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COMP0129-CW3: Franka Emika Panda Pick And Place

Created by Yuzhou Cheng, Zeyu Chen, Jeffrey Li of team 5 as part of COMP0129 Coursework 3, the instructions are detailed in COMP0129-S24__CW3.pdf

Prerequisites

To run this task, the following environment and packages are required:

  • Ubuntu 20.04
  • ROS Noetic
  • Point Cloud Library (PCL)
  • MoveIt

Usage

You would first need to clone from the following coursework repository:

git clone https://github.com/COMP0129-UCL/comp0129_s24_labs

Copy and paste (or simply link the file) to the coursework repository then follow these steps to build the project and run the solution:

  1. Build the project using catkin:

    Navigate to your catkin workspace root (where your src directory is located) and run:

    catkin build

  2. Source the setup file to set up your environment:

    Once the build is complete, you need to source the setup file to make ROS aware of the new packages:

    source devel/setup.bash

    Note: You should run this command from the root of your catkin workspace. If you open a new terminal, you'll need to source this file again, or you can add it to your .bashrc or .zshrc to source it automatically.

  3. Launch the solution:

    Finally, to run the solution, use the roslaunch command with your package name and launch file:

    roslaunch cw3_team_5 run_solution.launch

    This command will start the ROS nodes and bring up any necessary components as defined in your run_solution.launch file.

  4. Launch the solution: Then open another terminal to run:

rosservice call /task 1
rosservice call /task 2
rosservice call /task 3

The task will be working.

Description

Task 1

alt text The goal of task 1 is to use a robotic arm to pick up nought/cross and place it into a brown basket. The coordinates are randomly generated and are given in the /task 1 service request.

Task 2

alt text The goal of Task 2 is to determine which reference shape the mystery shape matches. The coordinates of the shapes are randomly generated during and are given in the /task 2 service request.

Task 3

alt text The goal of Task 3 is to count the total number of shapes, excluding the black obstacles and determine which shape is more common, and pick up and place the most common shape while avoiding obstacles.

Troubleshooting

When running this package, you might encounter instances where the process dies unexpectedly or where the robotic arm stops in the middle of executing a task, especially for task 3. In such cases, it's recommended to gracefully stop the running process using ctrl+C and then restart the application by following these steps in the terminal:

catkin build
source devel/setup.bash
roslaunch cw1_team_x run_solution.launch

And in another terminal again run:

rosservice call /task 1
rosservice call /task 2
rosservice call /task 3