Heron_workspace architecture

This page gives an overview of the repositories in heron_workspace. It also provides links to other pages with relevant information.

The 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

1. The skiros2 wiki: https://github.com/RVMI/skiros2/wiki
2. 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.

Below is just taken heron_robot readme and will be modified

./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

  ├── heron_control              Startup and config for controllers and hardware
  │   ├── config                  Control values and joint names
  │   ├── launch                  Launch files included by heron_robot
  │   ├── src 
  │
  ├── heron_description    Experiments involving robot arm.
  │   ├── config
  │   ├── launch
  │   ├── robots
  │   ├── urdf
  │ 
  ├── heron_gazebo    Experiments with launching mir and ur5e.
  │   ├── config
  │   ├── include
  │   ├── launch
  │   ├── scripts
  │   ├── sdf
  │   ├── src
  │   ├── worlds     Maps for E building
  │
  ├── heron_moveit     Experiments with launching the moveit motion planning/manipulation framework.
  │   ├── config
  │   ├── launch
  │
  ├── 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.