Step-By-Step Tutorial

This section presents a highly detailed end to end example of a pick and place manipulation pipeline using the easy_manipulation_deployment package. If you want general information about the packages, you can look at the other sections of the documentation. It is recommended, if you follow this tutorial, to follow it throughout to reduce any errors stemming from partial actions.

• Workcell Builder Example
  • Before running the GUI
    • Downloading Robot and End effector resources
    • Edit CMakelists.txt and package.xml
    • Xacro-ize the SRDFs
  • Starting the Workcell Builder
  • Adding A Manipulator
  • Adding an end effector
  • Adding an Object
    • Create visual component of link
    • Create Collision component of link
    • Set external joint attributes
  • Loading an Object
  • Adding External joints for Objects
    • Linking table to the external world
  • Generating files and folders
  • Check if scene is properly generated
  • Adding a camera to the scene
    • Downloading Camera Description Folder
    • Add the camera to the scene
    • Checking camera frame reference
• Grasp Planner Example
  • Unzip Perception Rosbag
  • Set up end effector parameters
  • Running the grasp planner
• Grasp Validator Example
• Grasp Execution Example
  • Grasp execution configuration
    • Grasp execution launch file
    • Grasp execution node file
  • Running full pipeline
    • Terminal 1: Grasp Execution
    • Terminal 2: Grasp Planner
    • Terminal 3: Perception example rosbag