Useful Links & references

Moveit! simple grasp planning

Should be worth taking a look at: https://github.com/davetcoleman/moveit_simple_grasps

Creating collision envelope for end effector (convex hull)

Melon Soft

For Qt GUI plugin example & the split-thread technique:

simple_rviz_plugin[1]

For ROS CI build test:

ros_advanced_ci_test[2]

simple_ros_test[3]

Example projects for Scan&Plan industrial robot:

Godel[4] (Also it is a fantastic example for integrating decartes[5])

TF2 Conventions

Units, orientation conventions, chirality, rotation representations, and covariance representations are covered in REP 103[6]

Please check more in tf2 ROS wiki[7] - chapter Coordinate Frame Conventions.

IMPORTANT: standardize on SI units[8] - important ones in our application: Metre(m), kilogram(kg), second(s), kelvin(K), randian(rad), newton(N).

Chirality: all frame systems are right-handed[9]

Axis Orientation:

• x forward
• y left
• z up

Rotation representation: (prefered order listed)

• quaternion
• rotation matrix
• fixed axis roll, pitch, yaw about x, y, z axes respectively

Real-Time Operating System (RTOS)

(related to RSI communication between program server and robot controller server) RTOS wiki[10] and RT-Preempt Patch[11] - a (soft) real time patch for linux kernal.

MxAutomation

prc component layout, courtesy of [Braumann 2015][12].

ros_control

A high-level overview of the project can be found in the ROScon 2014 talk entitled ros_control: An overview (slides, video).

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[1] https://gitlab.com/InstitutMaupertuis/simple_rviz_plugin

[2] https://gitlab.com/InstitutMaupertuis/ros_advanced_ci_test

[3] https://gitlab.com/InstitutMaupertuis/simple_rostest

[4] https://github.com/ros-industrial-consortium/godel

[5] https://github.com/ros-industrial-consortium/descartes

[6] http://www.ros.org/reps/rep-0103.html

[7] http://wiki.ros.org/tf2

[8] https://en.wikipedia.org/wiki/International_System_of_Units

[9] http://en.wikipedia.org/wiki/Right-hand_rule

[10] https://en.wikipedia.org/wiki/Real-time_operating_system

[11] https://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO

[12] Braumann, J and Brell-Cokcan, S 2015, ‘Adaptive Robot Control’, Proceedings of the 33rd eCAADe Conference, Vienna, Austria