BOW_composite_layup

Code for BOW transporting a composite sheet

Getting Started

1. In a Win10 computer, run the Azure Kinect RR Service from Kinect_Azure_RR_Interface; also, run the SpeechRecognition_RR_service.py for the voice command service

2. In a Ubuntu 14.04 + ROS Indigo computer, run the jointcontroller_host and peripherals_host from baxter_rr_bridge with port 1111 and 2222

rosrun baxter_rr_bridge jointcontroller_host.py --port 1111
rosrun baxter_rr_bridge peripherals_host.py --port 2222

3. Setup the ROS network for the Ridgeback mobile base:

export ROS_MASTER_URI=http://ridgeback_ip:11311 # In our project case, ridgeback_ip = 192.168.131.1
export ROS_IP=local_pc_ip # In our project case, local_pc_ip = 192.168.131.51

4. To run the code, under the script folder, run

python Main_BOW_Layup.py

or

python ridgeback_QP_ForceKinect_kinectAzure_RR3_decoupled_20200313.py

Prerequisites

Hardware:

Baxter from Rethink Ridgeback from ClearPath Kinect Azure from Microsoft

Software

Ridgeback and baxter ROS Indigo installation are required.

Kinect_Azure_RR_Interface

https://github.com/wlawler45/Kinect_Azure_RR_Interface

baxter_rr_bridge

https://github.com/rpiRobotics/baxter_rr_bridge