nakul3112/ros_ariac_finalproject

ROS package for whole kit building with various agility challenges.

ENPM809B: Building a Manufacturing Robot Software System: Final Project

This is README to run the ROS package created for Final Project.

Group Members:

1. An Li
2. Andre
3. Nakul Patel
4. Revati Naik
5. Sarvesh Thakur
6. Srujan Panuganti

Package Name: group7_final_project

• This package builds multiple kits for the Final Project based on the requirement.
• It builds entire kits based on the order.
• It handles the sensor blackout while still continuing to build the kit.
• It has the abilty to detect faulty parts and replace them. Also implements a smart strategy on how to deal with faulty parts if there is a sensor blackout.
• It also checks for the updates to an order.
• It identifies sudden drops of parts during pick and place. Also implements smart strategies to correct the pose of dropped parts even during sensor blackout.
• It takes smart decisions between modifying the current kit or building a whole new kit if that order is updated.
• It implements smart strategies to preserve the belt parts while updating an order.
• It takes the help of other arm to flip the parts if required, as described in the order.
• The robotic arms help each other if one of them is not able to reach a part while building a kit.
• It can build multiple orders with at most two shipments each.
• It assumes multiple waves of conveyor belt parts (at least 2 waves).

Minimum System Requirements

• ROS Melodic
• Gazebo >= 9.6.0
• Ariac 2019
• Ubuntu Desktop 18.04 Bionic (64-bit)
• moveit
• gazebo_ros_pkgs

gazebo_ros_pkgs

gazebo_ros_pkgs package should be available in the workspace to run group7_final_project. Use the following command to clone the package and get it working

cd ~/catkin_ws/src

git clone https://github.com/osrf/ariac-gazebo_ros_pkgs -b ariac-network-melodic

cd ~/catkin_ws

catkin_make --only-pkg-with-deps gazebo_ros_pkgs

Read more at https://bitbucket.org/osrf/ariac/wiki/2019/tutorials/installation

moveit_visual_tools

You should also have moveit_visual_tools installed if not installed previously. moveit_visual_tools is not installed by default using installation instructions on ariac 2019 website. Use the below command to install moveit_visual_tools for ros-melodic

sudo apt-get install ros-melodic-moveit-visual-tools

Instructions to RUN the package group7_final_project

1. Create and build a catkin workspace

   mkdir -p ~/catkin_ws/src

   cd ~/catkin_ws/

2. Extract the package to ~/catkin_ws/src/ as below

   ~/catkin_ws/src/group7_final_project

3. Source the setup.bash to add environment variables to your path to allow ROS to function

   source /opt/ros/melodic/setup.bash source ~/catkin_ws/devel/setup.bash

4. Build your catkin workspace

   cd ~/catkin_ws

   catkin_make

   You can alternatively use following command to build only group7_final_project package.

   catkin_make --only-pkg-with-deps group7_final_project

Note: Always call catkin_make in the root of your catkin workspace.

5. Overlay your catkin workspace on top of your environment.

   cd ~/catkin_ws

   source devel/setup.bash

Launch the Package

To run the environment and the node, open another terminal and run the following command Ensure that you are inside your workspace directory

In terminal 1:

`cd ~/catkin_ws`

`source devel/setup.bash`

`roslaunch group7_final_project group7_final_project.launch`

In terminal 2 (to use moveit interface for arm1):

`cd ~/catkin_ws`

`source install/setup.bash`

`roslaunch ur10_moveit_config move_group.launch arm_namespace:=/ariac/arm1`

In terminal 3 (to use moveit interface for arm2):

`cd ~/catkin_ws`

`source install/setup.bash`

`roslaunch ur10_moveit_config move_group.launch arm_namespace:=/ariac/arm2`

In terminal 4:

`cd ~/catkin_ws`
 
`source devel/setup.bash`

`rosrun group7_final_project main_node`

See how it works

Pick and Place

Faulty Check

Faulty Check During Sensor Blackout

In Process Order Update

Our Final Output

Kit Building Output

Access the below link to see multiple vidos of how our pipeline is working!

https://drive.google.com/drive/folders/1DF2pgMkngMvCEMyj_yyr3MpZdI1tnsCo