The purpose of this project is to use Moveit2 to generate a basic Pick & Place task with a UR3e robotic arm. The task involves picking an object from the table and placing it in a different location. The Move Group Interface API is utilized to combine a series of motions to generate the pick & place sequence. Additionally, a perception node is integrated into the sequence to enable the robot to detect the position of the object to be picked.
- Ubuntu 22.04
- ROS2 Humble
- Clone the repo:
cd ~ && \ git clone https://github.com/pvela2017/The-Construct-CheckPoint-7-Manipulation-Perception
- Compile the simulation:
source /opt/ros/humble/setup.bash && \ cd ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws && \ colcon build
- Launch the simulation:
source /opt/ros/humble/setup.bash && \ source ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws/install/setup.bash && \ ros2 launch the_construct_office_gazebo warehouse_ur3e.launch.xml
- Launch move group:
source /opt/ros/humble/setup.bash && \ source ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws/install/setup.bash && \ ros2 launch my_moveit_config move_group.launch.py # simulation ros2 launch real_moveit_config move_group.launch.py # real
- Launch moveit rviz interface:
source /opt/ros/humble/setup.bash && \ source ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws/install/setup.bash && \ ros2 launch my_moveit_config moveit_rviz.launch.py # simulation ros2 launch real_moveit_config moveit_rviz.launch.py # real
- Pick and Place without perception:
source /opt/ros/humble/setup.bash && \ source ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws/install/setup.bash && \ ros2 launch moveit2_scripts pick_and_place_sim.launch.py # simulation ros2 launch moveit2_scripts pick_and_place.launch.py # real
- Launch perception:
source /opt/ros/humble/setup.bash && \ source ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws/install/setup.bash && \ ros2 launch get_cube_pose get_pose_client.launch.py # simulation
- Pick and Place with perception:
source /opt/ros/humble/setup.bash && \ source ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws/install/setup.bash && \ ros2 launch moveit2_scripts pick_and_place_perception_sim.launch.py # simulation ros2 launch moveit2_scripts pick_and_place_perception.launch.py # real
- Moveit2.
- Perception.