Pick and place demo for gentle gripper.
Install pointcloud_proc library
git clone [email protected]:tkelestemur/point_cloud_proc.git
Open four terminals and run the source command in each terminal:
source ~/ur_ws/devel/setup.bash
Then run the following commands in each terminal by the same order:
- Start the robot
roslaunch pick_and_place ur3e.launch
After this command, you need to start the gentle_pick program on the robot teaching pendant.
- Start the camera node
roslaunch pick_and_place kinect.launch
- Start the object clustering server
rosrun pick_and_place object_clustering_server
- Start the pick and place demo
rosrun pick_and_place pick_and_place.py
If there is no item left on the talbe, the 4th program will automatically stop.
You need to manually add items back to the table and rerun the 4th command in the same window.