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