{"id":28381705,"url":"https://github.com/andy-leo10/manipulation_project","last_synced_at":"2025-06-25T02:32:01.140Z","repository":{"id":212179825,"uuid":"730840043","full_name":"Andy-Leo10/manipulation_project","owner":"Andy-Leo10","description":"manipulation project with robot 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manipulation_project\nmanipulation project with robot UR3e\n\n\nhttps://github.com/Andy-Leo10/manipulation_project/assets/60716487/e5a08704-20b6-412d-92f0-49e8a993472b\n\n\n## Run the simulation\n```\nsource ~/ros2_ws/install/setup.bash\nros2 launch the_construct_office_gazebo warehouse_ur3e.launch.xml\n```\nCheck if everything is correct\n```\nros2 control list_controllers\nros2 topic echo /joint_states\n```\n\n## Launch most importants nodes v.FK\n+ Move Group\n```\nros2 launch my_moveit_config move_group.launch.py use_sim_time:=True\nros2 launch real_moveit_config move_group.launch.py use_sim_time:=False\n```\n+ Robot Interface \n```\nros2 launch my_moveit_config moveit_rviz.launch.py\nros2 launch real_moveit_config moveit_rviz.launch.py\n```\n+ Custom Task: Pick \u0026 Place\n```\nros2 launch moveit2_scripts pick_and_place.launch.py use_sim_time:=True\nros2 launch moveit2_scripts pick_and_place.launch.py use_sim_time:=False\n```\n\n## Launch most importants nodes v.IK\u0026Perception\n+ Move Group\n```\nros2 launch my_moveit_config move_group.launch.py use_sim_time:=True\nros2 launch real_moveit_config move_group.launch.py use_sim_time:=False\n```\n+ Robot Interface \n```\nros2 launch my_moveit_config moveit_rviz.launch.py\nros2 launch real_moveit_config moveit_rviz.launch.py\n```\n+ Custom Task: Pick \u0026 Place\n```\nros2 launch moveit2_scripts pick_and_place_perception.launch.py\nros2 launch moveit2_scripts pick_and_place_perception_real.launch.py\n```\n\n## Test Perception \n+ Start the action \n```\nros2 run simple_grasping basic_grasping_perception_node --ros-args -p debug_topics:=true\nros2 run simple_grasping basic_grasping_perception_node_real --ros-args -p debug_topics:=true\n```\n+ Call the action \n```\nros2 action send_goal /find_objects grasping_msgs/action/FindGraspableObjects \"{plan_grasps: false}\"\n```\n\n## Others\nGUI for arms\n```\nsudo apt-get update\nsudo apt-get install ros-humble-rqt-joint-trajectory-controller\nros2 run rqt_joint_trajectory_controller rqt_joint_trajectory_controller\n```\nURDF Tree \n```\nros2 run tf2_tools view_frames\n```\nCapture positions\n```\nros2 topic echo /joint_states\nros2 run tf2_ros tf2_echo base_link tool0\n```\nGenerate new cube in simulation\n```\nros2 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\n```\n\n### Perception\n![description: perception](pictures/perception.png)\n\n### Pick\n![description: pick](pictures/pick.png)\n\n### Place\n![description: place](pictures/place.png)\n\n### Recording\n\n\u003cvideo width=\"1280\" height=\"720\" controls\u003e\n    \u003csource src=\"pictures/recording.mp4\" type=\"video/mp4\"\u003e\nYour browser does not support the video tag.\n\u003c/video\u003e\n\n![description: video](pictures/recording.mp4)","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fandy-leo10%2Fmanipulation_project","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fandy-leo10%2Fmanipulation_project","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fandy-leo10%2Fmanipulation_project/lists"}