Multi Agent Geometric Inspection and Classification (MAGIC)

Overview

MAGIC is an system designed for automated geometric inspection and classification using 2 robot arms. The project is part of the Master of Robot Systems Development (MRSD'26) curriculum at Carnegie Mellon University.

Features

• Multi-agent coordination and control
• 3D Reconstruction
• Object Pose Estimation

System Requirements

• Python 3.8+
• Ubuntu 22.04
• ROS2 Humble
• Moveit2
• Gazebo Ignition

Setup

git clone https://github.com/MAGIC-MRSD26/magic.git
source /opt/ros/humble/setup.bash
cd magic/ros2_ws

Build the packages except the ones needed for Gazebo sim

colcon build --packages-skip-regex "(.*gz.*|.*ign.*|.*gazebo.*|mujoco_ros2)"
source install/setup.bash

Launch Moveit using Fake Hardware

ros2 launch two_arm_moveit2_config robot.launch.py   robot_ip:=yyy.yyy.yyy.yyy   use_fake_hardware:=true

Launch Moveit using Real Hardware

Use this doc to setup Kinova arms

ros2 launch two_arm_moveit2_config robot.launch.py   robot_ip:=yyy.yyy.yyy.yyy  

Launch Moveit with Gazebo Ignition

Install simulator and other simulation packages

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ignition-fortress

vcs import src --skip-existing --input src/ros2_kortex/simulation.humble.repos

Now you need to build all 75 packages

colcon build
source install/setup.bash

1. Launch gazebo first

ros2 launch two_arm_moveit2_config gazebo_sim.launch.py

2. Launch Rviz/Moveit. It will read the joint states from gazebo.

ros2 launch two_arm_moveit2_config moveit_gaz_control.py

Run the FSM to run motion policy

To run the coupler object:

ros2 run moveit_go dual_arm_fsm

To run the Tbar object:

ros2 run moveit_go dual_arm_fsm --ros-args -p object_type:=tbar

License

This project is licensed under the MIT License - see the LICENSE file for details.