Hid HSKY

content/posts/agv-hsky/index.md

@@ -1,15 +0,0 @@
----
-title: "Autonomous Ground Vehicle Motion Planning"
-date: 2025-01-05T09:00:00+00:00
-description: Introduction to Sample Post
-hero: images/hsky_24.jpg
-author:
-  image: /images/sharwin_portrait.jpg
-menu:
-  sidebar:
-    name: AGV Motion Planning
-    identifier: agv-hsky
-    weight: 6
-tags: ["Basic", "Multi-lingual"]
-categories: ["Basic"]
----

content/posts/toastbot/index.md

@@ -19,4 +19,12 @@ Using a 7-DoF Franka Emika Panda Robot Arm, we developed a pick and place sequen
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+</div>
+
+## Computer Vision
+The Intel Realsense camera has a ROS package `realsense` that enables the camera to publish depth and color images. 
+In order to identify april tags, we used the `apriltag_ros` package which subscribes to the camera images and publishes the detected tags which each
+have a unique ID. The tags were used to locate the positions of objects in the scene as well as localize the camera frame from the robot's base frame.
+
+## Robot Arm Control
+The Franka Emika Panda Robot Arm has a ROS package `franka_ros` which allows us to control the robot arm using the Moveit API. The Moveit API offers services and action servers to faciliate trajectory planning, end-effector operation, and motion profiling. On top of the Moveit API, we developed our own Motion Planner that offers higher level tasks such as pose-to-pose motions, end-effector operations, and cartesian path planning.

data/en/sections/projects.yaml

@@ -66,14 +66,14 @@ projects:
   summary: A 3D-printed robot arm kit for educational purposes. Coupled with a software package intended for students with little to no experience coding to use.
   tags: ["3D Printing", "Arduino", "C++"]
 
-- name: AGV Odometry & Motion Planning
-  image: /images/pure-pursuit.png
-  role: "VEXU Team HSKY"
-  timeline: "Sept 2022 - Dec 2022"
-  url: "/posts/agv-hsky/"
-  repo: https://github.com/Sharwin24/HSKY
-  summary: Implemented Odometry from scratch in C++ for spline motions
-  tags: ["C++", "Multi-threading", "Spline Interpolation"]
+# - name: AGV Odometry & Motion Planning
+#   image: /images/pure-pursuit.png
+#   role: "VEXU Team HSKY"
+#   timeline: "Sept 2022 - Dec 2022"
+#   url: "/posts/agv-hsky/"
+#   repo: https://github.com/Sharwin24/HSKY
+#   summary: Implemented Odometry from scratch in C++ for spline motions
+#   tags: ["C++", "Multi-threading", "Spline Interpolation"]
 
 - name: SLAM Simulation
   image: /images/slam_simulation.jpg
@@ -84,15 +84,6 @@ projects:
   summary: A simulation of a robot navigating an environment using SLAM with frontier exploration.
   tags: ["Python", "ROS", "Gazebo", "Nav2"]
 
-- name: Autonomous Drone Swarm Simulation
-  image: /images/robotech_sim.gif
-  role: "RoboTech 2022 Hackathon Project"
-  timeline: "April 2022"
-  url: "/posts/robo-tech/"
-  repo: https://github.com/Sharwin24/RoboTech
-  summary: A simulation of a swarm of drones cleaning algal blooms in a lake using RRT and A* path planning.
-  tags: ["Python", "RRT", "A*"]
-
 - name: Robot Pen Thief
   image: /images/pincherx100_calibration.gif
   role: "Personal Project"
@@ -102,6 +93,15 @@ projects:
   summary: Combining a PincherX 100 robot arm with an Intel Realsense to identify and grab pens.
   tags: ["Python", "ROS", "Intel Realsense"]
 
+- name: Autonomous Drone Swarm Simulation
+  image: /images/robotech_sim.gif
+  role: "RoboTech 2022 Hackathon Project"
+  timeline: "April 2022"
+  url: "/posts/robo-tech/"
+  repo: https://github.com/Sharwin24/RoboTech
+  summary: A simulation of a swarm of drones cleaning algal blooms in a lake using RRT and A* path planning.
+  tags: ["Python", "RRT", "A*"]
+
 - name: Napkin.ai Code Assistant
   role: "Hack@Brown 2024 Project"
   timeline: "Feb 2024"