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Repository Overview

This section provides a general overview of the used repositories for the AIP application.

1. AIP_Coordinator

This docker container handels the control via the Groot Behavior Tree System. You can design new behavior trees and programm the sequence visually. Alternatively, you can change existing behavior trees.

The full instructions and explaination of the code can be found here: AIP Coordinator GitHub Repository

2. Aip_Cell_Description

This repository contains specific description of the robot in this case KUKA KR10: Aip_Cell_Description GitHub Repository

Without this repository the simulation has no representation of the robot. The repository handels the kinematics, URDF files (= description of the robots dimensions, used angels) and how to handle collisions.

If those information would be missing, the robot could crash with the environment, simply because the environment is not known.

3. AIP_BringUp

The full instructions and explaination of the code can be found here: AIP_BringUp GitHub Repository

This repository explains in detail how to connect to the robot, however this contains the information of the ready2educate cells.

The repository can still be used, we just need to add the KUKA KR 10 parameters. The explaination how to control the KUKA SmartPad in order to connect with ROS 2 is done in How_To_Start_AIP.

After cloning the repository, you can build and start the docker container. This enables you to move the robot after initilising the robot driver. The example movement is defined in test_ros_env.

For the further details please take a look in the GitHub repository.

4. Kuka_EKI

The full instructions and explaination of the code can be found here: Kuka_EKI GitHub Repository

This repo contains the configurations of the KUKA EKI Interface, which is used to build up an connection between the Linux-PC and the robot control.

5. MoveIt Wrapper

The full instructions and explaination of the code can be found here: MoveIt Wrapper GitHub Repository

Custom wrapper for MoveIt2 that enables simpler interaction from Python scripts.

6. LLM Scene Docker

This repository contains a docker container which hosts a website for user interaction as well as the LLM (currently Mistral Nemo). The full instructions can be found here ReadMe.

Repository Overview: Applications of AIP

In the following table, the repositories with the correct branches are listed, in order to use the AIP demonstator correctly.

Repository Name Branch Link
AIP Coordinator humble https://github.com/IRAS-HKA/aip_coordinator
AIP Interfaces main https://github.com/LeoSc4/aip_interfaces/tree/972021f2257e06091a6485b9031849be6b015459
AIP Cell Description main https://github.com/IRAS-HKA/aip_cell_description/
AIP BringUp devel https://github.com/IRAS-HKA/aip_bringup
Roboception driver aip https://github.com/MauriceDroll/roboception_driver/tree/aip
Kuka EKI aip (local changes) https://github.com/IRAS-HKA/kuka_eki/tree/d47e0c1c07a9343579614ffe62580b14c6bb0bcf
MoveIt Wrapper aip https://github.com/IRAS-HKA/moveit_wrapper/tree/5750056b3ebc54d900f446f83aa5c343fcd0d775
Object Detector Tensorflow humble https://github.com/eshan-savla/object_detector_tensorflow/
LLM Scene Docker main https://github.com/MauriceDroll/LLM_Scene_Docker/tree/main
Packing Algorithm main https://github.com/SchmittAndreas/aip_packing_algorithm
Grasp Planning main https://github.com/LeoSc4/aip_grasp_planning
Point Transformation humble https://github.com/IRAS-HKA/point_transformation/tree/humble

Here is an updated version after forking all private repos and transferring them to the IRAS-HKA organization:

Repository Name Branch Docker rebuilt Link
AIP Coordinator humble - https://github.com/IRAS-HKA/aip_coordinator
AIP Interfaces main x https://github.com/IRAS-HKA/aip_interfaces
AIP Cell Description main x https://github.com/IRAS-HKA/aip_cell_description/
AIP BringUp devel x https://github.com/IRAS-HKA/aip_bringup
Roboception driver aip - https://github.com/IRAS-HKA/roboception_driver/tree/aip
Kuka EKI aip x https://github.com/IRAS-HKA/kuka_eki/tree/aip
MoveIt Wrapper aip x https://github.com/IRAS-HKA/moveit_wrapper/tree/aip
Object Detector Tensorflow aip - https://github.com/IRAS-HKA/object_detector_tensorflow
LLM Scene Docker humble x https://github.com/IRAS-HKA/LLM_Scene_Docker
Packing Algorithm main - https://github.com/IRAS-HKA/aip_packing_algorithm
Grasp Planning main - https://github.com/IRAS-HKA/aip_grasp_planning
Point Transformation humble - https://github.com/IRAS-HKA/point_transformation/tree/humble