Robothon23_Team_RoboPig

This repository is the submission of team RoboPig of THWS for the Robothon 2023 competition

For a more detailed overview, please take a look at the pdf version

Hardware dependencies

• General Equipment
  • UR5e robot arm
  • Robotiq Hand E Gripper
  • IDS U3-3800CP Camera
  • Intel Realsense D435i
• Taskboard
  • 3D printed cable hook
• BYOD Transferability Task
  • Tektronix TDS 2002B Oscilloscope
  • Custom PCB (self soldered)
  • Custom plug for robot
  • Old computer

Software dependencies

• ROS
  • Realsense-ros
• C++
  • Eigen
  • ur_rtde
  • IDS-peak
  • open_cv
• Python
  • open_cv
  • numpy
  • usb_tmc

Quick start guide

1. Launch core driver depending on task (eg. taskboard_core.launch for taskboard)

a. This will:

• Start cameras and begin publishing images
• Start the robot driver and begin publishing robot positions
• Start a pose management node and publish all relevant poses

b. System is now ready and waits for task scheduler

2. Run task scheduler and input order of tasks

a. This will:

• Generate the desired task sequence
• Run the image processing pipeline depending on what task is chosen
• Update all positions depending on the camera detection

Submission videos

• The 5 minute video containing a video of our team explaining the solution to the taskboard and a BYOD demo of our robot platform can be found here
• The 10 minute video showing our solution doing the Taskboard challenge 5 times can be found here