README.md 2.24 KB
Newer Older
1 2 3 4
# AGTECH
bridging application to connect the harvest vehicle robots with the robotics operating system.

### Documentation
Nicholas Shindler's avatar
Nicholas Shindler committed
5
see [wiki](https://gitsvn-nt.oru.se/hkan/harvest-automation/wikis/home) for full documentation.
6 7 8 9 10 11 12 13 14

### Open Source
this is being developed with Orebro University and is for academic use.

### Harvest AI
this is for harvest vehicle robots, property of a private company and therefore some of the resources being used for development are not publically available.

### Project Structure
```
Nicholas Shindler's avatar
Nicholas Shindler committed
15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42
*harvey*: demo project written in c++
	|--- include: header files
	|--- src: main 
	|--- srv: service files
	|--- lib: suplemental classes
*hv_bridge*: interface between mindprobe and ros
	|--- includes 
		|--- Controllers
			|--- arm: subcribes to arm commands and writes to robot
			|--- gipper: subcribes to gripper commands and writes to robot
			|--- drive: subcribes to velocity commands and writes to robot
		|--- Sensors
			|--- hub: central connection for all sensor listener classes, handles assigning data to each listener
			|--- ir: class for the collection, formating, and publishing of IR camera data
			|--- lidar: class for the collection, formating, and publishing of LIDAR sensor data
			|--- odometry: class for the collection, formatting, and publishing of positional data
			|--- gripper: class for the collection, formatting, and publishing of the gripper and gripper arm states
		|--- Services
			|--- avoid: toggle the avoid obstacle functionality
			|--- follow: toggle the follow person functionality
			|--- pick_target: set a pot location
	|--- scripts
		|--- main_node
	|--- srv: ros services
		|--- mp_set_target: set xy coordinates for a probe 
		|--- mp_toggle: toggle a boolian value for a probe
*hv_teleop*: ros teleop node
	|--- teleop_node: remote control of the gripper using computer keyboard commands
43
*hai_launch*: ROS launch files
Nicholas Shindler's avatar
Nicholas Shindler committed
44 45 46 47 48 49 50 51
	|--- hv_bridge: lauch the bridge
	|--- harvey: lauch the bridge + the demo application
	|--- hv_teleop: lauch the bridge + the teleop node
*resources*: utility python scripts for the python nodes
	|--- *getter*: parent class for getting data from the robots
	|--- *setter*: parent class for sending data to the robots
	|--- *mp*: class for the midprobe client connection
	|--- *utils*: general utility functions
Nicholas Shindler's avatar
Nicholas Shindler committed
52
```