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| documentation:heron_workspace_architecture [2022/03/22 08:31] – created johano | documentation:heron_workspace_architecture [2022/09/02 14:04] (current) – external edit 127.0.0.1 |
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| content | ====== Heron_workspace architecture ====== |
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| | This page gives an overview of the repositories in heron_workspace. It also provides links to other pages with relevant information. |
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| | The [[https://git.cs.lth.se/robotlab/heron/heron_workspace_setup|heron_workspace_setup]] is a repository that provides documentation and some basic set ups for cloning and installing heron_workspace, including SkiROS and other necessary dependencies. Once heron_workspace is installed there should be 18 repositories somewhere under the root folder. If the root folder is called "catkin_ws", the following paths are for some of the more important repos to be aware of: |
| | * ''catkin_ws/src/libs/heron_workspace_setup'': This is where the heron_workspace setup repository and its README.md ends up after installation. |
| | * ''catkin_ws/src/robots/heron_robot'': This repository provides instructions for running the Heron robot with ROS either in simulation (using Rviz and Gazebo) or in real life (robot lab). |
| | * ''catkin_ws/src/start/heron_launch'': This repository provides instructions for running the Heron robot with SkiROS. |
| | Other good links |
| | - The skiros2 wiki: https://github.com/RVMI/skiros2/wiki |
| | - Skiros2 examples: https://github.com/RVMI/skiros2_examples (these are also explained in terms of how and where to clone them in ''catkin_ws/src/libs/heron_workspace_setup/README.md''. |
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| | Schema of repositories under catkin_ws/src |
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| | src |
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| | ├── skills |
| | │ ├── vision_skills SkiROS software for vision algorithms |
| | │ ├── skills_sandbox Locally developed SkiROS skills can be tested here |
| | │ |
| | ├── start |
| | │ ├── heron_launch Default Location for launching Heron in simulation or real life |
| | │ |
| | ├── robots |
| | │ ├── MIR_robot The bottom part of the Heron robot (the one which moves the wheels of the robot) |
| | │ ├── ur_driver Universal Robotics driver (Driver for Herons robot arm) |
| | │ ├── heron_robot Running Heron robot with ROS |
| | │ ├── universal_robot Heron robot arm |
| | │ |
| | ├── libs |
| | │ ├── heron_workspace_setup The installation repo |
| | │ ├── cartesian_controllers These controllers in theory resolve the inverse kinematics problem for 3D robot arm movement |
| | │ ├── vision Concerns the camera attached to Herons robot arm. Includes functionality for pose estimation. Lacks readme |
| | │ ├── cartesian_trajectory_generator Can generate a simple trajectory in Cartesian space |
| | │ ├── wsg50-ros-pkg Software for gripper from https://weiss-robotics.com/company/ |
| | │ ├── realsense Software for using Intel RealSense cameras |
| | │ ├── gazebo_models_psa Gazebo is the physics simulator and this repo provides models for that simulator |
| | │ ├── skiros2 |
| | │ ├── skiros2_std_lib |
| | │ ├── skiros2_moveit_lib Robot arm functionalities |
| | │ ├── .git The clone of skiros2 |
| | │ |
| | │ ├── ddynamic_reconfigure Gives capability to update node parameters dynamically http://wiki.ros.org/dynamic_reconfigure |
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