- The porpose of simulation is to test our algorithms for our project E-waste Non destructive disassembly
- There are screw driver at the endeffector that can rotate at different speed integrated with 6 axis force sensor
When running the simulation theres a sequance you must follow
- install the dependencies
rosdep install --from-paths src --ignore-src -r -y
- install Coppeliasim of version EDU from the following link https://www.coppeliarobotics.com/downloads
- Run
roscore
⚠️ you do this before running the simulator
cd <coppeliasim_folder>
cd src/CoppeliaSim/
./coppeliaSim.sh
- then open the scene you want at path ABB-IRB120-Coppeliasim-Moveit-Simulation/src/abb_irb_sim_v2/scene
there 2 scene :- scene without camera (for controlling purpose)
- scene with depth and RGB camera note : you can find the scene at ABB-IRB120-Coppeliasim-Moveit-Simulation/scr/abb_irb_sim_v2/scene
- launch the sync and connector between moveit and coppeliasim after playing the simulator or press the play icon
▶️
cd ABB-IRB120-Coppeliasim-Moveit-Simulation
source devel/setup.bash
roslaunch sim_environment LaunchConnector.launch
If you stopped the simulator in any case you must close moveit tool (step4) and close the sync and connector node after paly the simulator then re-open them again (repeat step 3)
I have construct a python module that facilite the controling of the robot in moveit that called Robot_contol.py
the module contain two classes :
class RobotControl
'''
This class contain module that facilitate the controll of the robot using moveit
'''
class frames_transformations
'''
this class is used to put and tarnsform frames in the tf tree
'''