cwru_ariac_2018

for NIST ARIAC competition

Start up one of the simulation scenarios (choose 1 from below):

rosrun osrf_gear gear.py -fcatkin_find --share --first-only osrf_gear/config/quals/qual2a.yaml ~/ros_ws/ariac-docker/team_config/team_case_config/qual2_config.yaml

rosrun osrf_gear gear.py -fcatkin_find --share --first-only osrf_gear/config/quals/qual2b.yaml ~/ros_ws/ariac-docker/team_config/team_case_config/qual2_config.yaml

rosrun osrf_gear gear.py -fcatkin_find --share --first-only osrf_gear/config/sample_dropped_products.yaml ~/ros_ws/ariac-docker/team_config/team_case_config/qual2_config.yaml

rosrun osrf_gear gear.py -fcatkin_find --share --first-only osrf_gear/config/sample_interruption1.yaml ~/ros_ws/ariac-docker/team_config/team_case_config/qual2_config.yaml

rosrun osrf_gear gear.py -fcatkin_find --share --first-only osrf_gear/config/sample_interruption2.yaml ~/ros_ws/ariac-docker/team_config/team_case_config/qual2_config.yaml

rosrun osrf_gear gear.py -fcatkin_find --share --first-only osrf_gear/config/sample_not_enough_products.yaml ~/ros_ws/ariac-docker/team_config/team_case_config/qual2_config.yaml

rosrun osrf_gear gear.py -fcatkin_find --share --first-only osrf_gear/config/sample_order_update.yaml ~/ros_ws/ariac-docker/team_config/team_case_config/qual2_config.yaml

rosrun osrf_gear gear.py -fcatkin_find --share --first-only osrf_gear/config/sample_sensor_blackout.yaml ~/ros_ws/ariac-docker/team_config/team_case_config/qual2_config.yaml

rosrun osrf_gear gear.py -fcatkin_find --share --first-only osrf_gear/config/sample.yaml ~/ros_ws/ariac-docker/team_config/team_case_config/qual2_config.yaml

Start up 4 of our nodes:

Start up robot move action server: rosrun kuka_move_as kuka_behavior_as2

Start up the conveyor action server: rosrun conveyor_as conveyor_as

Start up the shipment selection service (this will get changed to a new name/version): rosrun optimizer_func dumb_optimizer

Start up the new shipment filler (top-level node): rosrun shipment_filler simple_shipment_filler_w_optimizer

tests:

see README in shipment_filler for example demo_order_filler