The aim of Task 1 is to get you ready with small chunk of codes in simulation for further full theme implementation.

Update your repository before you move ahead with TASK 1

• Assuming that you have already cloned eYRC - Cosmo Logistics Repo during your Task 0. If not then you can directly clone this repo using git clone https://github.com/eYantra-Robotics-Competition/eYRC-2023_Cosmo_Logistic.git and move ahead with the Task 1.

• For ones who have used this repository before, and have any changes done (if you don't want to loose any changes, you can use git status to see if you have done any) then first stash your changes using following command-

  (NOTE: Navigate inside the src folder of your workspace, before proceeding further)

  git stash
  

• Then pull the updated Task 1 commits from the repo using-

  git pull
  git checkout tags/v1.1.1 . # if doesn't work try `git fetch` and try again
  

• And again pop your changes you've made before from stash using-

  git stash pop
  

Note :

• For ones who haven't changed any file, can directly run git pull and continue.

For directly starting with Task 1A

sudo apt-get install ros-humble-joint-state-broadcaster ros-humble-joint-trajectory-controller ros-humble-controller-manager

• Do colcon build to build the workspace with updated packages.

• NOTE: After any changes in any files, to reflect the same on workspace you need to do colcon build

• If you want to skip this step of building every time a file (python script) is changed (note: this doesn't include addition of file or addition of folder), you may use the colcon build --symlink-install parameter with the build command. (Surf over the internet to find more about it)

This task is divided into three parts:

1A Object Pose Estimation

Locating Aruco in the world with respect to arm

1B Arm Manipulation using Moveit

Manipulating Robotic Arm using Moveit framework

1C Autonomous Navigation using Nav2

Navigating eBot in gazebo environment using Nav2

Learning Resources for Task 1