manipulation project with robot UR3e
2023-12-29.16-20-07.1.mp4
source ~/ros2_ws/install/setup.bash
ros2 launch the_construct_office_gazebo warehouse_ur3e.launch.xml
Check if everything is correct
ros2 control list_controllers
ros2 topic echo /joint_states
- Move Group
ros2 launch my_moveit_config move_group.launch.py use_sim_time:=True
ros2 launch real_moveit_config move_group.launch.py use_sim_time:=False
- Robot Interface
ros2 launch my_moveit_config moveit_rviz.launch.py
ros2 launch real_moveit_config moveit_rviz.launch.py
- Custom Task: Pick & Place
ros2 launch moveit2_scripts pick_and_place.launch.py use_sim_time:=True
ros2 launch moveit2_scripts pick_and_place.launch.py use_sim_time:=False
- Move Group
ros2 launch my_moveit_config move_group.launch.py use_sim_time:=True
ros2 launch real_moveit_config move_group.launch.py use_sim_time:=False
- Robot Interface
ros2 launch my_moveit_config moveit_rviz.launch.py
ros2 launch real_moveit_config moveit_rviz.launch.py
- Custom Task: Pick & Place
ros2 launch moveit2_scripts pick_and_place_perception.launch.py
ros2 launch moveit2_scripts pick_and_place_perception_real.launch.py
- Start the action
ros2 run simple_grasping basic_grasping_perception_node --ros-args -p debug_topics:=true
ros2 run simple_grasping basic_grasping_perception_node_real --ros-args -p debug_topics:=true
- Call the action
ros2 action send_goal /find_objects grasping_msgs/action/FindGraspableObjects "{plan_grasps: false}"
GUI for arms
sudo apt-get update
sudo apt-get install ros-humble-rqt-joint-trajectory-controller
ros2 run rqt_joint_trajectory_controller rqt_joint_trajectory_controller
URDF Tree
ros2 run tf2_tools view_frames
Capture positions
ros2 topic echo /joint_states
ros2 run tf2_ros tf2_echo base_link tool0
Generate new cube in simulation
ros2 run gazebo_ros spawn_entity.py -file /home/user/ros2_ws/src/manipulation_project/grasp_box.urdf -x 5.28 -y -3.84 -z 1.0 -entity grasp_box_x
