Sawback Pick and Place

• Author: Allen Liu
• MSR 2024

Demo Video

2024-03-14.22-20-19.mp4

Package Description

• object_detection - Detects the object to grasp
• arm_control - Controls the motion of the robot arm
• motion_control - Controls the motion of the mobile base
• vision_control - Controls the motion of the Camera arm
• picker_interfaces - The interfaces for the software

Package Setup

The following section detailed how to setup the packages requires for running the software.

Ridgeback Packages

Install the ridgeback simulator on the PC via

sudo apt install ros-noetic-ridgeback-desktop ros-noetic-ridgeback-simulator

Rethink Packeges

To install the Rethink woskspace, we need to build it from its source

mkdir -p rethink_ws/src
cd rethink_ws
vcs import --input https://raw.githubusercontent.com/nu-jliu/Winter_Project/main/rethink.repos
catkin_make

Realsense Packages

Same for the Realsense workspace

mkdir -p realsense_ws/src
cd realsense_ws
vcs import --input https://raw.githubusercontent.com/nu-jliu/Winter_Project/main/realsense.repos
catkin_make

Interbotix Packages

We also need to build the Interbotix workspace from its source

mkdir -p interbotix_ws/src
cd inertbotix_ws
vcs import --input https://raw.githubusercontent.com/nu-jliu/Winter_Project/main/interbotix.repos
catkin_make

Setup ROS Environment

The the boot, the base.launch and laser_slam.launch in nuridgeback_robot would automatically launched in the software development. But it is launched under the ROS MASTER on ridgeback computer, but we would like to have everything run on sawyer's master. So we need to make all ROS nodes running with ROS_MASTER_URI=http://192.168.131.40:11311. Run following command after sawyer competes boot

sudo systemctl stop ridgeback.service
consawyer
delrefs
roslaunch nuridgeback_robot base.launch
roslaunch nuridgeback_robot laser_slam.launch

Deployment

To deploy all packages onto the ridgeback computer, run

rsync -av --delete --exclude '.git' --exclude '*.rviz' /home/allen/catkin_ws/src/ administrator@ridgeback:/home/administrator/allen_arm_ws/src
rsync -av --delete --exclude '.git' --exclude 'sawyer_moveit' --exclude '*.rviz' /home/allen/catkin_ws/src/ administrator@ridgeback:/home/administrator/allen_base_ws/src
rsync -av --delete --exclude '.git' /home/allen/rethink_ws/src/ administrator@ridgeback:/home/administrator/rethink_ws/src
rsync -av --delete --exclude '.git' --exclude '*.deb' /home/allen/realsense_ws/src/ administrator@ridgeback:/home/administrator/realsense_ws/src
rsync -av --delete --exclude '.git' /home/allen/interbotix_ws/src/ administrator@ridgeback:/home/administrator/interbotix_ws/src