https://github.com/vfdev-5/ur5_pnp
https://github.com/vfdev-5/ur5_pnp
Last synced: 5 months ago
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- Host: GitHub
- URL: https://github.com/vfdev-5/ur5_pnp
- Owner: vfdev-5
- Created: 2018-08-08T21:10:44.000Z (almost 8 years ago)
- Default Branch: master
- Last Pushed: 2018-09-03T23:47:07.000Z (almost 8 years ago)
- Last Synced: 2025-04-07T22:13:47.769Z (about 1 year ago)
- Language: C++
- Size: 8.08 MB
- Stars: 2
- Watchers: 3
- Forks: 2
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
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README
# Project AIvengers/Pick-and-place for UR5
## Installation
The content of the repository should be cloned into the source of catkin workspace:
```
mkdir -p ur5_pnp_ws/src
cd ur5_pnp_ws/src
git clone --recursive https://github.com/vfdev-5/ur5_pnp.git
```
Before compilation, install dependencies:
```
cd ur5_pnp_ws && rosdep install --from-paths src --ignore-src -r -y
```
and finally compile the workspace
```
cd ur5_pnp_ws && catkin_make
```
## Usage
### Robot initialization
Two options are possible:
- simulation
- real robot
#### Simulation
```
source devel/setup.bash
sh src/ur5_pnp/run_simulation.sh
```
#### Real robot
Just run the script from the root of the workspace (`build`, `devel`, `src`):
```
sh src/ur5_pnp/run_robot.sh
```
which starts `roscore` and necessary nodes in separate `xterm` windows.
### Play with robot
Multiple options are possible:
- execute a program
- use moveit commander
#### Execute a program
Main demo program can be executed with
```
source devel/setup.bash
roslaunch move_group_ur5 demo_gqcnn_pick_and_drop_single_object.launch
```
This demo requires `berkeley_automation` module properly installed.
There are other demo programs can be found at `move_group_ur5/programs`.
#### Moveit commander
Simply run the script
```
sh run_commander.sh
```
Next in the command line type:
```
> use manipulator
> current
> help
```