This ROS melodic workspace is created on Ubuntu 18.04. Here I worked on moveit & MTC projects like Pick, Place, Pouring task for multi-manipulator system using MoveIt Task Constructor(MTC).
This ROS melodic workspace is created on Ubuntu 18.04. Here I have worked on several moveit related projects like Pick, Place, Pouring task for multi-manipulator system using MoveIt Task Constructor(MTC).
All the
code
required to get started
git clone https://github.com/iamrajee/ws_moveit.git
cd ws_moveit/
./refresh.sh
make
This is the default Pick & Place demo provided by the MTC.
Terminal 1: roslaunch moveit_task_constructor_demo demo.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace.launch
Terminal 1: roslaunch moveit_task_constructor_demo demo2.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace2.launch
Terminal 1: roslaunch moveit_task_constructor_demo demo3.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace3.launch
TODO
Terminal 1: roslaunch moveit_task_constructor_demo demo4.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace4.launch
Also commented various ways which didn't worked
Terminal 1: roslaunch moveit_task_constructor_demo demo5.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace5.launch
Terminal 1: roslaunch moveit_task_constructor_demo demo6.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace6.launch
Terminal 1: roslaunch moveit_task_constructor_demo demo7.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace7.launch
Terminal 1: roslaunch moveit_task_constructor_demo demo8.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace8.launch
Terminal 1: roslaunch moveit_task_constructor_demo demo9.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace9.launch
Terminal 1: roslaunch moveit_task_constructor_demo demo10.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace10.launch
Terminal 1: roslaunch moveit_task_constructor_demo demo11.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace11.launch
Terminal 1: roslaunch moveit_task_constructor_demo demo12.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace12.launch
Terminal 1: roslaunch moveit_task_constructor_demo demo13.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace13.launch
Terminal 1: roslaunch moveit_task_constructor_demo demo14.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace14.launch
TODO
Terminal 1: roslaunch moveit_task_constructor_demo demo15.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace15.launch
This is the default cartesian demo provided by the MTC.
Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian.launch/demo.launch
Terminal 2: rosrun moveit_task_constructor_demo cartesian
Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian2.launch
Terminal 2: rosrun moveit_task_constructor_demo cartesian2
task execution not return problem -> resolved by using in built t.execute() and updating with recent PR #136
Terminal 1: roslaunch moveit_task_constructor_demo demo3.launch
Terminal 2: rosrun moveit_task_constructor_demo cartesian2
Terminal 3: rosrun moveit_task_constructor_demo cartesian3
or
Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian3.launch
Terminal 2: rosrun moveit_task_constructor_demo cartesian3
(Cleaned) could plan but can execute -> resolved by commenting "capabilities" and "disable_capabilities" parameter in move_group.launch
Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian4.launch
Terminal 2: rosrun moveit_task_constructor_demo cartesian4
Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian5.launch
Terminal 2: rosrun moveit_task_constructor_demo cartesian5
This is the default Modular demo provided by the MTC.
Terminal 1: roslaunch moveit_task_constructor_demo demo.launch
Terminal 2: rosrun moveit_task_constructor_demo modular
Terminal 1: roslaunch moveit_task_constructor_demo demo.launch
Terminal 2: rosrun moveit_task_constructor_demo modular2
panda pkg contain cpp and py interface for moveit.*
Terminal 1:
$ roscore
$ TODO
Terminal 2:
$ TODO
panda pkg contain cpp and py interface for moveit.*
Terminal 1:
$ roscore
$ TODO
Terminal 2:
$ TODO
See full video here.
In this pkg TODO
#!/bin/bash
source /opt/ros/melodic/setup.bash
source devel/setup.bash
clear
It will source the workspace after buiding workspace or after creating new pkg. Run it as
./refresh.sh
SHELL=/bin/bash
all:
make run
run:
catkin_make
bash refresh.sh
It will build the workspace . Run it as
make
#!/bin/bash
cd src/
catkin create $1
cd ../
make
source refresh.sh
It will create new package . Run it as
./createpkg.sh newpkg_name
#!/bin/bash
rosrun rqt_tf_tree rqt_tf_tree
It will launch the gui to visvualise the tf tree. Run it as
./tftree.sh
#!/bin/bash
printenv | grep -i ROS
It will print the ROS related environment variable . Run it as
./printenv.sh
sudo rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
It will install dependencies of all pkg in the workspace. Run it in the workspace as
./rosdep.sh
#!/bin/bash
ssh rajendra@rajendra
It will ssh into another system. Useful when using multiple ros masters. Run it as
./rajendra.sh
Or Contributors/supporters/mentors/guides who helped me out in these projects.
Abhinand A S | Sachin Rustagi | Swami Prasad |
---|---|---|
To get started...
Option 1
Option 2
https://github.com/iamrajee/ws_moveit.git
https://github.com/iamrajee/ws_moveit/compare/
.Reach out to me for any help!
Name : Rajendra Singh Email : [email protected] Web : https://iamrajee.github.io/ LinkedIn : https://www.linkedin.com/in/rajendra-singh-6b0b3a13a/ Twitter: @i_am_rajee |
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