From 4e0423863258c2ecf6ac38a2b8d3f1e820d9e116 Mon Sep 17 00:00:00 2001 From: ateRstones <8556589+ateRstones@users.noreply.github.com> Date: Wed, 11 Oct 2023 20:14:43 +0200 Subject: [PATCH] Extending the top level documentation to include the sections --- README.md | 29 ++++++++++++++++++++++++++++- 1 file changed, 28 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 369f9e95..fda6d757 100644 --- a/README.md +++ b/README.md @@ -10,6 +10,25 @@ It is currently still "work in progress". marimba playing robot

+## Project Overview + +The project is separated into multiple different modules. +Each module contains localized documentation. + +| Module | Brief Description | +|---------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------| +| [marimbabot_audio](marimbabot_audio/) | Contains the audio analysis related code pieces | +| [marimbabot_behavior](marimbabot_behavior/) | Implements the behaviour of the robot which interfaces with most other systems | +| [marimbabot_bringup](marimbabot_bringup/) | The main bringup of the system used to for starting the project | +| [marimbabot_description](marimbabot_description/) | Contains the descriptions of the physical compontents of the robot for control and simulation | +| [marimbabot_hardware](marimbabot_hardware/) | The ros_control driver for the servo based hardware. | +| [marimbabot_msgs](marimbabot_msgs/) | The shared ros message and action definitions | +| [marimbabot_planning](marimbabot_planning/) | Contains the code for taking a input of notes and generate a trajectory for the robot | +| [marimbabot_simulation](marimbabot_simulation/) | Facilitates the simulation of the robot and marimba | +| [marimbabot_speech](marimbabot_speech/) | Text to speech and speech to text and eventual command | +| [marimbabot_ur5_flex_double_moveit_config](marimbabot_ur5_flex_double_moveit_config/) | MoveIT config for the UR5 with the marimba and the two mallet holder. | +| [marimbabot_ur5_moveit_config](marimbabot_ur5_moveit_config/) | MoveIT config for the UR5 and the marimba | +| [marimbabot_vision](marimbabot_vision/) | Implements the vision model for the note recognition and facilitates the related dataset generation | ## Setup The robot uses Ubuntu 20.04 and ROS noetic. @@ -178,7 +197,15 @@ git push Now you can [create a pull request](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-a-pull-request#creating-the-pull-request) for your branch and merge it (after it is approved) into the `main` branch using the GitHub website. -## Project Overview +## Additional Resources + +### MoveIT config +The project contains two MoveIT configuration definitions ([marimbabot_ur5_moveit_config](marimbabot_ur5_moveit_config/) and [marimbabot_ur5_flex_double_moveit_config](marimbabot_ur5_flex_double_moveit_config/)). + +The MoveIT configs were generated using the [MoveIT Setup Assistant](http://docs.ros.org/en/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html). +When the description of the robot is changed and contains new controlable joints. + +Generally the main additional work required for the MoveIT config setup is the collision matrix setup, where non-colliding elements have to be removed from the collision checks. ### ROS Node Diagram ```mermaid