ECE470 Final Project

Summary

This is the final project for ECE470 - Introduction to Robotics. This project utilizes camera sensor and forward/inverse kinematics to control the robot. The aim of the project is to allow the robot to perform a pick and place task given certain inputs.

Setting up Code (Project Update 2)

1. Clone this repository using git clone
2. Download Vrep/Coppeliasim
3. run ./Coppeliasim in the directory where Coppeliasim is downloaded
4. set up correct environment using the .ttt file (also need to use remoteAPI)
5. run simulation by executing the python file (e.g python3 project.py)

Setting up Code (deprecated - used for Project Update 1)

1. Make catkin workspace:
   • mkdir -p catkin_ws/src
   • cd catkin_ws/src
   • catkin_init_workspace
   • cd ~/catkin_ws/src/
2. Clone this repository under catkin_ws/src using git clone
3. Do catkin_make under catkin_ws/
4. source for every new command prompt - source devel/setup.bash
5. Optional (taken care in roslaunch): In one command prompt, launch roscore - roscore
6. In a new command prompt, roslaunch ur3_driver ur3_gazebo.launch
7. In catkin_ws/src/projectandDriver/projectpkg_py/scripts - chmod +x project.py
8. rosrun lab2pkg_py project.py --simulator True