sorting_bot

Project to do selective sort with open source robots.

Installation

cd ~/ros2_ws
git clone git@github.com:TheoMF/sorting_bot.git src/sorting_bot
vcs import --shallow --recursive src < src/sorting_bot/dependencies.repos
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Launch

Simulation

Simulation is launched with commands

# Simulation for SO-101
ros2 launch so_100_arm gazebo.launch.py gz_headless:=false

# Simulation for Le Kiwi
ros2 launch lekiwi lekiwi_full.launch.py use_rviz:=true use_fake_hardware:=true

ros2 launch sorting_bot detection_simulator.launch.py
ros2 launch sorting_bot joint_trajectory_publisher.launch.py robot_name:=<robot_name>

Experiment

Experiment is launched with commands

ros2 launch so_100_arm hardware.launch.py
ros2 launch so_100_arm rviz.launch.py
ros2 launch sorting_bot apriltag_detection.launch.py
ros2 launch sorting_bot joint_trajectory_publisher.launch.py robot_name:=<robot_name>