Easy Manipulation Deployment

A modular and easy to deploy ROS2 manipulation pipeline that integrates perception elements to establish an end-to-end pick and place task.

This package was tested with the easy_perception_deployment ROS2 package, but any other perception system that provides the same ROS2 message in the right topic can work with this package as well.

• Overview
  • Manipulation Pipeline
    • Workcell Builder
    • Grasp Planner
    • Grasp Execution
• Common Concepts
  • YAML
  • URDF
  • SRDF
  • Moveit_Config Folders
  • Description Folders
  • Workcell
  • Scenes
  • Assets
    • Robots
    • End Effectors
    • Environment Objects
• Download Instructions
  • Installing a perception package
  • Installing complete easy_manipulation_deployment suite
  • Installing only the Workcell Builder
  • Installing only the Grasp Planner
  • Installing only Grasp Execution
• Step-By-Step Tutorial
  • Workcell Builder Example
    • Before running the GUI
    • Starting the Workcell Builder
    • Adding A Manipulator
    • Adding an end effector
    • Adding an Object
    • Loading an Object
    • Adding External joints for Objects
    • Generating files and folders
    • Check if scene is properly generated
    • Adding a camera to the scene
  • Grasp Planner Example
    • Unzip Perception Rosbag
    • Set up end effector parameters
    • Running the grasp planner
  • Grasp Validator Example
  • Grasp Execution Example
    • Grasp execution configuration
    • Running full pipeline
• Workcell Builder
  • Workcell Initialization
    • Folder structure
    • Generating Moveit Config packages
    • Uploading Relevant Assets
  • Create A Scene
    • Adding a Robot into scene
    • Adding an End Effector into scene
    • Adding Objects into scene
    • Complete Scene
  • Generate Files and Folders
    • Generating yaml files
    • Other Files (General)
    • Other Files (ROS1)
    • Other Files (ROS2)
  • Run workcell demo
    • ROS1
    • ROS2
  • Editing Existing Scene
    • Loading YAML file into GUI
  • Conventions
    • Description folders
    • URDF folders
    • moveit_config folder
• Grasp Planner
  • Before running the Grasp Planner
    • Grasp Planner Configuration
    • Grasp Planner Message Definitions
  • Running the Grasp Planner
  • Grasp Validator
    • Before running this package
    • Running the depth checker
    • Running the grasp validator
• Grasp Execution Demo
  • Package configuration
    • Launch file
    • grasp_execution_node.cpp
  • Running grasp execution
    • Changing the home state
• Frequently Asked Questions
  • Workcell Builder
    • How many Robots are supported in workcell generation?
    • I have my own object_description folders for existing objects that I want to to load into the scene. How do I load it into the Workcell Builder?
    • Can I create my own robot and end effector from the Workcell builder?
    • How do I visualize the workspace during editing using the GUI
  • Grasp Planner
    • Can I use my own perception system with this package
    • Can I use a 3D camera to plan grasps?
    • Is it possible to do a side grasp rather than a top down grasp?
• Future Plans
  • Workcell Builder
    • Loading of custom environment objects
    • Multi robot support
    • Real Time Visualization of workcell building
  • Grasp Planner
    • Multi finger gripper support
    • Suction array support
    • Improved algorithm