pick-and-place-with-icl-ur5-robotiq-gripper

Prerequisite:

1. Ubuntu 18.04 LTS
2. ROS Melodic
3. MoveIt!
4. OpenNI Kinect Package (Camera)

Getting Started:

1. Create new catkin workspace:

mkdir -p ur5_robotiq_ws/src

2. Git clone to the ur5_robotiq_ws/src:

cd ur5_robotiq_ws/src

git clone https://github.com/khs-sm/pick-and-place-with-icl-ur5-robotiq-gripper.git

3. Make sure the packages is in the directory as below:

ur5_robotiq_ws   
│
└───src
    │   find-object
    │   gazebo-pkgs
    |   general-message-pkgs
    |   ......
    |   README.md

4. Install dependencies using rosdep install and perform catkin_make to build the project:

cd ur5_robotiq_ws or cd ..

rosdep install --from-paths src --ignore-src -r -y

catkin_make

source the file before launch

source devel/setup.bash

Gazebo Simulation

1. Launch the UR5 Robotiq Gripper:

roslaunch icl_ur5_setup_gazebo icl_ur5_gripper.launch

2. Enable ROS Control on Simulation from MoveIt:

roslaunch icl_ur5_setup_moveit_config ur5_gripper_moveit_planning_execution.launch sim:=true

3. Launch Rviz with MoveIt:

roslaunch icl_ur5_setup_moveit_config moveit_rviz.launch config:=true

4. Test the Simulation:

rosrun scripts test_grasp.py

(OPTIONAL) Launch Object Detection with find_object_2d:

roslaunch find-object start_find_object_3d_session.launch

(OPTIONAL) Apply Object Detection to Motion Planning:

rosrun scripts vision_grasp.py

Debug

check on here

References

1. universal robot
2. robotiq
3. icl_phri_ur5
4. find_object_2d