mlautman / misc Goto Github PK

8ffdae501921d240204f87c31e6c98c253ebcb20

• Bring in Chris on vision

  • Laser line
  • Package separation
  • Mike puts this together

• Gripper (while here)

  • We need a more robust way to launch the suction gripper nodes. (I think Yu found it with the tag)

• Collision object manipulation

  • Bigger pallet objects for freespace motion. (Dale)
  • keeput boxes for frames. (Dale)
  • freespace into a "safe zone" for retreat
  • Manual collision checking to produce cartesian plans that move into the safe zone without hitting structures

• Actions integration

  • Pallet moved
  • Force sensor
  • Suction feedback (do we have vacuum)
  • BreakBeam

• Move to home at some point

• Interrupt the cartesian motions (while here)

  • Check if the robot actually executed correctly
  • Implement service call for reseting the robot
    (PR)
  • interrupt pick
  • Distance sensors on corners?

• BinPickAction

  • goal
    • pallets
      -shelf up
  • feedback
    • pick feedback
      • pallet
      • box
      • diagnostics
    • pallet feedback
      • pallet empty
      • pallet pose
      • pallet error
  • return
    • All pallets empty

• Gazebo (tonight)

  • Separate gazebo robot control from gazebo simulation