jimmeex / ur5_t2_4230

ROS UR5 Pick & Place Simulation Environment

I am a...

• 💻 Frontend Software Engineer
• 🎓 Mechatronics & Comp Sci Graduate

I love...

• 🏄‍♂️ App surfing
• 🛠 Automating my life
• 🎓 Learning & Teaching

I know some...

• 🕸 Web Dev
• 🤖 Robotics
• 📊 Data Science

and I sometimes...

• 🎱 Play Snooker
• 📺 Watch Anime
• 🎵 Vibe to Jpop

 

 

 

If you wanna raise some questions, share some cool projects or just throw a hello, feel free to reach me at [email protected]!

Nice to meet you  \( ﾟ∇ ﾟ)/

ur5_t2_4230's Issues

Research & Implementation of Break Beam Proximity Sensor

Considerations

• ProximityRayPlugin (source, Zhang Yizhe 2018)

Web GUI notification system

sometimes containers will not spawn

Potential Solutions

• Trigger Respawn of Container after 10 seconds and no container
• Service Based Container Spawning

Control/Main Flow of Gazebo World Components

Controls the Gazebo Environment (conveyor, robot, proximity sensor) based on triggers/inputs from other modules.
Specific functionalities are still vague.

Considerations

• conveyor_out should stop when a new order is detected by break_beam_out
• conveyor_out should start on trigger (ie, when the order is finished) [maybe requires a separate "order" node]
• conveyor_in should stop when a desired object hits the break_beam_in [requires cooperation of vision]
• conveyor_out should start when the desired object has been collected and put into the container, and the robot returns to the original position for collection [requires co-operation of motion]

Migration of Components

Migration of components into our github repo to ensure consistency, and that changes in models can be shared amongst the team

• Migrate RGB-D Kinect Component
• Migrate UR5 Model

Vision Optimisations

• Move Figure Outputs to Web GUI
  • imshow() forces the computer to 'focus' on the image window which is intrusive
• Move Vision to Python-ROS based
  • Convenience in running (just one launch file)
  • Communication between MATLAB && Python-ROS is very slow (current takes around 2 seconds to send & receive)
• Weird memory-related errors when the system runs for an extensive amount of time

Gazebo Optimisations

• Weight/Inertia Model to Objects + Containers
• Sometimes vacuum gripper does not grab a block
• Conveyor Belt Shift

Attach vacuum gripper to UR5

• Find/Create Gripper Model
• Add plugin to enable/disable suction functionality

Generate Gazebo World

Generate all objects with correct position & orientation in Gazebo. This comprises:

• Conveyor
• UR5
• Break Beams
• RGB-D Camera
• Objects & Container (start of conveyor)
  I think only the .launch file and spawner.py needs to be edited.

Generate Objects

Visuals

• Add sticker-like "shape" representation on top (could consider all faces)
• Modify visual colour

Generation

• Function to spawn object (inputs {location, colour, shape} in Gazebo)

(might add more later)

Motion Optimisations

• Sometimes the robot will rotate unexpectedly (eg, when the object is very close to the robot)

Removal of objects when they reach a certain point on a conveyor

Justification for this

• Prevents object clutter
• Minimises Gazebo lagging (from lots of objects)