Pick and Place with TIAGO Robot in ROS2

Team project for Intelligent Robotics course in University of Padua, 2023

Team members: Mohamed Abdelwahab, Victor Miguel, Onur Akman

Docs

• Instructions: Instructions for this project, tasks and additional requirements.
• Report: Our final report, our approach and reasoning.

1) Building the workspace

$ cd ~/tiago_public_ws
$ catkin build

2) Starting the simulation:

$ roslaunch tiago_iaslab_simulation start_simulation.launch world_name:=ias_lab_room_full_tables

3) Starting the apriltag:

$ roslaunch tiago_iaslab_simulation apriltag.launch

4) Starting the navigation:

$ roslaunch tiago_iaslab_simulation navigation.launch

5) Running the human node:

$ rosrun tiago_iaslab_simulation human_node

6) Configuring paramteres

Go to /config directory inside our package that will depend on where you put the files in your machine

$ cd ~/tiago_public_ws/src/ir2223_group_19/tiago_iaslab_simulation/config
$ rosparam load param.yaml

7) Starting the detection node:

Go to /scripts directory inside our package that will depend on where you put the files in your machine

$ cd ~/tiago_public_ws/src/ir2223_group_19/tiago_iaslab_simulation/scripts
$ chmod +x *.py
$ rosrun tiago_iaslab_simulation tags_process.py

or,

$ python tags_process.py

Note:

If you encounter this error

/usr/bin/env: ‘python\r’: No such file or directory

Do the following inside /scripts directory:

$ sudo apt install dos2unix
$ dos2unix *.py

8) Starting the navigation server:

$ cd ~/tiago_public_ws/src/ir2223_group_19/tiago_iaslab_simulation/scripts
$ rosrun tiago_iaslab_simulation move_srv.py

or,

$ python move_srv.py

9) Starting the pick server:

$ cd ~/tiago_public_ws/src/ir2223_group_19/tiago_iaslab_simulation/scripts
$ rosrun tiago_iaslab_simulation pick.py

or,

$ python pick.py

10) Starting the place server:

$ cd ~/tiago_public_ws/src/ir2223_group_19/tiago_iaslab_simulation/scripts
$ rosrun tiago_iaslab_simulation place.py

or,

$ python place.py

11) Finally, starting the main node:

$ cd ~/tiago_public_ws/src/ir2223_group_19/tiago_iaslab_simulation/scripts
$ rosrun tiago_iaslab_simulation main.py

or,

$ python main.py

Report and video link

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