TRI_catkin_ws

This repo contains the entire catkin workspace for vision-based picking.

More info to come...

things michael had to install:

• ur_modern_driver
• ur_msgs
• Eigen
• sudo apt-get install ros-melodic-soem
• installed muparser
• cloned new robotiq
• catkin_make
• rosdep install --from-paths src/ --ignore-src --rosdistro indigo
• sudo apt-get install ros-melodic-gazebo-ros-control ros-melodic-gazebo-ros-pkgs
• sudo apt-get install ros-melodic-socketcan-interface

workflow with hardware:

• roscore
• roslaunch ur_bringup ur5_bringup.launch robot_ip:=172.22.22.3 limited:=true
• roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true

for rviz

• roslaunch ur5_moveit_config moveit_rviz.launch config:=true
• rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /dev/ttyUSB0
• rosrun vision_based_picking FindRobotiqLedCam.py
• rosrun vision_based_picking ur5_calib.py

workflow with simulation:

• roscore
• roslaunch ur5_moveit_config demo.launch
• rosrun vision_based_picking FindRobotiqLedCam.py
• rosrun vision_based_picking test_move.py