_warehouse: Contains warehouse world model

6. linkattacher_msgs: Contains services for gripper

7. pymoveit2: Contains the package to perform arm manupulation

8. realsense_gazebo_plugin: Contains package for the Intel D435 realsense camera.

9. ur5_moveit: Contains ur5 settings for moveit2

10. ur_description: Contains description files and meshes for Universal Robots manipulators

To launch virtual environment, use this command

ros2 launch ebot_description ebot_gazebo_launch.py

This should open gazebo application having mobile robot (named as ebot) spawned inside a warehouse.

To run the project

1. First launch the environment using

ros2 launch eyantra_warehouse task4c.launch.py

2. Next to enable controller for the ur5 arm run

ros2 service call /servo_node/start_servo std_srvs/srv/Trigger {}

followed by

ros2 launch ur5_moveit spawn_ur5.launch.py

ros2 launch ur5_moveit spawn_ur5_launch_moveit.launch.py

4. Next enable navigation for the ebot using

ros2 launch ebot_nav2 ebot_bringup_launch.py

6. Run the following scripts

ros2 run ebot_docking dock_task4c.py

ros2 run ebot_nav2 nav_task4c.py

ros2 run pymoveit2 arm_task4c.py

ros2 run ur_description aruco_task4c.py

References

Linkattacher package: https://github.com/IFRA-Cranfield/IFRA_LinkAttacher
Pymoveit2 package link https://github.com/AndrejOrsula/pymoveit2
Implementation link https://youtu.be/AVPO8WxkYn8?feature=shared
Theme book: https://architjain19.github.io/eYRC-CosmoLogistics-ThemeBook/welcome.html