dtbinh / rb-vogui-coverage

RB-Vogui-Coverage

RB Vogui Simulation Repository

Follow intructions below to download current RB Vogui simulation files

https://github.com/RobotnikAutomation/rbvogui_sim

Simulation

To start Gazebo and Rviz simulation of RB Vogui and UR5, use the following code

roslaunch rbvogui_sim_bringup rbvogui_complete.launch robot_model:=rbvogui robot_xacro:=rbvogui_std_ur5.urdf.xacro launch_arm:=true arm_manufacturer:=ur arm_model:=ur5 run_localization:=true run_navigation:=true

Manipulator Movement

To allow movement of the UR5 Manipulator, use the following code

ROS_NAMESPACE=robot roslaunch rbvogui_ur5_moveit move_group.launch

Python Algorithm

Once simulation and manipulator movement codes are finished initialising, run this code to start the python algorithm

ROS_NAMESPACE=robot rosrun ur5_mover ur5_mover.py

Matlab Algorithm

Open the folder shown in the image below

Choose the main.m file as shown in the image below!

Ensure that the main.m file is open in the MATLAB editor and run alongside the python algorithm above by clicking the run button in the image below

Worlds

There is a world file attached which has the sphere used in this simulation. To use this world file change the path in the RB Vogui launch file so it leads to this file