Pallet Pick and Place

Installation Instructions

1. Install autolab_core, pyyaml, rospkg, pyquaternion

   pip install autolab_core pyyaml rospkg pyquaternion

2. Copy the dummy config to yk-god

   scp config/dummy-1920x1080.conf mfi@yk-god:~/

3. Add the following to the .bash_aliases file on yk-god

   alias start_dummy_screen='sudo X -config dummy-1920x1080.conf'

4. Install testbed_lin_actuator and testbed_camera_utils to yk-god.
5. Copy over the yk_god.launch file to yk-god

   scp launch/yk_god.launch mfi@yk-god:~/

Running Instructions

1. Enable the dummy screen on yk-god

   ssh mfi@yk-god
   mfi@yk-god$ start_dummy_screen

2. Start the linear actuator server, cameras, and amr detection on yk-god

   ssh -X mfi@yk-god
   mfi@yk-god$ export DISPLAY=:0
   mfi@yk-god$ roslaunch yk_god.launch

3. Start the pallet pick and place server for each robot using the namespace argument

   roslaunch pallet_pick_and_place pallet_pick_and_place_server.launch namespace:=yk_creator

4. Start the resource server

   roslaunch pallet_pick_and_place yk_robots_resource_server.py

5. Send a pick and place command

   python
   import requests
   task1 = {'msgType': 'StartTask', 'taskId': 1, 'name': 'unloadKit', 'resources': ['robotArm1', 'amr2'], 'structureType': 'human', 'location': 'Robot-Arm-1'}
   task2 = {'msgType': 'StartTask', 'taskId': 2, 'name': 'assembleStructure', 'resources': ['robotArm1'], 'structureType': 'human', 'location': 'Robot-Arm-1'}
   task3 = {'msgType': 'StartTask', 'taskId': 3, 'name': 'loadStructure', 'resources': ['robotArm1', 'amr2'], 'structureType': 'human', 'location': 'Robot-Arm-1'}
   task4 = {'msgType': 'StartTask', 'taskId': 4, 'name': 'unloadStructure', 'resources': ['robotArm1', 'amr2'], 'structureType': 'human', 'location': 'Robot-Arm-1'}
   task5 = {'msgType': 'StartTask', 'taskId': 5, 'name': 'disassembleStructure', 'resources': ['robotArm1'], 'structureType': 'human', 'location': 'Robot-Arm-1'}
   task6 = {'msgType': 'StartTask', 'taskId': 6, 'name': 'loadKit', 'resources': ['robotArm1', 'amr2'], 'structureType': 'human', 'location': 'Robot-Arm-1'}
   requests.post('http://192.168.1.2:9089/execution', json=task1)