swarmlabatwork eindhoven 2013 code.
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cust_dwa_local_planner
slaw_arm_navigation
slaw_bmt
slaw_bnt
slaw_bringup
slaw_btt
slaw_calibration
slaw_cameramount
slaw_cbt
slaw_dashboard
slaw_diagnostics
slaw_joystick
slaw_location_service
slaw_manipulation
slaw_navigation
slaw_pid
slaw_ppt
slaw_refbox
slaw_registration
slaw_sandbox
slaw_smach
slaw_stage_world
slaw_twist_mixer
slaw_vision
CMakeLists.txt
Makefile
README.md
install_bluez.sh
install_ros_packages.sh
stack.xml
swarmlabatwork.rosinstall
youbot_ros_pkg.patch

README.md

swarmlabatwork

We used this code to win the robocup@work world championship 2013 in Eindhoven.

License

We publish all of our code and documents under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported (CC BY-NC-SA 3.0). For commercial interest please contact us at swarmlab.unimaas.nl.

Usage

  • Use the swarmlabatwork.rosinstall to install all packages.

  • Use the install_ros_packages.sh script to install the dependencies.

  • Patch the youbot_ros_pkg using the patch provided (this is needed to get voltage feedback in the joint_state messages)

Each test has its own package: e.g. slaw_bmt for the basic manipulation challenge, etc. For each tests there are several launch files "xxx" stands for each tests:

  • pre_xxx.launch (to be launched on the internal pc)
  • pre_xxx_laptop.launch (to be launched on the external laptop)
  • xxx.launch (to be launched either internally or externally) starts the test.

Interesting packages

  • cust_dwa_local_planner: customised DWA planner used to navigate. Use at your own risk, it is best used with dual LIDAR setup (front and back facing), config in slaw_navigation.
  • slaw_arm_navigation: Own IK calculation module and joint_trajectory_action with fail safe to recover after over voltages
  • slaw_dashboard: pr2 like dashboard, for monitoring internal and external pc and batteries. slaw_diagnostics has to run.
  • slaw_manipulation: object and hole detection
  • slaw_smach: SMACH states which are used in each test

Troubleshooting

If you have any questions or problems regarding robot setup or installation, feel free to contact us at swarmlab.unimaas.nl.