From c20b654041ae81a2f8706f18652a46a09901b1e5 Mon Sep 17 00:00:00 2001 From: Sharwin24 Date: Thu, 9 Jan 2025 11:25:12 -0600 Subject: [PATCH] Hid HSKY --- content/posts/agv-hsky/index.md | 15 --------------- content/posts/toastbot/index.md | 10 +++++++++- data/en/sections/projects.yaml | 34 ++++++++++++++++----------------- 3 files changed, 26 insertions(+), 33 deletions(-) delete mode 100644 content/posts/agv-hsky/index.md diff --git a/content/posts/agv-hsky/index.md b/content/posts/agv-hsky/index.md deleted file mode 100644 index 6ecbde4..0000000 --- a/content/posts/agv-hsky/index.md +++ /dev/null @@ -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"] ---- \ No newline at end of file diff --git a/content/posts/toastbot/index.md b/content/posts/toastbot/index.md index 5d564fa..48ff014 100644 --- a/content/posts/toastbot/index.md +++ b/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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\ No newline at end of file + + +## 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. \ No newline at end of file diff --git a/data/en/sections/projects.yaml b/data/en/sections/projects.yaml index 211ebe8..6026355 100644 --- a/data/en/sections/projects.yaml +++ b/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"