jimmeex / ur5_t2_4230 Goto Github PK

Considerations

• ProximityRayPlugin (source, Zhang Yizhe 2018)

Potential Solutions

• Trigger Respawn of Container after 10 seconds and no container
• Service Based Container Spawning

Visuals

• Add sticker-like "shape" representation on top (could consider all faces)
• Modify visual colour

Generation

• Function to spawn object (inputs {location, colour, shape} in Gazebo)

(might add more later)

• Sometimes the robot will rotate unexpectedly (eg, when the object is very close to the robot)

Justification for this

• Prevents object clutter
• Minimises Gazebo lagging (from lots of objects)

Generate all objects with correct position & orientation in Gazebo. This comprises:

• Conveyor
• UR5
• Break Beams
• RGB-D Camera
• Objects & Container (start of conveyor)
  I think only the .launch file and spawner.py needs to be edited.

• Move Figure Outputs to Web GUI
  • imshow() forces the computer to 'focus' on the image window which is intrusive
• Move Vision to Python-ROS based
  • Convenience in running (just one launch file)
  • Communication between MATLAB && Python-ROS is very slow (current takes around 2 seconds to send & receive)
• Weird memory-related errors when the system runs for an extensive amount of time

Migration of components into our github repo to ensure consistency, and that changes in models can be shared amongst the team

• Migrate RGB-D Kinect Component
• Migrate UR5 Model

• Weight/Inertia Model to Objects + Containers
• Sometimes vacuum gripper does not grab a block
• Conveyor Belt Shift

• Find/Create Gripper Model
• Add plugin to enable/disable suction functionality

Controls the Gazebo Environment (conveyor, robot, proximity sensor) based on triggers/inputs from other modules.
Specific functionalities are still vague.

Considerations

• conveyor_out should stop when a new order is detected by break_beam_out
• conveyor_out should start on trigger (ie, when the order is finished) [maybe requires a separate "order" node]
• conveyor_in should stop when a desired object hits the break_beam_in [requires cooperation of vision]
• conveyor_out should start when the desired object has been collected and put into the container, and the robot returns to the original position for collection [requires co-operation of motion]