IntroRoboticProject

Repository for the final project of the course "Fundament of Robotic 2023/2024".

Team members: Carlotta Cazzolli, Riccardo Randon, Martina Panini.

Functionality

The project involves the simulation of an ur5 manipulator equipped with a ZED camera for perception. The goal is to identify objects on the table, grab them with the gripper of the manipulator and move them according to their class.

Prerequisites

Before you begin, ensure you have Eigen lib installed:

sudo apt install libeigen3-dev

Setup the Workspace

Clone the Repository

git clone https://github.com/rikirandon/roboticProject.git
cd roboticProject

Setup the world

• In roboticProject/world folder bring the "blocks.world" file into the ros_ws/install/share/ros_impedance_controller/worlds folder.
• Then bring roboticProject/model/X1-Y2-Z2 into ros_ws/install/share/ros_impedance_controller/worlds/model.
• In ros_ws/src/locosim/robot_control/base_controllers/ur5_generic.py change at line 71 :

self.world_name = 'blocks.world'

• in ros_ws/src/locosim/robot_control/base_controllers/params.py at line 32 set True the variable:

'gripper_sim': True,

Build the Catkin Workspace

catkin_make
nano ~/.bashrc

Add the path at the and of the file setup.bash.

source $HOME/roboticProject/devel/setup.bash

Then execute.

source ~/.bashrc

Run the Code

We need to run 3 different programs in 3 different terminal:

• The ur5_generic in ros_ws/src/locosim/robot_control/base_controllers/

python3 ur5_generic.py

• The vision node in roboticProject/src/package/src/vision/

python3 vision.py

• The motion_planner node

  rosrun package motion_planner
  

Directory Structure

Directories

├── world
│    └── blocks.world
├── model
│   └── X1-Y2-Z2
├── build
├── devel
├── presentation
│   ├── report_robotics.pdf
│   └── Vroboticproject.mp4
├── src
│   └── package
│       ├── include
│       │   └── package
│       │       ├── jointStatePublisher.h
│       │       └── ur5Object.h
│       ├── src
│       │   ├── motion_planning
│       │   │   ├── jointStatePublisher.cpp
│       │   │   ├── motion_planner.cpp
│       │   │   └── ur5Object.cpp
│       │   ├── tests
│       │   │   ├── testJointStatePublisher.cpp
│       │   │   ├── test_node.cpp
│       │   │   ├── testObject.cpp
│       │   │   └── testUr5Movement.cpp
│       │   └── vision
│       │       └── vision.py
│       └── srv
│           └── coordinates.srv
└── README.md