Workcell Builder

This ROS package provides an easy to use Graphical User Interface for generation of a robotic workcell in RViz which serves as the first step in the pipeline for a pick and place task

• Workcell Initialization
  • Folder structure
    • Folder Structure for Assets
  • Generating Moveit Config packages
    • FOR ROS 2
  • Uploading Relevant Assets
    • Robots
    • End Effector
    • Environment Objects
• Create A Scene
  • Adding a Robot into scene
    • Origin
    • Robot Base Link
    • Robot End Effector Link
  • Adding an End Effector into scene
    • Origin
    • End Effector Link
    • End Effector Type
  • Adding Objects into scene
    • Create an object
      • Adding Links
        • Adding Visual Component
        • Adding Inertial Component
        • Adding Collision Component
      • Adding Joints
        • Inheritance
        • Axis
      • Origin Explanations
  • Complete Scene
• Generate Files and Folders
  • Generating yaml files
  • Other Files (General)
    • Environment Object Packages
    • environment.urdf.xacro
    • arm_hand.srdf.xacro
  • Other Files (ROS1)
  • Other Files (ROS2)
    • demo.launch.py
• Run workcell demo
  • ROS1
  • ROS2
• Editing Existing Scene
  • Loading YAML file into GUI
• Conventions
  • Description folders
  • URDF folders
  • moveit_config folder