Inspect the pick_and_place_application
Package¶
In this exercise, we will get familiar with all the files that you will be interacting with throughout the next exercises.
Acquire the Workspace¶
cp -r ~/industrial_training/exercises/Perception-Driven_Manipulation/ros2/template_ws \
~/perception_driven_ws
Look into the launch
directory¶
application_setup.launch.py
Brings up the entire ROS system (MoveIt!, Rviz, perception nodes, ROS-I drivers, robot I/O peripherals)
application_run.launch.py
Runs your pick and place node.
Look into the config
directory¶
pick_and_place_parameters.yaml
List of parameters read by the pick and place node.
rviz_config.rviz
Rviz configuration file for display properties.
target_recognition_parameters.yaml
Parameters used by the target recognition service for detecting the box from the sensor data.
fake_obstacles_cloud_descriptions.yaml
Parameters used to generate simulated sensor data (simulated sensor mode only).
Look into the src
directory¶
nodes/
pick_and_place_node.cpp
Main application thread. Contains all necessary headers and function calls.
tasks/
create_motion_plan.cpp
create_pick_moves.cpp
create_place_moves.cpp
detect_box_pick.cpp
initialize.cpp
move_to_wait_position.cpp
pickup_box.cpp
place_box.cpp
reset_world.cpp
set_attached_object.cpp
set_gripper.cpp
Note
The tasks
directory contains source files with incomplete function definitions. You will fill with code where needed in order to complete the exercise.
utilities/
pick_and_place_utilities.cpp
Contains support functions that will help you complete the exercise.