CWRU ARIAC

ARIAC (Agile Robotics for Industrial Automation Competition) is a competition hosted by the National Institute of Standards and Technology (NIST).

TeamCase

The cwru_ariac Package

Core code for complete ARIAC competition see cwru_ariac Readme

For Final Competition:

• Start ariac environment with any command from the following qualifiers or from setup

rosrun osrf_gear gear.py -f `catkin_find --share osrf_gear`/config/qual3b.yaml `rospack find cwru_ariac`/config/final.yaml

• Start robot move action server:

rosrun robot_move_as robot_move_as

• Start the laser speedometer:

rosrun cwru_ariac laser_speedometer_bae

• Run the competition code:

rosrun cwru_ariac competition_main

• (Alternative) start by launch file:

roslaunch cwru_ariac run_comp.launch

Qualifier 1:

For qual1a:

rosrun osrf_gear gear.py -f `catkin_find --share osrf_gear`/config/qual1a.yaml `rospack find cwru_ariac`/config/qual1.yaml

OR, for qual1b:

rosrun osrf_gear gear.py -f `catkin_find --share osrf_gear`/config/qual1b.yaml `rospack find cwru_ariac`/config/qual1.yaml

Then run:

rosrun robot_move_as robot_move_as

rosrun cwru_ariac qualifier1

Qualifier 2:

For qual2a:

rosrun osrf_gear gear.py -f `catkin_find --share osrf_gear`/config/qual2a.yaml `rospack find cwru_ariac`/config/qual2.yaml

OR, for qual2b:

rosrun osrf_gear gear.py -f `catkin_find --share osrf_gear`/config/qual2b.yaml `rospack find cwru_ariac`/config/qual2.yaml

Then run:

rosrun robot_move_as robot_move_as

rosrun cwru_ariac qualifier2

Qualifier 3:

For qual3a:

rosrun osrf_gear gear.py -f `catkin_find --share osrf_gear`/config/qual3a.yaml `rospack find cwru_ariac`/config/qual3.yaml

OR, for qual3b:

rosrun osrf_gear gear.py -f `catkin_find --share osrf_gear`/config/qual3b.yaml `rospack find cwru_ariac`/config/qual3.yaml

Then run:

rosrun robot_move_as robot_move_as

rosrun cwru_ariac qualifier3

How to start up the simulation:

See: Setup

Update ARIAC

The lastest ARIAC version as of 6/11/17 is 1.1.4 We will always keep using the lastest ARIAC version.

To check your current ARIAC version, run following command:

dpkg -s ariac|grep Version

To update your ARIAC, run following commands:

sudo apt-get update
sudo apt-get upgrade ariac

ARIAC LASER SCANNER NOTES

Version MK1

Will

16/5/17

1. Start the laser speedometer:

   rosrun cwru_ariac laser_speedometer_bae

2. Start a laser scanner untility test node:

   rosrun cwru_ariac laser_scanner_test

   (If you choose to output the images and .csv files, they will be stored under the directory where you run the node.)

3. To control the conveyor belt:

   rosservice call /ariac/conveyor/control "state: {power: 0}"

   (Set the power value yourself.)

4. The topic /ariac/latest_conveyor_part is used to publish whatever is the last part that has passed laser_profiler_2.