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_pkgnxx.yaml
          • 5.1.4.1.1. Description
        • 5.1.4.2. pkgnxx_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_pkgnxx.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
  • »
  • 5. API Documentation »
  • 5.1.2. Message Files

5.1.2. Message FilesΒΆ

  • 5.1.2.1. Camera1Image.msg
  • 5.1.2.2. DispatchedPackage.msg
  • 5.1.2.3. NewOrder.msg
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© Copyright 2021, Rahul, Team Leader VB#0574.

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