Pruthvi-Sanghavi / moveit_manipulation

Repository for project 4 of Path Planning.

PickItUp

Repository for project 4 of Path Planning. Path planner for a Baxter Manipulator Arm using Move-it ROS library for pick and place operation.

Authors

• Pruthvi Sanghavi
• Achal Vyas

Baxter package installation

Open the terminal and type,

sudo apt-get install gazebo7 ros-kinetic-qt-build ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-ros-pkgs ros-kinetic-ros-control ros-kinetic-control-toolbox ros-kinetic-realtime-tools ros-kinetic-ros-controllers ros-kinetic-xacro python-wstool ros-kinetic-tf-conversions ros-kinetic-kdl-parser

cd ~/<workspace>/src
wstool init .
wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/kinetic-devel/baxter_simulator.rosinstall
wstool update
source /opt/ros/kinetic/setup.bash
cd ~/<workspace>
catkin_make

Run Instructions

Open a terminal and type

cd <workspace>/src
git clone https://github.com/Pruthvi-Sanghavi/PickItUp.git
cd ..
source devel/setup.bash
./src/baxter/baxter.sh sim
roslaunch baxter_gazebo baxter_world.launch

In another terminal,

cd <workspace>
source devel/setup.bash
rosrun pickItUp ik_pick_and_place_demo.py