The aim of Task 2 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 2

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

git stash

• Then pull the updated Task 2 commits from the repo using-

git pull

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

git stash pop

For directly starting with Task 2 - (Make sure you are inside the src folder before executing these commands)

pip3 install cryptocode
sudo cp libgazebo_link_ur5_attacher.so /usr/lib/x86_64-linux-gnu/gazebo-11/plugins/
sudo cp libgazebo_link_attacher.so /usr/lib/x86_64-linux-gnu/gazebo-11/plugins/

(If it doesn't work in the task (i.e. if the plugins are not loaded), replace the plugin path with the output you are getting with $GAZEBO_PLUGIN_PATH)

• 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 two parts:

2A Manipulation with vision

Locating Aruco in the world with respect to arm and picking the boxes

2B Dock and Place

Move the rack around using ebot