This repository is ROS 2 package for the pnp task solution for xArm7 and UR5e robots.
cd ~/your_ws/src
git clone https://github.com/patsyuk03/pnp_color_blocks.git
cd ~/your_ws
colcon build
source install/setup.bash
ros2 launch pnp_color_blocks pnp_xarm.launch.py robot_ip:=xxx.xxx.x.xxx use_fake_hardware:=false
ros2 launch pnp_color_blocks pnp_ur.launch.py use_fake_hardware:=true initial_joint_controller:=joint_trajectory_controller
ros2 launch pnp_color_blocks pnp_ur.launch.py use_fake_hardware:=false initial_joint_controller:=scaled_joint_trajectory_controller robot_ip:=xxx.xxx.x.xxx