ENPM809B: Building a Manufacturing Robot Software System: RWA-5

This is README to run the ROS package created for RWA5.

Package Name: group7_rwa5

• This package builts an entire kit for the RWA5.
• It builds a whole kit based on the order.
• It has the abilty to detect faulty parts and replace them.
• It also checks for the updates to an order.
• It takes smart decisions between modifying the current kit or building a whole new kit if that order is updated.
• The robotic arms help each other if one of them is not able to reach a part while building a kit.

Minimum System Requirements

• ROS Melodic
• Gazebo >= 9.6.0
• Ariac 2019
• Ubuntu Desktop 18.04 Bionic (64-bit)
• moveit
• gazebo_ros_pkgs

gazebo_ros_pkgs

gazebo_ros_pkgs package should be available in the workspace to run group7_rwa5. Use the following command to clone the package and get it working

cd ~/catkin_ws/src

git clone https://github.com/osrf/ariac-gazebo_ros_pkgs -b ariac-network-melodic

cd ~/catkin_ws

catkin_make --only-pkg-with-deps gazebo_ros_pkgs

Read more at https://bitbucket.org/osrf/ariac/wiki/2019/tutorials/installation

moveit_visual_tools

You should also have moveit_visual_tools installed if not installed previously. moveit_visual_tools is not installed by default using installation instructions on ariac 2019 website. Use the below command to install moveit_visual_tools for ros-melodic

sudo apt-get install ros-melodic-moveit-visual-tools

Before you run the package, you need to build it. Here's how

1. Create and build a catkin workspace

   mkdir -p ~/catkin_ws/src

   cd ~/catkin_ws/

2. Extract the package to ~/catkin_ws/src/ as below

   ~/catkin_ws/src/group7_rwa5

3. Source the setup.bash to add environment variables to your path to allow ROS to function

   source /opt/ros/melodic/setup.bash source ~/catkin_ws/devel/setup.bash

4. Build your catkin workspace

   cd ~/catkin_ws

   catkin_make

   You can alternatively use following command to build only group7_rwa5 package.

   catkin_make --only-pkg-with-deps group7_rwa5

Note: Always call catkin_make in the root of your catkin workspace.

How to Execute the package

To run the environment and the node, follow the instructions below. Ensure that you are inside your workspace directory

In terminal 1:

cd ~/catkin_ws
source devel/setup.bash
roslaunch group7_rwa5 group7_rwa5.launch

In terminal 2 (to use moveit interface for arm1):

cd ~/catkin_ws
source install/setup.bash
roslaunch ur10_moveit_config move_group.launch arm_namespace:=/ariac/arm1

In terminal 3 (to use moveit interface for arm2):

cd ~/catkin_ws
source install/setup.bash
roslaunch ur10_moveit_config move_group.launch arm_namespace:=/ariac/arm2

In terminal 4:

cd ~/catkin_ws
source devel/setup.bash
rosrun group7_rwa5 main_node

See how it works

Pick and Place

Faulty Check

In Process Order Update

Access the below link to see the whole video! https://drive.google.com/drive/folders/1rmu-_D3-2d6kRLswu9rlon-fbD_DuJh7?usp=sharing