eYRC VB#0574 Task 5
Contents
1. Software Specifications
2. Insatllations
2.1. ROS Installation
2.1.1. Installation Instruction
2.1.2. ROS Melodic Installation
2.1.3. Installation Steps
2.1.4. Configuration Steps
2.1.5. Additional packages to install
2.1.6. References
2.2. MoveIt! for ROS Melodic
2.3. Vargi Bots Simulation Packages
2.4. Paho MQTT Library
2.4.1. Installation Instruction
2.4.2. Example MQTT Pub-Sub
2.4.2.1. sub.py
2.4.2.2. pub.py
2.4.3. References
3. Introduction
3.1. Overview
3.1.1. Strategies used to save time
3.2. Video Demonstration
4. Implementation
4.1. Setting up Gazebo and Planning Scene
4.2. Saving Trajectories
4.2.1. Determining Execution Time
4.2.2. Automate Trajectory Saving
4.3. QR Detection
4.4. Ros-IoT Bridge Setup
4.5. Order Handling
4.6. Picking Up Packages From Shelf
4.6.1. There are no orders to process for now
4.6.2. There are orders to process
4.7. Placing Packages in the Bin
4.7.1. Deciding position to pickup the package
4.7.2. Keeping the Conveyor Belt running
4.7.2.1. When UR5#2 arm is free
4.7.2.2. When UR5#2 arm is busy
4.8. Dashboard
4.8.1. Map
4.8.2. Table
4.8.3. Bar Graph
4.9. RQT Graph
5. API Documentation
5.1. Package Task 5
5.1.1. Python Scripts
5.1.1.1. node_ur5_1_pick
5.1.1.2. node_ur5_2_place
5.1.1.3. incoming_order_handler
5.1.1.4. qr/qr_decode
5.1.2. Message Files
5.1.2.1. Camera1Image.msg
5.1.2.1.1. Description
5.1.2.1.2. Parameters
5.1.2.2. DispatchedPackage.msg
5.1.2.2.1. Description
5.1.2.2.2. Parameters
5.1.2.3. NewOrder.msg
5.1.2.3.1. Description
5.1.2.3.2. Parameters
5.1.3. Launch Files
5.1.3.1. task5_solution.launch
5.1.3.1.1. Description
5.1.3.1.2. Job
5.1.4. YAML Files
5.1.4.1. home_to_pkgn
xx
.yaml
5.1.4.1.1. Description
5.1.4.2. pkgn
xx
_to_home.yaml
5.1.4.2.1. Description
5.1.4.3. home_to_waiting_pose_1.yaml
5.1.4.3.1. Description
5.1.4.4. waiting_pose_1_to_pkgn
xx
.yaml
5.1.4.4.1. Description
5.1.4.5. home_y_to_xxx_bin.yaml
5.1.4.5.1. Description
5.1.4.6. xxx_bin_to_home_y.yaml
5.1.4.6.1. Description
5.2. Package Ros-IoT Bridge
5.2.1. Python Scripts
5.2.1.1. node_action_server_ros_iot_bridge
5.2.1.2. pyiot/iot
5.2.2. Message Files
5.2.2.1. msgMqttSub.msg
5.2.2.1.1. Description
5.2.2.1.1.1. Parameters
5.2.3. Action Files
5.2.3.1. msgRosIot.action
5.2.3.1.1. Description
5.2.3.1.2. Parameters
5.2.3.1.2.1. Goal
5.2.3.1.2.2. Feedback
5.2.3.1.2.3. Result
5.2.4. Config Files
5.2.4.1. config_pyiot.yaml
5.2.4.1.1. Description
5.2.4.1.2. Parameters
5.2.4.1.2.1. MQTT
5.2.4.1.2.2. Google Apps
eYRC VB#0574 Task 5
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5. API Documentation
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5.1.4. YAML Files
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5.1.4.3. home_to_waiting_pose_1.yaml
5.1.4.3. home_to_waiting_pose_1.yaml
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5.1.4.3.1. Description
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Saved trajectory to go to the waiting position from home position for UR5#1 arm.