armgits/661-project4

661 Project 4

MoveIt!

Setting up the workspace

See the template repository to learn more about the workspace and requirements to work with this project.

Clone this repository to the home directory, open in VSCode and re-open in container using the devcontainer extension.

For the first time, after building the container, run the setup scripts included in the .devcontainer/ folder to install all the dependencies for the workspace.

Run these commands in the VSCode terminal for the first time.

./.devcontainer/setup.sh && source ~/.bashrc

./.devcontainer/project4_setup.sh

Then build the packages in workspace

colcon build --mixin release && source install/setup.bash

Running the project

Running the project requires running commands to execute two launch files in seperate terminals.

Load the robot in RViz.

ros2 launch package_119399002 loadrobot.launch.py

Run the node to move the robot.

ros2 launch package_119399002 picknplace.launch.py