partly from UR5+robotiq_85_gripper GAZEBO模拟视觉抓取平台仿真

platform

ubuntu 18.04 + ros melodic

problem and solution

NOTE

The repository is built for constructing the grasping simulation platform in ros. Presently, It is used to achieve grasping by GPD algorithm.

run

roslaunch ur5_single_arm_moveit_config test_ur5_gazebo.launch
roslaunch ur5_single_arm_moveit_config ur5_moveit_planning_execution.launch
rosrun ur5_single_arm_moveit_config grasping_demo1.py

roslaunch ur5_single_arm_moveit_config test_ur5_gazebo.launch
roslaunch ur5_single_arm_moveit_config ur5_moveit_planning_execution.launch
roslaunch find_object_2d find_object_3d_kinect2.launch
rosrun opencv tf_listener.py # need to modify the object_frame
rosrun ur5_single_arm_moveit_config grasping_demo_vision2.py

run with gpd_ros

roslaunch ur5_single_arm_moveit_config test_ur5_gazebo.launch
roslaunch ur5_single_arm_moveit_config ur5_moveit_planning_execution.launch
roslaunch gpd_ros ur5.launch
rosrun ur5_single_arm_moveit_config test_tf_grasp
# should run after /grasp_link has been published
rosrun ur5_single_arm_moveit_config test_movegroup

replaced with

roslaunch ur5_single_arm_moveit_config test_ur5_gazebo.launch
roslaunch ur5_single_arm_moveit_config ur5_moveit_planning_execution.launch
roslaunch gpd_ros ur5.launch
rosrun ur5_single_arm_moveit_config test_tf_grasp
roslaunch ur5_single_arm_moveit_config test_ur5_grasp.launch

run with pointnetgpd(test)

roslaunch ur5_single_arm_moveit_config test_ur5_gazebo.launch
roslaunch ur5_single_arm_moveit_config ur5_moveit_planning_execution.launch
rosrun ur5_single_arm_moveit_config test_sampleaboveplane
python kinect2grasp.py(test)

note for myself

git push -u master master
git push

sudo apt install ros-melodic-moveit
sudo apt install ros-melodic-pcl-conversions

sudo apt install ros-melodic-joint-state-publisher-gui
sudo apt install ros-melodic-position-controllers
sudo apt-get install ros-melodic-joint-trajectory-controller
sudo apt install ros-melodic-joint-state-controller