akhilrajan-v/refueling_robot

A custom 6 DOF robot manipulator to automate refueling of vehicles in a gas station

Refueling_Robot

This project was developed by Akhilrajan Vethirajan and Vishaal Kanna Sivakumar as the final project for the ENPM 662 Course at the UNiversity of Maryland, USA

1. Extract the robot_arm.zip file.
2. Copy robot_arm folder into the src folder of your catkin workspace.
3. Navigate to catkin work space and open a terminal. Enter catkin_make.
4. Source your workspace using ~/catkin_ws/devel/setup.bash to update all changes.
5. In your catkin work space, execute : roslaunch robot_arm project2.launch
6. Go to the src folder inside robot_arm and open a terminal. Do chmod +x trajectory_publisher.py to make it an executable file.
7. Then enter rosrun robot_arm trajectory_publisher.py to launch the controller.
8. The robot arm stabilizes at the default configuration, then starts to follow the predefined trajectory.
9. Code execution ends once the task is done.

Execution video link

https://drive.google.com/file/d/1OrHhpGoBn2qK5oGbAFsT2hGMDXmJHmIB/view?usp=sharing