ROB866 - OMTP

This repository contains assignment of group ROB866 for Object Manipulation and Task Planning (Robotics 8) course at Aalborg University, Denmark.

Assignments

• lecture 1 - URDF and XACRO
• lecture 5 - MoveIt Basics
• lecture 6 - Object Detection and Grasping
• lecture 7 - Behavior Design with State Machines
• lecture 8 - CNNs in Practical Robotic Applications
• lecture 9 - Deep Reinforcement Learning for Robot Control

Installation

The following installation instructions were tested with OS based on Ubuntu 18.04 LTS (Bionic Beaver).

Requirements

Please install the following either as Debian packages or build them from source.

• ROS 1 Melodic
• colcon or catkin_tools

Building

If not a part of ~/.bashrc, make sure to source the global ROS installation.

source /opt/ros/melodic/setup.bash

Hereafter, you can clone this repository

mkdir -p awesome_ws/src && cd awesome_ws
git clone https://github.com/AndrejOrsula/omtp_course -b master ./src/rob866_omtp_course

Install all other ROS dependencies

rosdep install --from-paths . --ignore-src --rosdistro ${ROS_DISTRO}

And finally build the packages of this repository with either colcon or catkin

# Colcon
colcon build --symlink-install
# Catkin
catkin build

Usage

If not a part of ~/.bashrc, make sure to source the global ROS installation.

source /opt/ros/melodic/setup.bash

Then source the ROS workspace overlay (if not done before).

# Colcon
source /path/to/awesome_ws/install/local_setup.bash
# Catkin
source /path/to/awesome_ws/devel/setup.bash

Now you can try out the individual assignments, see their respective documentation for more info.

Authors

• Andrej Orsula
• Asger Printz Madsen

VS Code's Live Share extension was utilised during some of the development, where the specific commits contain a co-author.

Acknowledgment

This repository contains several packages that were not developed by the authors of this project. The original authors of the ROS packages are listed under the corresponding package.xml manifests.

License

This project is licensed under BSD 3-Clause License.