gilbreth's Introduction

Gilbreth

Robotic product handling simulation

Lillian Moller Gilbreth was an American psychologist and industrial engineer.

Getting Started

The project is based on Ubuntu 18.04, ROS Kinect, gazebo 9.0, wstool and catkin tools. Links to the instructions for installing ROS, Gazebo, etc. are provided below

Installation

Source the ROS environment script
```
 source /opt/ros/kinetic/setup.bash
```

Create a "gilbreth_ws" catkin workspace

 mkdir -p ~/gilbreth_ws/src
 cd ~/gilbreth_ws/
 catkin init

Fetch the gilbreth source code:

 cd ~/gilbreth_ws/src
 wstool init .
 wstool merge https://raw.githubusercontent.com/swri-robotics/gilbreth/kinetic-devel/gilbreth.rosinstall
 wstool update
 rosdep install --from-paths . --ignore-src -y

Build the workspace
```
 cd ~/gilbreth_ws
 catkin build
```

Visualize The Simulation Enviroment

Setup

Source the catkin workspace

 cd ~/catkin_ws
 source devel/setup.bash

View the URDF

   roslaunch urdf_tutorial display.launch model:=$(rospack find gilbreth_support)/urdf/gilbreth.xacro

It may be necessary to select "world" in the "Fixed Frame" drop down in the rviz window.

Run the Gazebo simulation environment

Launch the gazebo simulation environment:

roscd gilbreth_gazebo
roslaunch gilbreth_gazebo gilbreth_environment.launch rviz:=false

Use "rviz:=true" to show rviz

Activate the gripper:
```
rosservice call /gilbreth/gripper/control "enable: true"
```
Use "false" in order to turn off the gripper
Activate the conveyor:
```
rosservice call /gilbreth/conveyor/control "state: power: 100.0"
```
The "power" can range from 0.0 to 100.0. Use 0.0 to stop the conveyor
Start the part spawner:
```
rosservice call /start_spawn "{}"
```
This command will make parts appear on the conveyor at random intervals. The frequency, types of parts and other properties can be configured in this yaml file
Stop the part spawner
```
rosservice call /stop_spawn "{}"
```