Coveyor Sorter

Requirements

• ROS 2 Jazzy Jalisco (Developed using osrf/ros:jazzy-desktop-full Docker image)
• ros_gz_sim package
• vision_opencv package

Installation

Building from source

source /opt/ros/jazzy/setup.bash
colcon build
source install/setup.bash

Usage

Launch:

ros2 launch conveyor_sorter init.launch.py

Spawn multiple random props and start the conveyor:

ros2 run conveyor_sorter random

Spawn a random prop on the conveyor:

ros2 service call /props/spawn conveyor_sorter/srv/SpawnProp

Start the conveyor:

ros2 service call /conveyor/start conveyor_sorter/srv/ConveyorStart

Structure

Services

• /conveyor/start
  Starts the conveyor.
  • forward
    Goes forward if true, backwards otherwise.
  • speed
    Speed of the conveyor.
• /conveyor/stop
  Stops the conveyor.
• /pusher/push
  Performs a single push by the pusher.
• /props/spawn
  Spawns a prop on the conveyor.
  • random
    If true, chooses a prop randomly from the pool.
  • target
    Sets type of the prop (if true, it will be sorted out).
    Works only if random is off.

Demo