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It's an enpm663, coursework assignment, on competition called as ariac using ros2.

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ENPM663 ARIAC Group2

  • ARIAC task flow for Kitting task, using ROS2 (Galactic), c++, moveit, Yolo and Python.

Team Members:

  1. Yashveer Jain
  2. Mayank Sharma
  3. Abraruddin Syed
  4. Dhruv Sharma

Instructions to run rwa4

Make sure that the trial file rwa4_spring2024.yaml is put in the ariac_gazebo package in the config folder. Then do the following steps to run:

  • Clone the package in the src of the ARIAC workspace
  • cd in to the workspace ariac_ws/
cd ariac_ws/
  • Build the package using

    colcon build --packages-select robot_commander_msgs
    colcon build --packages-select rwa5_2
  • Run in the chronology

    • First terminal
    source install/setup.bash
    
    ros2 launch rwa5_2 move_robot.launch.py
    ros2 launch rwa5_2 ariac_interface.launch.py 
    • Second terminal
    source install/setup.bash
    
     ros2 launch ariac_gazebo ariac.launch.py trial_name:=final_spring2024 sensor_name:=sensors competitor_pkg:=rwa5_2

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  • Python 56.8%
  • C++ 41.8%
  • CMake 1.4%