Introduction

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.

Folder Structure

• 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
    • msg: custom message
    • scripts: source code
  • 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
  • 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
• fault_config: configuration file for fault injection
• pipeline: bash script to run the pipeline

Scenario

Quick Start

build

catkin build -j4 -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=~/libfranka/build

FI Experiment

• bash pipiline.sh

this starts random fault injection experiment and saves the bag files into rosbags folder