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kmriiwa_ws repositorykmr_behaviortree kmr_bringup kmr_communication kmr_manipulator kmr_moveit2 kmr_msgs kmr_navigation2 kmr_simulation kmr_slam |
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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.
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