-
Notifications
You must be signed in to change notification settings - Fork 4
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
80b7648
commit 2b1b32c
Showing
8 changed files
with
112 additions
and
131 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -73,65 +73,28 @@ <h3><a class="anchor" id="autotoc_md2"></a> | |
| Project Overview and Description</h3> | ||
| <p>Since robots are being rapidly deployed for various domestic applications, Acme Robotics is looking to develop a domestic robot as a part of its 5-year product road-map. The robot called the "Domestic Decluttering Robot" will declutter the house floor by identifying different items, collecting them, and placing them at their desired location in the house. The robot will scout the house floor to detect and grasp the desired object. Once grasped, it will place the object at the predefined location. The robot will have a camera to identify the object, Lidar sensor to make a 3D map of the environment around it, and a 8 DOF robotic manipulator mounted on it.</p> | ||
| <h3><a class="anchor" id="autotoc_md3"></a> | ||
| Presentation Video link</h3> | ||
| <p>Video link: <a href="https://youtu.be/-lPjSiizmCI">https://youtu.be/-lPjSiizmCI</a></p> | ||
| <h3><a class="anchor" id="autotoc_md4"></a> | ||
| Presentation link</h3> | ||
| <p><a href="https://docs.google.com/presentation/d/1osl5vrxGRXqx1QkJhoWhC6rh83X2Kr2OMlprzH5XEH0/[email protected]#slide=id.g107542cf1d8_6_10">https://docs.google.com/presentation/d/1osl5vrxGRXqx1QkJhoWhC6rh83X2Kr2OMlprzH5XEH0/[email protected]#slide=id.g107542cf1d8_6_10</a></p> | ||
| <h3><a class="anchor" id="autotoc_md5"></a> | ||
| Robot Simulation link</h3> | ||
| <p>Video link: <a href="https://youtu.be/NrRCCqRFqw4">https://youtu.be/NrRCCqRFqw4</a></p> | ||
| <h3><a class="anchor" id="autotoc_md6"></a> | ||
| Development Team</h3> | ||
| <h4><a class="anchor" id="autotoc_md7"></a> | ||
| Sprint 1</h4> | ||
| <ul> | ||
| <li>Driver - Hrushikesh Budhale</li> | ||
| <li>Navigator - Abhijit Mahalle</li> | ||
| <li>Design Keeper - Ameya Konkar</li> | ||
| </ul> | ||
| <h4><a class="anchor" id="autotoc_md8"></a> | ||
| Sprint 1</h4> | ||
| <ul> | ||
| <li>Driver - Abhijit Mahalle</li> | ||
| <li>Navigator - Ameya Konkar</li> | ||
| <li>Design Keeper - Hrushikesh Budhale</li> | ||
| </ul> | ||
| <h4><a class="anchor" id="autotoc_md9"></a> | ||
| Sprint 1</h4> | ||
| Documentation</h3> | ||
| <p>Doxygen generated documentation for developers can be found <a href="https://hrushikeshbudhale.github.io/decluttering_domestic_robot/docs/html/index.html">here</a></p> | ||
| <ul> | ||
| <li>Driver - Ameya Konkar</li> | ||
| <li>Navigator - Hrushikesh Budhale</li> | ||
| <li>Design Keeper - Abhijit Mahalle</li> | ||
| <li>Robot demo <a href="https://youtu.be/NrRCCqRFqw4">video</a></li> | ||
| <li>Presentation <a href="https://youtu.be/-lPjSiizmCI">video</a></li> | ||
| <li>Presentation <a href="https://docs.google.com/presentation/d/1osl5vrxGRXqx1QkJhoWhC6rh83X2Kr2OMlprzH5XEH0/[email protected]#slide=id.g107542cf1d8_6_10">slides</a></li> | ||
| <li>Product backlog sheet <a href="https://docs.google.com/spreadsheets/d/1uLx1TDejwb_q-EkkCh65zcsgOdo6YiGDN0ZlcO-tUYo/edit?usp=sharing">google sheet</a></li> | ||
| <li>Sprint planning notes <a href="https://docs.google.com/document/d/1j18MeeHkREd-rwEOQwoSgQbipBhqeb5pdRHkQmvJkCU/edit?usp=sharing">google docs</a></li> | ||
| </ul> | ||
| <h3><a class="anchor" id="autotoc_md10"></a> | ||
| Product Backlog</h3> | ||
| <p>Product backlog can be found in <a href="https://docs.google.com/spreadsheets/d/1uLx1TDejwb_q-EkkCh65zcsgOdo6YiGDN0ZlcO-tUYo/edit?usp=sharing">google sheet</a></p> | ||
| <h3><a class="anchor" id="autotoc_md11"></a> | ||
| Sprint planning notes</h3> | ||
| <p>Sprint planning notes can found in <a href="https://docs.google.com/document/d/1j18MeeHkREd-rwEOQwoSgQbipBhqeb5pdRHkQmvJkCU/edit?usp=sharing">google docs</a></p> | ||
| <h3><a class="anchor" id="autotoc_md12"></a> | ||
| Deliverables</h3> | ||
| <ul> | ||
| <li>Developer level documentation using doxygen</li> | ||
| <li>Build status using travis CI</li> | ||
| <li>Code coverage using coveralls</li> | ||
| <li>Accurate implementation using generated test cases in gtest</li> | ||
| <li>Tests for ros nodes in rostest</li> | ||
| <li>Steps showing how to build the repository</li> | ||
| <li>Steps showing how to run test and demo applications</li> | ||
| <li>Steps showing how to generate Doxygen documentation</li> | ||
| <li>Valgrind output for memory leak check</li> | ||
| </ul> | ||
| <h3><a class="anchor" id="autotoc_md13"></a> | ||
| Activity Diagram</h3> | ||
| <p><img src="https://github.com/HrushikeshBudhale/decluttering_domestic_robot/blob/sprint1/uml/initial/activity_diagram.png" alt="ACTIVITY DIAGRAM" width="400" class="inline"/> </p> | ||
| <hr /> | ||
| <h3><a class="anchor" id="autotoc_md15"></a> | ||
| UML Class Diagram</h3> | ||
| <p><img src="https://github.com/HrushikeshBudhale/decluttering_domestic_robot/blob/sprint1/uml/initial/class_diagram.png" alt="UML Diagram" width="600" class="inline"/> </p> | ||
| <hr /> | ||
| <h3><a class="anchor" id="autotoc_md17"></a> | ||
| <h3><a class="anchor" id="autotoc_md4"></a> | ||
| Development Team</h3> | ||
| <table class="markdownTable"> | ||
| <tr class="markdownTableHead"> | ||
| <th class="markdownTableHeadNone">Sprint </th><th class="markdownTableHeadNone">#1 </th><th class="markdownTableHeadNone">#2 </th><th class="markdownTableHeadNone">#3 </th></tr> | ||
| <tr class="markdownTableRowOdd"> | ||
| <td class="markdownTableBodyNone">Hrushikesh Budhale </td><td class="markdownTableBodyNone">Driver </td><td class="markdownTableBodyNone">Design Keeper </td><td class="markdownTableBodyNone">Navigator </td></tr> | ||
| <tr class="markdownTableRowEven"> | ||
| <td class="markdownTableBodyNone">Abhijit Mahalle </td><td class="markdownTableBodyNone">Navigator </td><td class="markdownTableBodyNone">Driver </td><td class="markdownTableBodyNone">Design Keeper </td></tr> | ||
| <tr class="markdownTableRowOdd"> | ||
| <td class="markdownTableBodyNone">Ameya Konkar </td><td class="markdownTableBodyNone">Design Keeper </td><td class="markdownTableBodyNone">Navigator </td><td class="markdownTableBodyNone">Driver </td></tr> | ||
| </table> | ||
| <h3><a class="anchor" id="autotoc_md5"></a> | ||
| External Dependencies</h3> | ||
| <ul> | ||
| <li><a href="http://wiki.ros.org/melodic/Installation/Ubuntu">ROS Melodic</a></li> | ||
|
|
@@ -140,30 +103,39 @@ <h3><a class="anchor" id="autotoc_md17"></a> | |
| <li><a href="https://moveit.ros.org/">Moveit</a></li> | ||
| <li><a href="https://github.com/opencv/opencv">Opencv</a></li> | ||
| </ul> | ||
| <h2><a class="anchor" id="autotoc_md18"></a> | ||
| Known Issues/Bugs</h2> | ||
| <hr /> | ||
| <p> Picking the object at certain positions and orientation is not possible for the robot.</p> | ||
| <hr /> | ||
| <h3><a class="anchor" id="autotoc_md21"></a> | ||
| Installing Tiago package</h3> | ||
| <div class="fragment"><div class="line">Install Tiago packages using the link: http://wiki.ros.org/Robots/TIAGo/Tutorials/Installation/InstallUbuntuAndROS</div> | ||
| </div><!-- fragment --><h3><a class="anchor" id="autotoc_md22"></a> | ||
| Building and running the Program</h3> | ||
| <h3><a class="anchor" id="autotoc_md6"></a> | ||
| Installation instructions</h3> | ||
| <p>Install Tiago packages from <a href="http://wiki.ros.org/Robots/TIAGo/Tutorials/Installation/InstallUbuntuAndROS">wiki.ros.org</a></p> | ||
| <div class="fragment"><div class="line">cd <catkin workspace>/src</div> | ||
| <div class="line">sudo apt-get install git</div> | ||
| <div class="line">git clone --recursive https://github.com/HrushikeshBudhale/decluttering_domestic_robot.git</div> | ||
| <div class="line">cd ..</div> | ||
| <div class="line">catkin build</div> | ||
| <div class="line">source ./devel/setup.bash</div> | ||
| <div class="line">roslaunch decluttering_domestic_robot simulation.launch</div> | ||
| </div><!-- fragment --><h3><a class="anchor" id="autotoc_md23"></a> | ||
| To Build the Tests</h3> | ||
| <div class="fragment"><div class="line">Using Catkin Make: catkin_make tests</div> | ||
| </div><!-- fragment --><h3><a class="anchor" id="autotoc_md24"></a> | ||
| To Run the Tests</h3> | ||
| <div class="fragment"><div class="line">rostest decluttering_domestic_robot main_test.test</div> | ||
| </div><!-- fragment --> </div></div><!-- PageDoc --> | ||
| </div><!-- fragment --><p>Copy the existing SLAM configuration files and world file from cloned repo to the tiago directory using following command. </p><div class="fragment"><div class="line">sudo cp -r src/decluttering_domestic_robot/configuration/smallHouse/ ~/.pal/tiago_maps/configurations/</div> | ||
| <div class="line">sudo cp src/decluttering_domestic_robot/world/smallHouse.world /tiago_public_ws/src/tiago_simulation/tiago_gazebo/worlds/</div> | ||
| </div><!-- fragment --><p>For launching the simulation demo run following command. This will start a gazebo environment of a house with 5 rooms. Tiago robot will be spawned. Also a small blue color box will be spawned in a random location. </p><div class="fragment"><div class="line">roslaunch decluttering_domestic_robot simulation.launch</div> | ||
| </div><!-- fragment --><p>Launch file can be used to record a bag file by passing <code>rocord_bag</code> argument as follows </p><div class="fragment"><div class="line">roslaunch decluttering_domestic_robot simulation.launch record_bag:=true</div> | ||
| </div><!-- fragment --><h3><a class="anchor" id="autotoc_md7"></a> | ||
| Tests</h3> | ||
| <p>To Build the Tests using catkin_make run following command in your catkin workspace. </p><div class="fragment"><div class="line">catkin_make tests</div> | ||
| </div><!-- fragment --><p>To run the test execute following command. </p><div class="fragment"><div class="line">rostest decluttering_domestic_robot main_test.test</div> | ||
| </div><!-- fragment --><h3><a class="anchor" id="autotoc_md8"></a> | ||
| Generating documentation</h3> | ||
| <p>Run the following command in folder's root directory to generate new documentation </p><div class="fragment"><div class="line">doxygen docs/doxygen_config.conf</div> | ||
| </div><!-- fragment --><hr /> | ||
| <h3><a class="anchor" id="autotoc_md10"></a> | ||
| Activity Diagram</h3> | ||
| <p><img src="https://github.com/HrushikeshBudhale/decluttering_domestic_robot/blob/main/uml/initial/activity_diagram.png" alt="ACTIVITY DIAGRAM" width="300" class="inline"/> </p> | ||
| <hr /> | ||
| <h3><a class="anchor" id="autotoc_md12"></a> | ||
| UML Class Diagram</h3> | ||
| <p><img src="https://github.com/HrushikeshBudhale/decluttering_domestic_robot/blob/main/uml/revised/class_diagram.png" alt="UML Diagram" width="600" class="inline"/> </p> | ||
| <hr /> | ||
| <h3><a class="anchor" id="autotoc_md14"></a> | ||
| Known Issues/Bugs</h3> | ||
| <p>Picking the object at corner positions is not possible for the robot. </p> | ||
| </div></div><!-- PageDoc --> | ||
| </div><!-- contents --> | ||
| <!-- start footer part --> | ||
| <hr class="footer"/><address class="footer"><small> | ||
|
|
||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Oops, something went wrong.