shaotujia / ariac_qual1a

Overview

This is the sorce cod for ARIAC(http://gazebosim.org/ariac) qualifier1 (qual1a and qual1b). More details about the qualifier1 can be find at: https://bitbucket.org/osrf/ariac/wiki/2017/qualifiers/qual1. The tasks are completed by controlling the arm following a hard-code trajector. For each order, a grasping and placing motion is programmed with two points: middle and goal point. The arm will move to those two points respectively in order to avoid the obstacles and do its task(grasping or placing parts).

TO DO

We are moveing to an other way to control the arm: MoveIt! It will be easier for us to control the arm without worrying about the path planning.

Pre-required

• Ubuntu 16.04
• ROS
• ARIAC

Install and Build

In your workspace/src folder, do:

git clone https://github.com/zzjkf2009/ARIAC_Qual1a.git
cd ..
catkin_make
source devel/setup.bash

Run:

For qual1a:

From Terminal:

rosrun osrf_gear gear.py -f `catkin_find --share osrf_gear`/config/qual1a.yaml $(rospack find qual1)/config/team_conf.yaml
rosrun qual1 qual1_node

For qual1b

From Terminal:

rosrun osrf_gear gear.py -f `catkin_find --share osrf_gear`/config/qual1b.yaml $(rospack find qual1)/config/team_conf.yaml
rosrun qual1 qual1b_node

Result:

log files are stored in folder "ariac_qual1_log" and the simulation can be reviewed by playback the log with the code:

roslaunch osrf_gear gear_playback.launch

Or if you want to specify a specific log file:

roslaunch osrf_gear gear_playback.launch state_log_path:=`pwd`/ariac_qual1_log/qual1/qual1a/gazebo/state.log

Store log file:

In the home folder

cp --recursive --dereference ~/.ariac/log ~/catkin_ws/src/ariac_example/ariac_qual1_log/qual1b