manipulation_project

manipulation project with robot UR3e

2023-12-29.16-20-07.1.mp4

Run the simulation

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

Launch most importants nodes v.FK

• 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

Launch most importants nodes v.IK&Perception

• 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

Test Perception

• 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}"

Others

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

Perception

Pick

Place

Recording