ENPM663 - BUILDING A MANUFACTURING ROBOTIC SOFTWARE SYSTEM

RWA4 - Group 3

Team

Name	UID	Github ID	Email ID
Shantanu Parab	119347539	Link	[email protected]

ARIAC.mp4

Dependencies Installation

Run the below commands to install required packages

sudo apt install python3-pykdl
pip install ultralytics

Normal Testing

Sensors used

• Advance Logical Camera

Instructions to run the package

Download the package and place it in ariac_ws/src

cd ~/ariac_ws
rm -rf buid/ log/ install/
colcon build

After successful build, source the package

source install/setup.bash

Start the ariac environment with advance logical cameras

ros2 launch ariac_gazebo ariac.launch.py competitor_pkg:=rwa4_group3 sensor_config:=sensors trial_name:=rwa4_spring2024

After all the parts and trays are loaded run the below command (Ideally wait for 5 seconds to spawn all parts and trays)

ros2 launch rwa4_group3 rwa4.launch.py

Bonus Testing

Sensors used

• RGB Camera
• Basic Logical Camera

Instructions to run the package

Start the ariac environment

ros2 launch ariac_gazebo ariac.launch.py competitor_pkg:=rwa4_group3 sensor_config:=sensors_bonus trial_name:=rwa4_spring2024

After all the parts and trays are loaded run the below command (Ideally wait for 5 seconds to spawn all parts and trays)

ros2 launch rwa4_group3 rwa4_bonus.launch.py

Test