This repository provides a demo for pick and place using tams' lab setup with the ur5.

Usage

The following two launch files will start the environment to use pick and place (place is not integrated yet).

roslaunch tams_ur5_pick_place hardware_demo.launch

roslaunch tams_ur5_pick_place moveit_demo_mode.launch

Both launch files will bring up the tams lab corner from the repo tams_ur5_setup, the hardware launch will also launch the object detection on the table from this repo project15_objectrecognition. These files also start the plan_grasps_service used by moveits pick.

Source files

plan_grasps_service.cpp: This is the implementation of the grasp planning service used by moveits pick. It provides a grasp from above the object.

pick_place_demo.cpp: This demo is a loop where the robot uses moveits pick to grasp an object on the table lift it up and place it on the table again, then moveing back to the home position. During this movement, the user can change the position of the object on the table. In the moment the place part is a stub.

pick_and_place_test.cpp: This picks up an imaginary object on the table using MoveIt's pick pipeline and places it on the table using MovieIt's place pipeline.