pvela2017 / The-Construct-CheckPoint-7-Manipulation-Perception

The Construct Masterclass

CheckPoint 7 Manipulation Perception

About The Project

The purpose of this project is to use Moveit2 to generate a basic Pick & Place task with a UR3e robotic arm. The task involves picking an object from the table and placing it in a different location. The Move Group Interface API is utilized to combine a series of motions to generate the pick & place sequence. Additionally, a perception node is integrated into the sequence to enable the robot to detect the position of the object to be picked.

Getting Started

Software Prerequisites

• Ubuntu 22.04
• ROS2 Humble

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Installation

1. Clone the repo:

   cd ~ && \
   git clone https://github.com/pvela2017/The-Construct-CheckPoint-7-Manipulation-Perception

2. Compile the simulation:

   source /opt/ros/humble/setup.bash && \
   cd ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws && \
   colcon build

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Usage

Local Simulation & Real Robot

1. Launch the simulation:

   source /opt/ros/humble/setup.bash && \
   source ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws/install/setup.bash && \
   ros2 launch the_construct_office_gazebo warehouse_ur3e.launch.xml

2. Launch move group:

   source /opt/ros/humble/setup.bash && \
   source ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws/install/setup.bash && \
   ros2 launch my_moveit_config move_group.launch.py    # simulation
   ros2 launch real_moveit_config move_group.launch.py  # real

3. Launch moveit rviz interface:

   source /opt/ros/humble/setup.bash && \
   source ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws/install/setup.bash && \
   ros2 launch my_moveit_config moveit_rviz.launch.py    # simulation
   ros2 launch real_moveit_config moveit_rviz.launch.py  # real

4. Pick and Place without perception:

   source /opt/ros/humble/setup.bash && \
   source ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws/install/setup.bash && \
   ros2 launch moveit2_scripts pick_and_place_sim.launch.py    # simulation
   ros2 launch moveit2_scripts pick_and_place.launch.py        # real

5. Launch perception:

   source /opt/ros/humble/setup.bash && \
   source ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws/install/setup.bash && \
   ros2 launch get_cube_pose get_pose_client.launch.py    # simulation

6. Pick and Place with perception:

   source /opt/ros/humble/setup.bash && \
   source ~/The-Construct-CheckPoint-7-Manipulation-Perception/ros2_ws/install/setup.bash && \
   ros2 launch moveit2_scripts pick_and_place_perception_sim.launch.py    # simulation
   ros2 launch moveit2_scripts pick_and_place_perception.launch.py        # real

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Results

Key Topics Learnt

• Moveit2.
• Perception.