A collection of examples to test the functionalities of the CNR-STIIMA manipulation package. The available ROS packages are:
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manipulation_skills: the package contains all the launchers to test each manipulation skill. The package contains also the configuration files for each manipulation skills.
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manipulation_skills_example: the package contains a node to test a sequence of Skills as a "recipe". The node creates clients for every skill and execute a recipe as a sequence of Actions.
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manipulation_cell_ur5_moveit_config: the package contains the MoveIt! configuration files for the demonstration cell.
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manipulation_ur5_cell_configurations: the package contains the configuration files for the demonstration cell.
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manipulation_ur5_cell_descriptions: the package contains the description of the demonstration cell.
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manipualtion_fake_tool: the package contains a simulation of a fake tool for the robot.
To launch the demonstration robotic cell:
roslaunch manipulation_ur5_cell_configurations ur5.launch
To launch the manipulation skills servers and load the objects in the scene:
roslaunch manipulation_skills skills.launch
To launch the node that execute a sequence of Actions as a recipe:
roslaunch manipulation_skills test_recipe.launch
This framework was developed using the ROS Noetic distribution.
The software can be installed with the following rosinstall file.
The manipulation framework package and its examples are continuosly evolving. If you find errors or if you have some suggestions, please let us know.
Authors:
- Enrico Villagrossi (enrico.villagrossi@stiima.cnr.it)
- Manuel Beschi (manuel.beschi@unibs.it)
Software License Agreement (BSD License)
Copyright (c) 2021, National Research Council of Italy, Institute of Industrial Technologies and Automation
All rights reserved.
The manipualtion framework is developed by CNR-STIIMA (http://www.stiima.cnr.it/)
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 820807. This website reflects only the author’s view and the European Commission is not responsible for any use that may be made of the information it contains.