kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

Repository Summary

Checkout URI https://github.com/ninamwa/kmriiwa_ws.git
VCS Type git
VCS Version eloquent
Last Updated 2020-06-10
Dev Status UNMAINTAINED
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 IntelĀ® RealSenseā„¢ Devices)
  • ROS2 Openvino Toolkit (dependent on OpenVino Toolkit)
  • ROS2 Object Analytics

CONTRIBUTING

No CONTRIBUTING.md found.

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository

kmriiwa_ws repository