| Both sides previous revision Previous revision Next revision | Previous revision |
| documentation:heron_workspace_architecture [2022/03/23 12:13] – johano | documentation:heron_workspace_architecture [2022/09/02 14:04] (current) – external edit 127.0.0.1 |
|---|
| - 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''. | - 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''. |
| |
| |
| ./src/skills/vision_skills/.git | |
| ./src/skills/skills_sandbox/.git | |
| ./src/skiros2_examples/.git | |
| ./src/start/heron_launch/.git | |
| ./src/robots/MIR_robot/.git | |
| ./src/robots/ur_driver/.git | |
| ./src/robots/heron_robot/.git | |
| ./src/robots/universal_robot/.git | |
| ./src/libs/heron_workspace_setup/.git | |
| ./src/libs/cartesian_controllers/.git | |
| ./src/libs/vision/.git | |
| ./src/libs/cartesian_trajectory_generator/.git | |
| ./src/libs/wsg50-ros-pkg/.git | |
| ./src/libs/realsense/.git | |
| ./src/libs/gazebo_models_psa/.git | |
| ./src/libs/skiros2/skiros2_std_lib/.git | |
| ./src/libs/skiros2/skiros2_moveit_lib/.git | |
| ./src/libs/skiros2/skiros2/.git | |
| ./src/libs/ddynamic_reconfigure/.git | |
| |
| Schema of repositories under catkin_ws/src | Schema of repositories under catkin_ws/src |
| | |
| src | src |
| | | |
| ├── skills | ├── skills |
| │ ├── vision_skills | │ ├── vision_skills SkiROS software for vision algorithms |
| │ ├── skills_sandbox | │ ├── skills_sandbox Locally developed SkiROS skills can be tested here |
| │ | │ |
| ├── start | ├── start |
| │ ├── heron_launch | │ ├── heron_launch Default Location for launching Heron in simulation or real life |
| │ | │ |
| ├── robots | ├── robots |
| ├── libs | ├── libs |
| │ ├── heron_workspace_setup The installation repo | │ ├── heron_workspace_setup The installation repo |
| │ ├── cartesian_controllers | │ ├── 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. | │ ├── vision Concerns the camera attached to Herons robot arm. Includes functionality for pose estimation. Lacks readme |
| │ ├── cartesian_trajectory_generator | │ ├── cartesian_trajectory_generator Can generate a simple trajectory in Cartesian space |
| │ ├── wsg50-ros-pkg | │ ├── wsg50-ros-pkg Software for gripper from https://weiss-robotics.com/company/ |
| │ ├── realsense | │ ├── realsense Software for using Intel RealSense cameras |
| │ ├── gazebo_models_psa | │ ├── gazebo_models_psa Gazebo is the physics simulator and this repo provides models for that simulator |
| │ ├── skiros2 | │ ├── skiros2 |
| │ ├── skiros2_std_lib | │ ├── skiros2_std_lib |
| │ ├── skiros2_moveit_lib Robot arm functionalities | │ ├── skiros2_moveit_lib Robot arm functionalities |
| │ ├── .git The clone of skiros2 | │ ├── .git The clone of skiros2 |
| │ | │ |
| │ ├── ddynamic_reconfigure | │ ├── ddynamic_reconfigure Gives capability to update node parameters dynamically http://wiki.ros.org/dynamic_reconfigure |
| | | |
| │ | |
| ├── heron_robot This is the main package and shows how many relevant Heron components can be set up to run with ROS. | |
| │ ├── config | |
| │ ├── launch Includes example launches with arm, Mir, whole robot or just Rviz. | |
| │ ├── maps | |
| │ ├── nodes | |
| │ ├── res | |
| │ ├── scripts | |
| │ ├── src Contains an example of how to send a goal using the /move_base/ topic. | |
| | |