lucbettaieb / cutting_task Goto Github PK

This an 'after the fact' repository for my final project for eecs397: software development for the darpa robotics challenge. The purpose of this project was to make ATLAS perform an intergrated wall-cut. First, a wall would be identified via a point cloud. Next, a poly-line would be created on that wall. After running certain computations, atlas would then 'cut'* the points of the polyline. It never worked 100%, but it did perform the behavior requested!

*not cut, trace.

Luc Bettaieb

Alex Marunowski - https://github.com/marunowskia

Buming Chen

Li Shao

https://www.youtube.com/watch?v=xvdxuhTOwYc

#####Setup instuctions (must run from drc_class repo) VRC_CHEATS_ENABLED=1 roslaunch hku_worlds drc_practice_task_6.launch

For better visibility, delete "starting pen" model. Move Atlas backwards but do not rotate him. Rotating causes issues. Move and rotate the cutout_wall model in front of Atlas at a reasonable distance.

rostopic pub --once /atlas/mode std_msgs/String '{data: "pinned_with_gravity"}'

^Do this to avoid further issues!

rosrun rviz rviz ...In rviz, Add LaserScan and Marker to the "Displays" panel. ...also should have a pointStamped rostopic pub --once /multisense_sl/set_spindle_speed std_msgs/Float64 '{data: 3.0}'

rosrun joint_space_planner_awm14 joint_space_planner_awm14

//////////////////////////////////////// rosrun CuttingTaskCoordinator cut_controller //////////////////////////////////////// AT FIRST BREAKPOINT perform the following steps:

rosrun wall_finder wall_finder_selected_points_node rostopic echo /plane_info ...Look at output of echo ...Manually select points in RViz using publish selected points. These should correspond to the wall. ...save these values ...ctrl-c wall_finder_selected_points_node

rosrun lxs_wall_cuttability_ik cuttability_region

rosrun lxs_polyline_vertices_selector polyline_vertices_selector rosrun lxs_polyline_marker polyline_marker_listener

...use publish selected points in rviz to select points for the polyline. ......pointStamped should be subscribed to /centroidStamped ......Marker should be subscribed to /polyline_marker_publisher

*...when you are ready to publish the polyline, send a 'click' by rostopic pub -r 10 click std_msgs/Bool 1

Now after your click is being published, bumings server is running

1. roslaunch fc_bringup sim_task_4.launch
2. rosrun sim_controller USER
3. rosrun example_filter foot_wrench_filter_node (for balance)
4. rosrun jacobian_publisher jacobian_publisher (for balance)
5. rosrun as ppas
6. rosrun as ppac

Now go back to the controller and enter 0 to exit the breakpoint. !!If nothing happens, ppac likely crashed. This is normal(?) Restart ppac and go through both breakpoints in the controller again Atlas should start moving!