VRM - Final Project

This is final project for university course VRM - Programming for robots and manipulators at VUT Brno. It is a simple application of Fanuc CR-7iA robot simulation using ROS.

In robot's working envelope at random position is spawned an object (in our case a cube) to which robot will move. Trajectory of robot's movement is visualised.

It is based on this repository.

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Program steps:

1. Robot will move to home position
2. All leftover objects will be removed from the scene
3. Cube will be spawned at random position in robot's working envelope
4. Robot trajectory will be calculated
5. Planned trajectory will be visualized (in RViz "Marker" visualization has to be added)
6. Robot will move to the center of the spawned object
7. Repeat from step 2

Requirements

Project was made using ROS Melodic Morenia on Ubuntu 18.04 LTS (Bionic Beaver).

Installation instructions

• Create project directory

  mkdir -p <directory_name>/src

• Go into project directory

  cd <directory_name>/src

• Download Fanuc ROS1 drivers

  git clone -b $ROS_DISTRO-devel https://github.com/ros-industrial/fanuc.git

• Download project source files

  git clone https://github.com/niedobam/ros-fanuc-simulation.git

• Go into main directory

  cd ..

• Install project with all dependencies

  rosdep update
  rosdep install --rosdistro $ROS_DISTRO --ignore-src --from-paths src
  catkin_make

• Set all scripts as executable

  chmod +x -R src

Running instructions - Go into project directory

• In terminal1

  source devel/setup.bash
  roslaunch fanuc_cr7ia_moveit_config demo.launch

• In terminal2

  source devel/setup.bash
  roslaunch robot_ctrl demo.launch

• In terminal3

  source devel/setup.bash
  rosrun robot_ctrl test.py