jimmeex / ur5_t2_4230 Goto Github PK

• 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

Justification for this

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

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

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.

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

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)

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

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

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]

Considerations

• ProximityRayPlugin (source, Zhang Yizhe 2018)