shannon112 / ivorycastle

Mutiple mobile robot spawning and integral applications in simulation/real world

IvoryCastle

AI Enhanced Human Machine Interactive Autonomous Mobile Industrial Robot (AMIR) for Factory of the Future
人工智慧增益之人機互動 自主移動工業機器人 於未來工廠之應用

Authors:

Shannon Lee	Wen, Yu-Cheng	Hsu, Lung-Chuan	Hsu, Chin-Hao	Yeh, Huan-Chun	Perng, Yi-Wen
李尚倫	温郁承	許隆銓	許晉豪	葉煥駿	彭鐿文
@shannon112	@warmtub	@EvanChuan	@Herobrixx	@jkllbn2563

Advisor: Professor Ren C. Luo

Hornor: 2019 Robot Competition 1st Award

Video1: https://youtu.be/yHky6F8iHWY
Video2: https://youtu.be/8aJM-JCGF24
Slide: https://www.slideshare.net/secret/rMmLY7cnRUUaGj

branchs

pmccontest_default: 2019 Robot Competition
adlinkdemo: factory pipeline for adlink
pmccontest: multiple robot spawning with NS
third-party-boys: auto chargep pipeline in maze

Getting Started

# Main control loop
scorpio_arm_ros_control/src/hardware_transmission_common.cpp
void HwTmIntf::update()

# Testing: calibrate translation and rotation of base
roslaunch pmc_application sghero_testing.launch 

# Testing: Simple get end point, and make arm to move to assigned point or init pose (w/ tf_prefix)
roslaunch pmc_application sghero_bringup_real_controlonly.launch 
rosrun scorpio_bringup getcurrentpose.py
rosrun scorpio_bringup simple_moving.py 
rosrun scorpio_bringup init_move.py
rosrun scorpio_bringup zero_move.py	

# Testing: Using moveit gui to move (w/o tf_prefix)
roslaunch pmc_application sghero_bringup_real_armball.launch

# Integration demo
roslaunch pmc_application sghero_bringup_real_amir.launch 
(roslaunch pmc_application sghero_bringup_real_amr.launch)
(roslaunch pmc_application sghero_init_pose.launch)
roslaunch pmc_application sghero_functions.launch 

Dependences

neronbot:
leg_detector: https://github.com/Herobrixx/people.git -b ros1
neronbot: https://github.com/willie5588912/neuronbot -b multi-bots
ira_factory: https://github.com/willie5588912/ira_factory -b multibots
ros_aiml: https://github.com/jkllbn2563/ros_aiml master

scorpio: (using the newest code before 2019.08.23)
IvoryCastle: https://github.com/shannon112/IvoryCastle -b pmccontest_default
scorpio: https://github.com/willie5588912/scorpio -b pmc_sghero_merge (simulation with scorpio_ethercat removed)
ira_factory: https://github.com/willie5588912/ira_factory -b pmc_sghero (scorpio)
image_caption_PMC: https://github.com/jkllbn2563/image_caption_PMC -b pmc_sghero
robot_arm_PMC: https://github.com/jkllbn2563/robot_arm_PMC -b pmc_sghero
leg_detector: https://github.com/Herobrixx/people -b ros1

icps demo world

roslaunch icps_gazebo iceira_icps_demo.launch

icps application

spawn two robot one camera at once with gmapping or amcl

roslaunch icps_application icps_demo_1Cam2Robot.launch
roslaunch icps_application icps_demo_nav_amcl.launch
roslaunch icps_application icps_demo_nav_gampping.launch

pmc demo world

roslaunch icps_gazebo iceira_pmc_demo.launch

pmc application

ira_factory dynamically generate robots (and its task nodes)

roslaunch pmc_application pmc_spawn.launch
roslaunch pmc_application project_spawn.launch

standalone robot generator launch w/o task nodes

roslaunch pmc_application neuron_bringup_sim.launch
roslaunch pmc_application neuron_init_pose.launch       #(optional)
roslaunch pmc_application neuron_functions_sim.launch