Enpm662 Final Project - Omni Directional Bot with UR5 Arm

Documents:

1. Link to report, discussions are here
2. Jacobian calculation was done in MATLAB file which can be found here.

Setup

• Clone this repository into your catkin_ws:

  git clone https://github.com/aswathselvam/enpm662_final_project.git
  catkin_make
  source devel/setup.bash
  

• If running ROS Noetic, you might have to run this command in the terminals you open:

  mkdir ~/bin
  PATH=~/bin:$PATH
  ln -s /usr/bin/python3 ~/bin/python
  

  Subsequently, you can add PATH=~/bin:$PATH to ~/.bashrc.

• The python reqirements.txt file can be used to install the required python library dependencies.
  Install the libraries by using the following command:

  pip install -r requirements.txt
  

Unit Test

Video shows the arm's End effector is moved in X,Y and Z coordinates using Inverse Jacobian method.

Test

1. Gazebo simulation:

   Full Video Youtube link

• Run Vegetation pest survey Environment:

  # Vegetation word Gazebo launch
  roslaunch enpm662_final_project gazebo_test_robot.launch

  • Attend to pests on bushes in the field using the command:

  # Run Attend to Pests node
  rosrun enpm662_final_project attend_to_pests.py

2. Run sample world file:

   

• Launch the sample world file:

  # Objects world Gazebo launch
  roslaunch enpm662_final_project gazebo_test_robot.launch argworld:=objects

  • Touch objects in environment using these commands:

  # Run Go to Goals node
  rosrun enpm662_final_project go_to_goals.py

3. Run Teleop for UR5 Arm using Inverse Jacobian using:

   # Mecanum control node listener node
   rosrun enpm662_final_project teleop_arm.py

4. For Teleop for chassis run these 2 nodes:

   # Mecanum control node listener node
   rosrun enpm662_final_project test_mecanum_robot.py

   # Teleop control node
   rosrun enpm662_final_project test_publisher.py

Data visualization:

Plot joint angles with RQT:

roslaunch enpm662_final_project rqt_vis.launch  

Visualize in Rviz:

# Rviz visualization:
roslaunch enpm662_final_project rviz.launch

World file & Models:

1. The bush model is taken from this repository.
2. The world file is take from Agribot repository.
3. Mecanum Wheel FM202-205-15U-R/L (FUJI) gazebo model description.