src folder:
master:
pick.cpp: used to pick and place an object, using object_rec to find the object. picks it up, saves the xyz to place it back later.
1 .ssh -X to robot , run launch with kinect ssh -X [email protected] 2. in new terminal ssh to ICVLDL server (this would change to docker on robot) a. ssh [email protected] (pass : V!sL@b03) b. docker attach agitated_bose c. cd ~/mnt_ws/maskRcnn d. python3 dlserver.py e. "wait for server started" 3. in new terminal a. cd ~/catkin_ws/src/nn_object_detection/nn_client/scripts/ b. rosrun nn_client points.py
Documenting Robotic Code
What does this code do: an explanation of what is the purpose of the code.
Link to the code
Requirements for executing Hardware requirements Robot type External computer — general specifications External peripheral devices GPU Software requirements OS type and version ROS version Dependencies: required ROS packages, C++/Python libraries Internal Dependencies: capabilities we programed that are used within the code Other software, and in particular, other packages from the project Compiler version, if relevant CMakeList and package.xml required, when relevant Requirements on the environment: things that need to be true for the code to work. For example: no moving obstacles, object cannot be higher than X, indoor, natural light, etc.
Running instructions launch files parameters and arguments
Expected behavior Progress rate: describe things that regularly change during execution, and try to give some bounds. For example, in navigation, the robot’s position should change at some rate Resource consumption (typically battery) Success rate: how likely is it to succeed in achieving its goal Failure modes: what are typical ways it fails, and how likely are they.
Known issues
Troubleshooting: information on problems that are typically encountered and how they can be solved, when possible
Future work: ideas for improvements