This codebase is used to interact with a dual-arm UR5e Husky A200 configuration at DiceLabs
docs/: Contains project documentation, notes, and dependency configurationsimgs/: Stores images related to the projectscripts/: Holds automation scripts for codebase managementsrc/: See robot source code heretst/: Unit test directory mirros source code for coverage
If you want to turn on the robot, please refer to the physical startup procedure that has been documented here
From the software side of things, these scripts will have to be executed in this order
You can now use the generic API laid out in this file to call the desired systems
Clone the codebase for access to source code scripts
git clone https://github.com/DiceLabs/Husky
Since the codebase is primarily written in python, most robot functionality can be used without compilation. However, some code relies heavily on ROS, meaning their build system, catkin, will have to be used for "compiling" some parts of the code (just puts python files and config files in certain directories laid out by catkin). To do this, you can run this command in the root directory
catkin_make
ROS Noetic, and in turn Ubuntu 20.04
Realsense Cameras
UR5e Client Library
Dual Arm Husky Bringup
The robot itself will have to have the appropriate packages built and running correctly to be able to interact with it and to output endpoints from the ROS driver.