From 2b1b32c85edc3f5b269ce93ca791d49deda50315 Mon Sep 17 00:00:00 2001 From: HrushikeshBudhale Date: Tue, 14 Dec 2021 13:51:49 -0500 Subject: [PATCH] [Task 3.17] Update index.html --- docs/html/index.html | 122 +++++++++------------- docs/latex/dcrobot_8cpp__incl.pdf | Bin 9359 -> 9359 bytes docs/latex/dcrobot__node_8cpp__incl.pdf | Bin 9912 -> 9912 bytes docs/latex/detect__object_8cpp__incl.pdf | Bin 9929 -> 9929 bytes docs/latex/grasp__object_8cpp__incl.pdf | Bin 10420 -> 10420 bytes docs/latex/index.tex | 121 +++++++++++---------- docs/latex/navigation_8cpp__incl.pdf | Bin 10309 -> 10309 bytes docs/latex/object__spawner_8cpp__incl.pdf | Bin 10917 -> 10917 bytes 8 files changed, 112 insertions(+), 131 deletions(-) diff --git a/docs/html/index.html b/docs/html/index.html index c4cf8ec..88a1d0a 100644 --- a/docs/html/index.html +++ b/docs/html/index.html @@ -73,65 +73,28 @@

Project Overview and Description

Since robots are being rapidly deployed for various domestic applications, Acme Robotics is looking to develop a domestic robot as a part of its 5-year product road-map. The robot called the "Domestic Decluttering Robot" will declutter the house floor by identifying different items, collecting them, and placing them at their desired location in the house. The robot will scout the house floor to detect and grasp the desired object. Once grasped, it will place the object at the predefined location. The robot will have a camera to identify the object, Lidar sensor to make a 3D map of the environment around it, and a 8 DOF robotic manipulator mounted on it.

-Presentation Video link

-

Video link: https://youtu.be/-lPjSiizmCI

-

-Presentation link

-

https://docs.google.com/presentation/d/1osl5vrxGRXqx1QkJhoWhC6rh83X2Kr2OMlprzH5XEH0/edit?userstoinvite=abhimah@umd.edu#slide=id.g107542cf1d8_6_10

-

-Robot Simulation link

-

Video link: https://youtu.be/NrRCCqRFqw4

-

-Development Team

-

-Sprint 1

- -

-Sprint 1

- -

-Sprint 1

+Documentation +

Doxygen generated documentation for developers can be found here

-

-Product Backlog

-

Product backlog can be found in google sheet

-

-Sprint planning notes

-

Sprint planning notes can found in google docs

-

-Deliverables

- -

-Activity Diagram

-

ACTIVITY DIAGRAM

-
-

-UML Class Diagram

-

UML Diagram

-
-

+

+Development Team

+ + + + + + + + + +
Sprint #1 #2 #3
Hrushikesh Budhale Driver Design Keeper Navigator
Abhijit Mahalle Navigator Driver Design Keeper
Ameya Konkar Design Keeper Navigator Driver
+

External Dependencies

-

-Known Issues/Bugs

-
-

Picking the object at certain positions and orientation is not possible for the robot.

-
-

-Installing Tiago package

-
Install Tiago packages using the link: http://wiki.ros.org/Robots/TIAGo/Tutorials/Installation/InstallUbuntuAndROS
-

-Building and running the Program

+

+Installation instructions

+

Install Tiago packages from wiki.ros.org

cd <catkin workspace>/src
sudo apt-get install git
git clone --recursive https://github.com/HrushikeshBudhale/decluttering_domestic_robot.git
cd ..
catkin build
source ./devel/setup.bash
-
roslaunch decluttering_domestic_robot simulation.launch
-

-To Build the Tests

-
Using Catkin Make: catkin_make tests
-

-To Run the Tests

-
rostest decluttering_domestic_robot main_test.test
-
+

Copy the existing SLAM configuration files and world file from cloned repo to the tiago directory using following command.

sudo cp -r src/decluttering_domestic_robot/configuration/smallHouse/ ~/.pal/tiago_maps/configurations/
+
sudo cp src/decluttering_domestic_robot/world/smallHouse.world /tiago_public_ws/src/tiago_simulation/tiago_gazebo/worlds/
+

For launching the simulation demo run following command. This will start a gazebo environment of a house with 5 rooms. Tiago robot will be spawned. Also a small blue color box will be spawned in a random location.

roslaunch decluttering_domestic_robot simulation.launch
+

Launch file can be used to record a bag file by passing rocord_bag argument as follows

roslaunch decluttering_domestic_robot simulation.launch record_bag:=true
+

+Tests

+

To Build the Tests using catkin_make run following command in your catkin workspace.

catkin_make tests
+

To run the test execute following command.

rostest decluttering_domestic_robot main_test.test
+

+Generating documentation

+

Run the following command in folder's root directory to generate new documentation

doxygen docs/doxygen_config.conf
+
+

+Activity Diagram

+

ACTIVITY DIAGRAM

+
+

+UML Class Diagram

+

UML Diagram

+
+

+Known Issues/Bugs

+

Picking the object at corner positions is not possible for the robot.

+
diff --git a/docs/latex/dcrobot_8cpp__incl.pdf b/docs/latex/dcrobot_8cpp__incl.pdf index 0e8ac33d0da879a5da3ae3fb985bc904eaa6263b..28f303ca3bfcd8f8f0014151b22914729209702d 100644 GIT binary patch delta 17 YcmeD8?DyPoRf)ye)WB%-O{Hy&06ne-ivR!s delta 17 YcmeD8?DyPoRf)yO*wAqEO{Hy&06mrlhyVZp diff --git a/docs/latex/dcrobot__node_8cpp__incl.pdf b/docs/latex/dcrobot__node_8cpp__incl.pdf index 9308b71b1a5303ae3913f75c889e4ed9ec3e7646..c911028feb03c4e8912f854a20055dc17702db45 100644 GIT binary patch delta 17 YcmdntyTf1egFUf diff --git a/docs/latex/grasp__object_8cpp__incl.pdf b/docs/latex/grasp__object_8cpp__incl.pdf index 69d84e4f0f6d52e99c744b1d628924a1dd21d66c..67733c6be7ea7f5b07ef7fb6c510db358f0d1ae2 100644 GIT binary patch delta 17 ZcmdlIxFvAIPc;@}Qv;*Tf7P}#0suw02Q~lz delta 17 ZcmdlIxFvAIPc;@JV?)Euf7P}#0suvz2QvTw diff --git a/docs/latex/index.tex b/docs/latex/index.tex index 2df9559..697db3e 100644 --- a/docs/latex/index.tex +++ b/docs/latex/index.tex @@ -1,51 +1,32 @@ \href{https://github.com/HrushikeshBudhale/decluttering_domestic_robot/actions/workflows/industrial_ci_action.yml}{\texttt{ }} \href{https://coveralls.io/github/HrushikeshBudhale/decluttering_domestic_robot?branch=main}{\texttt{ }} \href{https://opensource.org/licenses/MIT}{\texttt{ }} \hypertarget{index_autotoc_md0}{}\doxysection{decluttering\+\_\+domestic\+\_\+robot}\label{index_autotoc_md0} \DoxyHorRuler{0} \hypertarget{index_autotoc_md2}{}\doxysubsubsection{Project Overview and Description}\label{index_autotoc_md2} -Since robots are being rapidly deployed for various domestic applications, Acme Robotics is looking to develop a domestic robot as a part of its 5-\/year product road-\/map. The robot called the \char`\"{}\+Domestic Decluttering Robot\char`\"{} will declutter the house floor by identifying different items, collecting them, and placing them at their desired location in the house. The robot will scout the house floor to detect and grasp the desired object. Once grasped, it will place the object at the predefined location. The robot will have a camera to identify the object, Lidar sensor to make a 3D map of the environment around it, and a 8 D\+OF robotic manipulator mounted on it.\hypertarget{index_autotoc_md3}{}\doxysubsubsection{Presentation Video link}\label{index_autotoc_md3} -Video link\+: \href{https://youtu.be/-lPjSiizmCI}{\texttt{ https\+://youtu.\+be/-\/l\+Pj\+Siizm\+CI}}\hypertarget{index_autotoc_md4}{}\doxysubsubsection{Presentation link}\label{index_autotoc_md4} -\href{https://docs.google.com/presentation/d/1osl5vrxGRXqx1QkJhoWhC6rh83X2Kr2OMlprzH5XEH0/edit?userstoinvite=abhimah@umd.edu\#slide=id.g107542cf1d8_6_10}{\texttt{ https\+://docs.\+google.\+com/presentation/d/1osl5vrx\+G\+R\+Xqx1\+Qk\+Jho\+Wh\+C6rh83\+X2\+Kr2\+O\+Mlprz\+H5\+X\+E\+H0/edit?userstoinvite=abhimah@umd.\+edu\#slide=id.\+g107542cf1d8\+\_\+6\+\_\+10}}\hypertarget{index_autotoc_md5}{}\doxysubsubsection{Robot Simulation link}\label{index_autotoc_md5} -Video link\+: \href{https://youtu.be/NrRCCqRFqw4}{\texttt{ https\+://youtu.\+be/\+Nr\+R\+C\+Cq\+R\+Fqw4}}\hypertarget{index_autotoc_md6}{}\doxysubsubsection{Development Team}\label{index_autotoc_md6} -\hypertarget{index_autotoc_md7}{}\doxyparagraph{Sprint 1}\label{index_autotoc_md7} +Since robots are being rapidly deployed for various domestic applications, Acme Robotics is looking to develop a domestic robot as a part of its 5-\/year product road-\/map. The robot called the \char`\"{}\+Domestic Decluttering Robot\char`\"{} will declutter the house floor by identifying different items, collecting them, and placing them at their desired location in the house. The robot will scout the house floor to detect and grasp the desired object. Once grasped, it will place the object at the predefined location. The robot will have a camera to identify the object, Lidar sensor to make a 3D map of the environment around it, and a 8 D\+OF robotic manipulator mounted on it.\hypertarget{index_autotoc_md3}{}\doxysubsubsection{Documentation}\label{index_autotoc_md3} +Doxygen generated documentation for developers can be found \href{https://hrushikeshbudhale.github.io/decluttering_domestic_robot/docs/html/index.html}{\texttt{ here}} -\begin{DoxyItemize} -\item Driver -\/ Hrushikesh Budhale -\item Navigator -\/ Abhijit Mahalle -\item Design Keeper -\/ Ameya Konkar -\end{DoxyItemize}\hypertarget{index_autotoc_md8}{}\doxyparagraph{Sprint 1}\label{index_autotoc_md8} - -\begin{DoxyItemize} -\item Driver -\/ Abhijit Mahalle -\item Navigator -\/ Ameya Konkar -\item Design Keeper -\/ Hrushikesh Budhale -\end{DoxyItemize}\hypertarget{index_autotoc_md9}{}\doxyparagraph{Sprint 1}\label{index_autotoc_md9} - -\begin{DoxyItemize} -\item Driver -\/ Ameya Konkar -\item Navigator -\/ Hrushikesh Budhale -\item Design Keeper -\/ Abhijit Mahalle -\end{DoxyItemize}\hypertarget{index_autotoc_md10}{}\doxysubsubsection{Product Backlog}\label{index_autotoc_md10} -Product backlog can be found in \href{https://docs.google.com/spreadsheets/d/1uLx1TDejwb_q-EkkCh65zcsgOdo6YiGDN0ZlcO-tUYo/edit?usp=sharing}{\texttt{ google sheet}}\hypertarget{index_autotoc_md11}{}\doxysubsubsection{Sprint planning notes}\label{index_autotoc_md11} -Sprint planning notes can found in \href{https://docs.google.com/document/d/1j18MeeHkREd-rwEOQwoSgQbipBhqeb5pdRHkQmvJkCU/edit?usp=sharing}{\texttt{ google docs}}\hypertarget{index_autotoc_md12}{}\doxysubsubsection{Deliverables}\label{index_autotoc_md12} \begin{DoxyItemize} -\item Developer level documentation using doxygen -\item Build status using travis CI -\item Code coverage using coveralls -\item Accurate implementation using generated test cases in gtest -\item Tests for ros nodes in rostest -\item Steps showing how to build the repository -\item Steps showing how to run test and demo applications -\item Steps showing how to generate Doxygen documentation -\item Valgrind output for memory leak check -\end{DoxyItemize}\hypertarget{index_autotoc_md13}{}\doxysubsubsection{Activity Diagram}\label{index_autotoc_md13} - - -\DoxyHorRuler{0} -\hypertarget{index_autotoc_md15}{}\doxysubsubsection{U\+M\+L Class Diagram}\label{index_autotoc_md15} - - -\DoxyHorRuler{0} -\hypertarget{index_autotoc_md17}{}\doxysubsubsection{External Dependencies}\label{index_autotoc_md17} +\item Robot demo \href{https://youtu.be/NrRCCqRFqw4}{\texttt{ video}} +\item Presentation \href{https://youtu.be/-lPjSiizmCI}{\texttt{ video}} +\item Presentation \href{https://docs.google.com/presentation/d/1osl5vrxGRXqx1QkJhoWhC6rh83X2Kr2OMlprzH5XEH0/edit?userstoinvite=abhimah@umd.edu\#slide=id.g107542cf1d8_6_10}{\texttt{ slides}} +\item Product backlog sheet \href{https://docs.google.com/spreadsheets/d/1uLx1TDejwb_q-EkkCh65zcsgOdo6YiGDN0ZlcO-tUYo/edit?usp=sharing}{\texttt{ google sheet}} +\item Sprint planning notes \href{https://docs.google.com/document/d/1j18MeeHkREd-rwEOQwoSgQbipBhqeb5pdRHkQmvJkCU/edit?usp=sharing}{\texttt{ google docs}} +\end{DoxyItemize}\hypertarget{index_autotoc_md4}{}\doxysubsubsection{Development Team}\label{index_autotoc_md4} +\tabulinesep=1mm +\begin{longtabu}spread 0pt [c]{*{4}{|X[-1]}|} +\hline +\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Sprint }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ \#1 }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ \#2 }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ \#3 }\\\cline{1-4} +\endfirsthead +\hline +\endfoot +\hline +\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Sprint }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ \#1 }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ \#2 }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ \#3 }\\\cline{1-4} +\endhead +Hrushikesh Budhale &Driver &Design Keeper &Navigator \\\cline{1-4} +Abhijit Mahalle &Navigator &Driver &Design Keeper \\\cline{1-4} +Ameya Konkar &Design Keeper &Navigator &Driver \\\cline{1-4} +\end{longtabu} +\hypertarget{index_autotoc_md5}{}\doxysubsubsection{External Dependencies}\label{index_autotoc_md5} \begin{DoxyItemize} \item \href{http://wiki.ros.org/melodic/Installation/Ubuntu}{\texttt{ R\+OS Melodic}} @@ -53,17 +34,9 @@ \item \href{http://wiki.ros.org/Robots/TIAGo/Tutorials}{\texttt{ Tiago Robot}} \item \href{https://moveit.ros.org/}{\texttt{ Moveit}} \item \href{https://github.com/opencv/opencv}{\texttt{ Opencv}} -\end{DoxyItemize}\hypertarget{index_autotoc_md18}{}\doxysubsection{Known Issues/\+Bugs}\label{index_autotoc_md18} -\DoxyHorRuler{0} - Picking the object at certain positions and orientation is not possible for the robot. +\end{DoxyItemize}\hypertarget{index_autotoc_md6}{}\doxysubsubsection{Installation instructions}\label{index_autotoc_md6} +Install Tiago packages from \href{http://wiki.ros.org/Robots/TIAGo/Tutorials/Installation/InstallUbuntuAndROS}{\texttt{ wiki.\+ros.\+org}} -\DoxyHorRuler{0} -\hypertarget{index_autotoc_md21}{}\doxysubsubsection{Installing Tiago package}\label{index_autotoc_md21} - -\begin{DoxyCode}{0} -\DoxyCodeLine{Install Tiago packages using the link: http://wiki.ros.org/Robots/TIAGo/Tutorials/Installation/InstallUbuntuAndROS} -\end{DoxyCode} -\hypertarget{index_autotoc_md22}{}\doxysubsubsection{Building and running the Program}\label{index_autotoc_md22} \begin{DoxyCode}{0} \DoxyCodeLine{cd /src} @@ -72,16 +45,52 @@ \DoxyCodeLine{cd ..} \DoxyCodeLine{catkin build} \DoxyCodeLine{source ./devel/setup.bash} +\end{DoxyCode} + + +Copy the existing S\+L\+AM configuration files and world file from cloned repo to the tiago directory using following command. +\begin{DoxyCode}{0} +\DoxyCodeLine{sudo cp -\/r src/decluttering\_domestic\_robot/configuration/smallHouse/ \string~/.pal/tiago\_maps/configurations/} +\DoxyCodeLine{sudo cp src/decluttering\_domestic\_robot/world/smallHouse.world /tiago\_public\_ws/src/tiago\_simulation/tiago\_gazebo/worlds/} +\end{DoxyCode} + + +For launching the simulation demo run following command. This will start a gazebo environment of a house with 5 rooms. Tiago robot will be spawned. Also a small blue color box will be spawned in a random location. +\begin{DoxyCode}{0} \DoxyCodeLine{roslaunch decluttering\_domestic\_robot simulation.launch} \end{DoxyCode} -\hypertarget{index_autotoc_md23}{}\doxysubsubsection{To Build the Tests}\label{index_autotoc_md23} + +Launch file can be used to record a bag file by passing {\ttfamily rocord\+\_\+bag} argument as follows \begin{DoxyCode}{0} -\DoxyCodeLine{Using Catkin Make: catkin\_make tests} +\DoxyCodeLine{roslaunch decluttering\_domestic\_robot simulation.launch record\_bag:=true} \end{DoxyCode} -\hypertarget{index_autotoc_md24}{}\doxysubsubsection{To Run the Tests}\label{index_autotoc_md24} +\hypertarget{index_autotoc_md7}{}\doxysubsubsection{Tests}\label{index_autotoc_md7} +To Build the Tests using catkin\+\_\+make run following command in your catkin workspace. +\begin{DoxyCode}{0} +\DoxyCodeLine{catkin\_make tests} +\end{DoxyCode} + +To run the test execute following command. \begin{DoxyCode}{0} \DoxyCodeLine{rostest decluttering\_domestic\_robot main\_test.test} \end{DoxyCode} - \ No newline at end of file +\hypertarget{index_autotoc_md8}{}\doxysubsubsection{Generating documentation}\label{index_autotoc_md8} +Run the following command in folder\textquotesingle{}s root directory to generate new documentation +\begin{DoxyCode}{0} +\DoxyCodeLine{doxygen docs/doxygen\_config.conf} +\end{DoxyCode} + + +\DoxyHorRuler{0} +\hypertarget{index_autotoc_md10}{}\doxysubsubsection{Activity Diagram}\label{index_autotoc_md10} + + +\DoxyHorRuler{0} +\hypertarget{index_autotoc_md12}{}\doxysubsubsection{U\+M\+L Class Diagram}\label{index_autotoc_md12} + + +\DoxyHorRuler{0} +\hypertarget{index_autotoc_md14}{}\doxysubsubsection{Known Issues/\+Bugs}\label{index_autotoc_md14} +Picking the object at corner positions is not possible for the robot. \ No newline at end of file diff --git a/docs/latex/navigation_8cpp__incl.pdf b/docs/latex/navigation_8cpp__incl.pdf index 1e927e7dbf084a8a3551321a15d348f61bbb5d8f..3fc00b8d6a8a40cf0082cb3b4a735b53abe05a1a 100644 GIT binary patch delta 17 YcmX>aa5P{;w;GGFse#evezk3k06^FVc>n+a delta 17 YcmX>aa5P{;w;GF)v7zDSezk3k06@S7b^rhX diff --git a/docs/latex/object__spawner_8cpp__incl.pdf b/docs/latex/object__spawner_8cpp__incl.pdf index b9ba8568613382e519b47cfdd0990f4c99ded7f3..6ca150632041eb470963c200bac341157b89e1e4 100644 GIT binary patch delta 17 ZcmZ1)x-@jdD-9N7Qv;*T?=-eE0supN2L=ED delta 17 ZcmZ1)x-@jdD-9MSV?)Eu?=-eE0suo~2Lk{A