https://github.com/andy-leo10/manipulation_project
manipulation project with robot UR3e
https://github.com/andy-leo10/manipulation_project
manipulation moveit2 perception ros2
Last synced: 7 months ago
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manipulation project with robot UR3e
- Host: GitHub
- URL: https://github.com/andy-leo10/manipulation_project
- Owner: Andy-Leo10
- Created: 2023-12-12T19:39:56.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2024-04-26T19:54:04.000Z (over 1 year ago)
- Last Synced: 2025-06-06T04:28:30.037Z (7 months ago)
- Topics: manipulation, moveit2, perception, ros2
- Language: C++
- Homepage:
- Size: 6.97 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# manipulation_project
manipulation project with robot UR3e
https://github.com/Andy-Leo10/manipulation_project/assets/60716487/e5a08704-20b6-412d-92f0-49e8a993472b
## 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
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