Multi-Robot Fruit Separation Simulation

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Description

This project simulates a robotic system for separating different types of oranges using two SCARA robots and a conveyor belt in the Gazebo 3D robot simulator. It includes:

• SCARA robots: Modeled in the scara_description package, with detailed descriptions and launch files for spawning them in Gazebo (refer to the scara_description/README.md file for more information).
• Conveyor belt: Represented in the conveyor_belt package, including controls for adjusting speed and direction (refer to the conveyor_belt/README.md file for more information).
• Cameras: Defined in the camera_description package, providing visual feedback for object detection and manipulation.
• Fruit separation logic: Implemented in the fruit_separation package, encompassing:
  • Spawning 35 different types of oranges on the conveyor belt.
  • Using the robots and cameras to identify and separate oranges based on type.

Dependencies

• Ubuntu 20.04
• ROS Noetic-desktop-full
• ros-control and ros controllers packages

Installation

1. Clone the repository:

    git clone https://github.com/neonicX-Tech/Multi-Robot-Fruit-Separation-Simulation.git

2. Install dependencies:

    cd multi_robot_fruit_separation
    sudo apt-get install ros-$ROS_DISTRO-ros-control ros-$ROS_DISTRO-ros-controllers

3. Build the project:

    catkin_make

Usage

1. Source your ROS environment:

    source devel/setup.bash

2. Run the entire simulation with SCARA robots, conveyor belt, cameras, and fruit spawning:

   roslaunch fruit_separation simulate.launch

3. Alternatively, you can run the SCARA robots and conveyor belt separately
   by using the launch files in their respective packages:

   • For SCARA robots (refer to scara_description/README.md for specific instructions).

       roslaunch scara_description simulate.launch

   • For conveyor belt (refer to conveyor_belt/README.md for specific instructions).

       roslaunch conveyor_belt simulate.launch