This project is a part of my Master Thesis at University of Stuttgart.
This source code works as a environment playground for franka emika panda robot only, following steps depict quick start guide to setup the environment and run fault injection experiments.
- build: contains all the ROS build files
- devel: contains all the ROS development files
- src
- failure_monitor: this package contains the failure monitor module to monitor environment
- scripts: source code
- joint_state_publisher: this package containes the fault injection module and recorder
- moveit: moveit controller code and configurations for panda robot
- custom pick place code (editable version) please go through the ROS C++ design schematic before editing and building this file : own_pick_place_VJZL.cpp
- panda gazebo: panda robot package to support gazebo simulation this package also houses robot and its environment
- resources: has all the required models and cube sdf for simulation
- models: add or remove models if wanted
- world: defines gazebo world the main world file used is pick_and_place4.world
- resources: has all the required models and cube sdf for simulation
- random_position_generator: this package is used to generate random positions for the cube and for the robot to move to
- risk_assessment: this package contains the risk assessment module to assess the risks involved during the operation/simulation
- scripts: source code
- failure_monitor: this package contains the failure monitor module to monitor environment
- fault_config: configuration file for fault injection
- pipeline: bash script to run the pipeline
catkin build -j4 -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=~/libfranka/build
bash pipiline.sh
this starts random fault injection experiment and saves the bag files into rosbags folder