ROS_factory_picknplace

ROS-based factory pipeline in gazebo, using UR arms, Turtlebot, FlexBE state architecture

Basic Pipeline

One UR robot picks up boxes coming down the assembly line The robot picks the box from the line and places it on the Turtlebot The Turtlebot autonomously navigates from the assembly line location to another robot at the other end of the factory The second UR robot picks up the box from the Turtlebot and places it in the crate Rinse and Repeat!

Media

Picking up box from assembly line

Before picking up box from Turtlebot

After placing box in plate

Turtlebot's amcl-based path planning and object avoidance

Partially-complete FlexBE state machine