From a5f26f68ee0dd9a452fac3c59e081b545958951c Mon Sep 17 00:00:00 2001 From: Mohamed Ahmed Date: Tue, 1 Jun 2021 15:28:14 +0300 Subject: [PATCH] initial readme (#6) --- README.md | 28 +++++++++++++++++++++++++++- 1 file changed, 27 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index b5d5372..eedecbc 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,29 @@ # tesseract_ros_workcell -![](workcell1.png) +This repo contain two main applications application_positioner and application_rail + +## Application positioner +It can be launched using the following command `roslaunch twc_application application_positioner.launch` + +**Note**: set the argument application to true as follows: +` ` + +The application as shown is a robot arm act as a raster for the point in the surface + +![application_positioner](workcell1.png) + +### Overview + +The robot preform two types of motion: + +* Free space motion: `tesseract_planning::PlanInstructionType::FREESPACE` +* Linear motion: `tesseract_planning::PlanInstructionType::LINEAR` + +At the beginning, the robot preform free space motion from the start position to the first point in the path. + +then it perform Linear motion when moving in +a raster segment(a group points next to each other represent one swap or scan of raster). + +then from the end of one raster segment to the beginning of another raster segment. + +At the end of the program it preform a frees pace motion to the starting point(Home position).