The project backlog for AIP process can be found here Team discussions can be found here
1. Kavyashree Devadiga (117398045)
Computer buff, interested in smart autonomous systems. Has a Bachelors degree in Computer Science and is currently pursuing Masters of Engineering in Robotics at University of Maryland College Park.
2. Aswath Muthuselvam (118286204)
Holds interest in Autonomous Mobile Agents, Computer Vision, Simultaneous Localization and Mapping, AI, Real-Time systems, and controls. Has a Bachelors's degree in Electrical, Electronics, and Communications Engineering and is currently pursuing Masters of Engineering in Robotics at the University of Maryland College Park.
The project requires a C++ environment, coppeliasim application for execution.
git clone --recursive https://github.com/kavyadevd/AcmeRoboticsPathPlanner.git
cd AcmeRoboticsPathPlanner
mkdir -p build
cd build
cmake ..
make
Fet Eigen for matrix computations
git clone https://gitlab.com/libeigen/eigen.git
MoveIt
For complete MoveIt installation refer to official documentation here. On Ubuntu 18.04 and above MoveIt can be installed using following commands:
mkdir -p ~/ws_moveit/src
cd ~/ws_moveit/src
wstool init .
wstool merge -t . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall
wstool update -t .
Coppeliasim Download Coppeliasim unpack the compressed file. Run the simulator script by running the following command on cmd:
$<CoppeliaSim>/coppeliaSim.sh <AcmeRoboticsPathPlanner>/ur5_CoppeliaSim_scene.ttt
The Matlab file used for calculation of Transformation matrices and Jacobian of UR5 robot arm can be found here
Example Demo:
Below GIF shows end-effector reaching the goal state using Pseudo Inverse Jacobian method.
sudo apt-get install lcov
cmake -D COVERAGE=ON -D CMAKE_BUILD_TYPE=Debug ../
make
make code_coverage
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CppCheckEclipse
To install and run cppcheck in Eclipse
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In Eclipse, go to Window -> Preferences -> C/C++ -> cppcheclipse. Set cppcheck binary path to "/usr/bin/cppcheck".
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To run CPPCheck on a project, right-click on the project name in the Project Explorer and choose cppcheck -> Run cppcheck.
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To run on terminal
cppcheck --enable=all --std=c++11 -I include/ --suppress=missingIncludeSystem $( find . -name *.cpp -or -name *.h | grep -vE -e "^./build/" -e "^./vendor/") > Results/cppcheckoutput.xml
Results are present at Results/cppcheckoutput.xml
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Cpplint
- To run cpplint on terminal
cpplint $( find . -name *.cpp | grep -vE -e "^./build/" -e "^./vendor/") $( find . -name *.hpp | grep -vE -e "^./build/" -e "^./vendor/") > Results/cpplintoutput.txt
Results are present at Results/cpplintoutput.xml
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Google C++ Style
To include and use Google C++ Style formatter in Eclipse
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In Eclipse, go to Window -> Preferences -> C/C++ -> Code Style -> Formatter. Import eclipse-cpp-google-style and apply.
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To use Google C++ style formatter, right-click on the source code or folder in Project Explorer and choose Source -> Format
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Git
It is possible to manage version control through Eclipse and the git plugin, but it typically requires creating another project. If you're interested in this, try it out yourself and contact me on Canvas.
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Doxygen
The HTML page for project outlines can be generated using the following commands
- doxygen -g
- doxygen Doxyfile
The project is licensed under MIT License. Click here to know more