Where to find things

• ROS config
  
• Launch files
  
• Image data
  

Issues
Tasks
Installation
Running the code
Troubleshooting

joint_limits
tool_urdf
ur5_w_tool_urdf
meshes

Launch setup assistant

roslaunch ur5_moveit_config_beumer setup_assistant.launch

Connect to real robot

roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=<ip_of_robot>

See real robot in RViz

roslaunch ur_robot_driver example_rviz.launch 

Training
Validation
Test

$ catkin_make does not work, use $ catkin_make_isolated insted

This is a project in collaboration with BEUMER Group, to suggest a bin_picking algorithm.

• install tenserflow
• intall mask rcnn
• check transformations from robot base to parcel is correct
• Define dropoff place

Tasks are complete 🎉

git clone https://github.com/MadsRossen/P6_project

cd P6_project
source devel/setup.bash

# or 
    nano ~/bashrc
    # On new line:
    cd ~/{Path_To_catkin_WS}/P6_project
    source devel/setup.bash 
catkin_make
catkin_make_isolated

Robot running

roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=172.22.22.3

Go to the UR5 teachpendent and run the ext2660.urdp file.

roslaunch robot_prototype robot_prototype.launch

This will launch the planning, Rviz and and main code of the robot

• check that it has the corrct IP in teachpendent -> Setup robot -> Network -> IP address 172.22.22.5
• Host IP on teachpendent -> Program robot -> Load Program -> ext2660.urp -> Installation -> External control Host IP: 172.22.22.3
• Wifi should be disabled
• Wired connection is enabled
• Wired settings IPv4 IP is set to: 172.22.22.3
• Check that the firewall is disabled for ubuntu running:

sudo ufw status

else

sudo ufw disable

To get going with the deteqctor, we first need the following packages, that must be installed.

Version control is critical for cross-functionality.

python3 -m pip install tensorflow==1.15.0
python3 -m pip install keras==2.2.5
python3 -m pip install h5py==2.10.0