Altınay Air

Air Robot Bringup

To bring up the robot, you can use these command lines:

Real Hardware

roslaunch air_moveit_config air_bringup.launch controller:=ros_control

Fake Hardware

roslaunch air_moveit_config air_bringup.launch

Add to command line bagfile:=true for working with rosbag(camera).

Air Robot Launch Files

If you want to run launch files in different terminals use these command lines:

Air Arm - MoveIt - Hardware Interface

This launch file runs MoveIt and hardware interface.

roslaunch air_moveit_config demo_ros_control.launch controller:=ros_control

Realsense Camera

This launch files runs Realsense Camera and nodes.

roslaunch realsense2_camera rs_camera.launch

Object Detection

This launch files runs YoloV7 - object detection node.

roslaunch yolov7_ros yolov7.launch

Add Collision Object

This executables generates XYZ values of detected object and adds in planning scene.

This executable gets XY coordinates of detected object from /yolov7/yolov7 topic and generates XYZ value of that object according to camera. These values are published to /coordinates_of_object topic.

rosrun air_moveit_config detect_and_add

This executable gets the coordinates of object from /coordinates_of_object topic and adds to planning scene.

rosrun air_moveit_config add_sphere

MoveIt Task Constructor

roslaunch air_moveit_config air_mtc.launch

Tips

The workspace may not be created when you clone the ADS repository.