Welcome to Task 5


Task - Dock, Pick and Place multiple boxes

Dock the rack using ebot towards robot arm and pick and place in dropbox

NOTE: You will be provided with the same workspace where you left off in task 4. If any team requires a fresh start, are free to do so in the same workspace. This time this single workspace will include all of your eBot and Arm packages.

Task

  • In this task you have to bring two racks present in the arena towards UR5 arm and need to pick/drop 3 boxes.

  • One Rack with a box will be present on right hand side of UR5 arm, while other two are required to bring by eBot.

  • Start eBot navigation bringup launch using ros2 launch ebot_real_nav2 ebot_nav2_brinup.launch.py command.

  • If a team is using imu fusion (ekf filtering) then make sure you also run the imu duplication node using ros2 run ebot_control duplicate_imu command.

  • Make sure you reset odometry using reset_odom service whenever you start from home position for better performance.

  • You may use imu reset service to reset_imu when you feel/observe the imu values are varying too much. It is individuals call when to reset this.

  • (Not recommended) To reset arduino, you may use usb_relay_sw service with relay channel = 0 (for explanation, refer to accessories section of task 4A documentation)

  • Navigate to the specified rack having the package mentioned in the configuration file as package_id. You can use the yaml python module to read the values.

    • (If the above link doesn't work, try to copy the content given below to a file named config.yaml, which should be created by you)

      position:
    - rack1: [6.5, 0.75, 1.57]
    - rack2: [1.15, -2.2, 0.0]
    - rack3: [0.5, 2.05, 0.0]
    - arm: [6.3, -0.05, 3.14]

package_id: [3, 2, 1]

    • Dock and bring the rack in front of the arm.

    • Find the TF of the aruco marker, and finally do manipulation of the robotic arm.

    • The arm should be able to pick the box from the rack and place it on the drop position (i.e. table kept behind the arm).

    • This is to be repeated for second rack

Explicit Rules for task 5:

  • Once you start the task, no starting or stopping of any scripts are allowed during the run.
    • You can create your launch files and scripts if required, you are free to use your workspace.
    • Also, the navigationa, docking, robot footprint updates, service call for docking completion and start arm pick, etc. everything should be in one go as performed in task 4C.
  • You may use service calls or topic callbacks to communicate between eBot and Arm task completion status.
    • You are free to use any method for communication.
  • You cannot start the eBot apart from home position for navigation (during the final evaluation, meanwhile can use any pose for testing).
  • ECD, eBot correct drop points will be considered only when eBot drops rack in correct pose, detaches itself from rack by turning off the magnet and move ahead with come clearance.