The repo builds on BWI project of UTAustin and contains a mobile manipulator platform in gazebo.
Make sure you have installed ROS Melodic and ROS_DISTRO environment variable is set correctly.
Create workspace and download repo:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
wstool init src https://raw.githubusercontent.com/keke-220/segbot-ur5/master/rosinstall/melodic.rosinstall
Install dependencies:
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
Build everything and source workspace:
catkin build -j6
source devel/setup.bash
Launch banquet environment and bring up mobile manipulator:
roslaunch tamp_perception segbot_ur5.launch
Open another terminal and test with a simple pick&place task:
source ~/catkin_ws/devel/setup.bash
rosrun tamp_perception pick_n_place.py
Dataset can be downloaded here.
The trained model can be downloaded here