ptientho / checkpoint5-approach-shelf

RB-1 robot to approach a warehouse shelf

Checkpoint5-Approach shelf

Introduction

The goal of this project is to create a program that allows RB-1 robot to approach, detect, and attach a warehouse shelf.

Pre Approach

The robot moves to the loading position. This requires two parameters- 1. obstacles: distance the robot will stop and 2. degrees: rotation the robot will turn to the shelf.

ros2 launch attach_shelf pre_approach.launch.xml obstacles:=0.3 degrees:=-90

Final Approach

The robot will detect the shelf using laser intensity. If found, the robot will move toward the shelf and finally lift the shelf.

ros2 launch attach_shelf attach_to_shelf.launch.py obstacles:=0.3 degrees:=-90 final_approach:=True