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Robotstudio pick and place tutorial1/2/2023 ![]() ![]() The torso of TIAGo will raise and the head will lower in order to look at the table. This service will cause /pick_client node to first move TIAGo to a suitable pose to detect the object and to perform grasping. Rviz will also show up to help the user visualize the different steps involved in the demo.įinally, in the third console the following service will be called in order to start the execution of the demo rviz: in order to visualize all the steps involved in the demo. Then it waits until the object marker is detected and its pose is retrieved in order to send a goal to the /pick_and_place_server. pick_client: node that prepares the robot for the object detection and the pick and place operations: raises the arm to a safe pose and lowers the head to look at the table. pick_and_place_server: node in charge of defining the planning scene, request pick and plans with MoveIt! and execute them. aruco_single: ArUco marker detector node Roslaunch tiago_pick_demo pick_demo.launch In the second console, run the following instruction Then you may proceed with the next steps. Gazebo will show up with TIAGo in front of a table and the object with the ArUco marker on its top. Roslaunch tiago_pick_demo pick_simulation.launch In the first console launch the following simulation Then, MoveIt! is used in order to plan a pick trajectory to grasp the object, which is then lifted up and finally a place trajectory is planned to restore the object in its former position.įirst make sure that the tutorials are properly installed along with the TIAGo simulation, as shown in the Tutorials Installation Section.įirst open three consoles and source the public simulation workspace as follows: ![]() The robot then locates the object in the RGB of its camera and reconstructs its 3D pose. ![]() A simulation environment comprising a table and a box with an ArUco marker is defined. The purpose of this tutorials is to provide an example of grasping with TIAGo. ![]()
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