ptientho / ur3e_w_perception

Control UR3e using MoveIt2 and enable perception task for object detection

UR3e with Perception for Pick-and-place Task

The goal of this project is to use manipulation and perception to generate a pick-and-place task. UR5 robot is to pick an object on a table and place in a different location.

There are several tasks involve in this project including...

1. configure MoveIt1 package
2. configure MoveIt2 package
3. program robot sequence through MoveIt2 C++ API
4. implement robot sequence with perception

Plan and Execute Trajectory

After configure MoveIt2, the robot simulation is able to plan and execute trajectory.

ros2 launch my_moveit2_config my_planning_execution.launch.py

MoveIt2 API

Robot sequence is executed by using MoveIt2 API in c++.

ros2 launch moveit2_scripts pick_and_place.launch.py

MoveIt2 API with Perception

A camera publishes point cloud topic and an action server "find_objects" shows detected object and background in Rviz2. The robot executes its trajectory while receiving a detected object's location from perception node.

ros2 launch moveit2_scripts pick_and_place_v2.launch.py