Homework3 - P2 (Group 1 - Catchers)

Authors : Anunth Ramaswami, Kasina Jyothi Swaroop, Kyle Thompson , Zixin Ye

This package is used to create an interface between a user node to the MoveIt package to perform various pick and place tasks on the Emika Panda Franka Robot Arm.

Quickstart

Demo

1. After the franka workspace is sourced, run the below command.

   ros2 launch robot_mover pickplace.launch.xml demo:=true
   

This should open the open the rviz with the franka initialised in the ready position.

2. Perform the service call using the command:

   ros2 service call /pick std_srvs/srv/Empty
   

   This should setup the scene in the rviz and the run the pick and place operation.

3. Video demonstration of the above :

   Demo.mp4

Operation on Robot

1. After running the moveit on the Emika Franka Robot, run the following on your local system :

    ros2 launch robot_mover pickplace.launch.xml demo:=false
   

2. Perform the service call using the command:

     ros2 service call /pick std_srvs/srv/Empty
   

   This should setup the scene in the rviz and the run the pick and place operation.

3. Video demonstration of the above :

   IMG_3780.mp4