Assembly control

This is the base ROS package to be used to complete the HMEE303 project.

Project organization

• CMakeLists.txt: Root CMake configuration file
• src: Source files and CMake description of the libraries and applications
  • vrep_remote_api: library to communicate with the V-REP simulator
  • vrep: the node in charge of the communication with the simulator
  • supply_conveyor: example implementation of the supply conveyor
  • camera: example implementation of the camera
• include: Headers files
  • common: folder containing declarations needed by several components
  • vrep_remote_api: public header files for the vrep_remote_api library
  • vrep: header files for the vrep node
• launch: ROS launch files
• msg: ROS message files
• share: Additional files
  • petri_nets: where to put the TINA files corresponding to the cell modelisation
  • vrep/assembly_cell.ttt: scene to be loaded in V-REP simulating the cell

Where to work

• Petri nets go to share/petri_nets/{without_io,with_io}
• Custom input and output messages to go msg
• Each node goes in an src subfolder matching its Petri net's name

Don't forget to declare your new nodes in src/CMakeLists.txt (you can use the add_machine function) and to add them in the launch/assembly.launch launch file.

You can also indicate your name(s) and e-mail address(es) in the maintainer field of the package.xml file.

How to run the project

First open V-REP and load the vrep/assembly_cell.ttt scene.

Then just use the launch/assembly.launch launch file:

roslaunch assembly_control_ros assembly.launch

If V-REP doesn't run locally you can specify its IP address using for example:

roslaunch assembly_control_ros assembly.launch vrep_ip:=172.17.0.1