Sawyer_Yoyo

Author: Tianyu Li

Introduction

This project utilizes data-driven approach to teach a Sawyer robot to play yoyo. There are two high speed cameras with perpendicular view to each other to provide state esimation. The package also contains a visual feedback controller for demonstrations. Currently it is still under development further for research.

Dependencies

Packages

intera_sdk from Rethink Robotics
sawyer_kdl https://github.com/wuphilipp/sawyer_kdl  
orocos_kd  https://github.com/orocos/orocos_kinematics_dynamics

Libraries

AprilTag
UEye      (for Edmund Optics Camera)
Spinnaker (for Blackfly Camera)
Pygame    (mainly for user interface)

Instructions

Connection Setup

1. Turn on Sawyer
2. Connect with Sawyer through Ethernet, and nmcli connection up Rethink
3. Ping 10.42.0.2 or sawyer.local to confirm connection
4. Set environment variables

export ROS_MASTER_URI=http://10.42.0.2:11311
export ROS_IP=10.42.0.1
unset ROS_HOSTNAME

5. source rethink workspace source rethink_ws/devel/setup.bash
6. Enable the robot rosrun intera_interface enable_robot.py -e
7. Run the joint_server rosrun intera_interface joint_trajectory_action_server.py
8. Open a new terminal window
9. cd into yoyo workspace and do catkin_make and source devel/setup.bash
10. cd into rethink workspace, and rm -rf the build and devel folders
11. catkin_make in the rethink workspace and do source devel/setup.bash

Pipeline Launch

1. roslaunch sawyer_move sawyer.launch
2. Wind the yoyo up
3. At the pygame window, press q to start