ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
kmriiwa_ws repositorykmr_behaviortree kmr_bringup kmr_communication kmr_manipulator kmr_moveit2 kmr_msgs kmr_navigation2 kmr_simulation kmr_slam |
Repository Summary
| Description | Repository for specialization project and master thesis in Robotics & Automation, at NTNU 2019/2020 |
| Checkout URI | https://github.com/ninamwa/kmriiwa_ws.git |
| VCS Type | git |
| VCS Version | eloquent |
| Last Updated | 2020-06-10 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| kmr_behaviortree | 0.0.0 |
| kmr_bringup | 0.0.0 |
| kmr_communication | 0.0.0 |
| kmr_manipulator | 0.0.0 |
| kmr_moveit2 | 0.0.0 |
| kmr_msgs | 0.0.0 |
| kmr_navigation2 | 0.0.0 |
| kmr_simulation | 0.0.0 |
| kmr_slam | 0.0.0 |
README
kmriiwa_ws
Repository for master thesis and specialization project in Robotics & Automation, at NTNU Fall 2019, by Charlotte Heggem and Nina Marie Wahl.
Intention: This project aims to create a communication API between a KUKA robot, KMR iiwa, and ROS2. Multiple ROS packages are used for including functionality. Navigation2 is used for navigating the mobile vehicle. Cartographer and RTAB-Map is used for SLAM. MoveIt2 is used for path planning for the manipulator.
Multiple Intel Realsens D435 cmeras are used to provide better moving and detection of objects. A Robotiq gripper is used for picking up objects. The cameras and gripper are launched at a separate onboard computer (Intel NUC).
System requirements:
- Ubuntu 18.04.3
- Python 3.6.9
- ROS Eloquent
Required ROS Packages:
- Gazebo packages
- Navigation2
- MoveIt2
- Cartographer
- RTAB-Map ROS wrapper (dependent on RTAB-Map)
- Ros2 Intel Realsense (ROS2 Wrapper for Intel® RealSense™ Devices)
- ROS2 Openvino Toolkit (dependent on OpenVino Toolkit)
- ROS2 Object Analytics
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.