webots_ros
The webots_manipulation
package contains training code of Webots with MoveIt!.
Getting started
- Build a dockerfile from
webots_docker
. Instructions in that repo. - Organize the project like this:
worskpace
|
|___webots_docker
|___ws
|___src
|___robotiq
|___universal_robot
|___webots_manipulation
Clone the following dependencies into your workspace:
Instructions
Minimal testing
roslaunch webots_manipulation minimal.launch
Complete
roslaunch webots_manipulation complete.launch
[Old] Pick and place
rosrun webots_manipulation pick_and_place
Grasping generator and pipeline
roslaunch webots_manipulation grasp_pipeline.launch
Motion planning pipeline
roslaunch webots_manipulation motion_planning_pipeline.launch
Tips
- Getting
move_group
s. Open the MoveIt! Command Line Tool:
$ rosrun moveit_commander moveit_commander_cmdline.py
> use [TAB]