Projet d'integration SRI 3A ROS

Overview

projet-integration-sri-2021-2022

Projet d'intégration ROS SRI 2021 2022

Organization:

Planification de tâches

Perception

Saisie: Cédérick Mouliets

Simulation

Navigation: Hakim Cherfi & Jeremy Santene

Multitiago: Rémi Delauzun & Raphaël Bizet

Plannification de mouvement

Demos

Simulations

Monde simple

Lancer une simulation simple dans groix_porquerolles.world :

  • Dans un terminal dans la racine du projet, lancer :
source ./devel/setup.bash
roslaunch aip_gazebo aip_gazebo.launch

Simulation cellule + navette

Lancer une simulation de la cellule flexible de la salle groix_porquerolles avec une navette montée sur les rails.

  • Avant de lancer, assurez vous d'avoir le package ros effort_controllers :
rospack find effort_controllers

Pour installer le package sous ros melodic :

sudo apt-get ros-melodic-ros-control ros-melodic-ros-controllers
  • Pour lancer la simulation, dans un terminal dans la racine du projet, lancer :
source ./devel/setup.bash
roslaunch aip_gazebo shuttle_only.launch
  • Pour lancer les les controllers et ainsi creer les topics, lancer :
roslaunch aip_gazebo shuttle_controllers.launch
  • Pour visualiser les topics crées par la simulation, lancer :
rostopic list

resultat attendu :

...
/my_shuttle/joint1_vel_controller/command
/my_shuttle/joint2_vel_controller/command
/my_shuttle2/joint1_vel_controller/command
/my_shuttle2/joint2_vel_controller/command
...
  • Pour controller la navette1 de cette simulation entrez la commande suivante :
#Pour controller la navette 1 à une vitesse de 1.7 :
rostopic pub /my_shuttle/joint1_vel_controller/command std_msgs/Float64 "data: -1.7"
rostopic pub /my_shuttle/joint2_vel_controller/command std_msgs/Float64 "data:  1.7"
  • Resultat attendu :

Saisie

Lancer une opération de saisie dans la simulation :

  • Dans un 2eme terminal dans la racine du projet, lancer les noeuds ROS :
source ./devel/setup.bash
roslaunch sri_tiago_pick pick_demo.launch
  • Dans un 3eme terminal dans la racine du projet, lancer le service pick :
source ./devel/setup.bash
rosservice call /pick_gui

Illustrations du pick

Navigation

À la racine du projet, sourcer devel/setup.bash et lancer la commande

roslaunch navigation aip_tiago_mapping.launch

Ceci permet de créer une carte de la salle porquerolles en faisant naviguer le robot (simulation).

Demo de la navigation dans le navigation/README.md.

Multitiago

Dans un terminal dans la racine du projet, lancer :

source ./devel/setup.bash
roslaunch multitiago multi_aip_gazebo.launch

Lancement d'une simulation de deux robots tiago dans la salle groix-porquerolle. image d'illustration

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