ITRC Project

TODO

Localization

• April tag detector & publisher
• Create AprilTagMsg, AprilTagArrayMsg
• Create apriltag localization

Path planning

• Create path planning node
• Create path planning algorithm
• Create mobile base control system

Pick-And-Place

• Create Direct-Teaching client node
• Create manipulator controll system

State machine

• Create state machine in order to schedule all tasks

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Ros_bridge_server

Connect web page and ROS server

sudo apt-get install ros-humble-rosbridge-server

ros2 launch rosbridge_server rosbridge_websocket_launch.xml

Streaming using web_video_server

ros2 run web_video_server web_video_server

Building a website

python3 -m http.server

Access web site

http://ip:8000/web_interaction/index_ITRC.html

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MOVEIT2 Installation Guide

Prerequisites

Before installing MOVEIT2, ensure you have the following dependencies installed:

sudo apt install -y \
  build-essential \
  cmake \
  git \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget

Uninstall Any Pre-existing MoveIt Debians

sudo apt remove ros-$ROS_DISTRO-moveit*

Installation Steps

1. Clone the MOVEIT2 repository:

   git clone https://github.com/moveit/moveit2.git -b $ROS_DISTRO
   for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done
   rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

2. Install dependencies:

   rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO

3. Build the workspace:

   • Before build, fix src/moveit2/moveit_configs_utils/setup.py. Make tests_require=["pytest"] disabled

   colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release

Verifying the Installation

To verify that MOVEIT2 has been installed correctly, run the following command:

ros2 launch moveit2_tutorials demo.launch.py

If everything is set up correctly, you should see the MOVEIT2 demo running.

Additional Resources

• MOVEIT2 Documentation
• MOVEIT2 Tutorials

For further assistance, refer to the MOVEIT2 GitHub repository or join the ROS Discourse community.