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Repository for specialization project and master thesis in Robotics & Automation, at NTNU 2019/2020

License: Apache License 2.0

C++ 19.96% Python 54.56% Java 19.32% Lua 1.60% CMake 4.56%

kmriiwa_ws's Introduction

kmriiwa_ws

Repository for master thesis and specialization project in Robotics & Automation, at NTNU Fall 2019, by Charlotte Heggem and Nina Marie Wahl.

Intention: This project aims to create a communication API between a KUKA robot, KMR iiwa, and ROS2. Multiple ROS packages are used for including functionality. Navigation2 is used for navigating the mobile vehicle. Cartographer and RTAB-Map is used for SLAM. MoveIt2 is used for path planning for the manipulator.

Multiple Intel Realsens D435 cmeras are used to provide better moving and detection of objects. A Robotiq gripper is used for picking up objects. The cameras and gripper are launched at a separate onboard computer (Intel NUC).

System requirements:

  • Ubuntu 18.04.3
  • Python 3.6.9
  • ROS Eloquent

Required ROS Packages:

  • Gazebo packages
  • Navigation2
  • MoveIt2
  • Cartographer
  • RTAB-Map ROS wrapper (dependent on RTAB-Map)
  • Ros2 Intel Realsense (ROS2 Wrapper for Intel® RealSense™ Devices)
  • ROS2 Openvino Toolkit (dependent on OpenVino Toolkit)
  • ROS2 Object Analytics

kmriiwa_ws's People

Contributors

ninamwa avatar charlotteheggem avatar

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