Download Instructions

One of the key features of this package is its modularity, meaning that each of the three components can be run together or separately (with some differences in initial installations)

Installing a perception package

This package will not work without a perception source. If you do not have your own perception package, check out the easy_perception_deployment package.

Installing complete easy_manipulation_deployment suite

Build and install moveit2 from source in a separate workspace

mkdir -p ~/moveit2_ws/src

cd ~/moveit2_ws

curl --output moveit2.repos \
  https://raw.githubusercontent.com/ros-planning/moveit2/main/moveit2.repos

vcs import src < moveit2.repos

source /opt/ros/foxy/setup.bash

rosdep install --from-paths src --ignore-src -yr --rosdistro "${ROS_DISTRO}"

colcon build

Build and Install easy_manipulation_deployment

mkdir -p ~/workcell_ws/src

cd ~/workcell_ws/src

https://github.com/ros-industrial/easy_manipulation_deployment.git

mv easy_manipulation_deployment/assets/ .

mv easy_manipulation_deployment/scenes/ .

cd ~/workcell_ws

source /opt/ros/foxy/setup.bash

rosdep install --from-paths src --ignore-src -yr --rosdistro "${ROS_DISTRO}"

source ~/moveit2_ws/install/setup.bash

colcon build

source install/setup.bash

Installing only the Workcell Builder

mkdir -p ~/workcell_ws/src

cd ~/workcell_ws/src

git clone https://github.com/ros-industrial/easy_manipulation_deployment.git

mv easy_manipulation_deployment/assets/ .

mv easy_manipulation_deployment/scenes/ .

find ./easy_manipulation_deployment -mindepth 1 ! -regex '^./easy_manipulation_deployment/workcell_builder\(/.*\)?' -delete

cd ~/workcell_ws

source /opt/ros/foxy/setup.bash

rosdep install --from-paths src --ignore-src -yr --rosdistro "${ROS_DISTRO}"

colcon build

source install/setup.bash

Installing only the Grasp Planner

mkdir -p ~/workcell_ws/src

cd ~/workcell_ws/src

git clone https://github.com/ros-industrial/easy_manipulation_deployment.git

find ./easy_manipulation_deployment -mindepth 1 ! -regex '^./easy_manipulation_deployment/grasp_planner\(/.*\)?' ! -regex '^./easy_manipulation_deployment/custom_msgs\(/.*\)?' -delete

cd ~/workcell_ws

source /opt/ros/foxy/setup.bash

rosdep install --from-paths src --ignore-src -yr --rosdistro "${ROS_DISTRO}"

colcon build

source install/setup.bash

Installing only Grasp Execution

Instructions coming soon