README.md

evd_ros_backend

Expert View Dashboard (EvD) is an educational environment used to train operators for collaborative robotic workcells.

These packages compose the ROS backend for the EvD project.

• evd_ros_backend: ROS meta-package
• evd_ros_core: ROS Server backend
• evd_ros_tasks: Specific tasks for experiments and demos
• evd_ros_ur_bringup: Interface for UR robot

System overview for both Frontend and Backend is here.

At this time only the UR3e is supported. Future work may extend this to other robots.

Dependencies

Wisc-HCI Specific Dependencies

• Wisc-HCI/robotiq_85_gripper
• Wisc-HCI/robot_configurations

General ROS Dependencies

• rosbridge_suite
  • Via sudo apt-get install ros-noetic-rosbridge-server
• UniversalRobots/Universal_Robots_ROS_Driver
  • Please follow their installation instructions!

We also need to install the following python modules.

• scipy

Deploy

EvD's backend is broken into a library evd_ros_core and the user's application space evd_ros_tasks. To runthe backend, just launch the following with the specific task as an arguement.

roslaunch evd_ros_tasks main.launch task:="<TASK NAME>"

Or just skip the pretext and call the specific task launch file. For example,

roslaunch evd_ros_tasks 3d_printer_machine_tending.launch

Under the hood, this will hook into the core launch files and will launch task specific nodes.