Place Box

In this exercise, we will move the robot through the pick and place motions while avoiding obstacles with an attached payload. In addition, the gripper must be opened or closed at the appropriate time in order to complete the task.

Locate Function

  • In the main program, locate the function call to application.doBoxPlace().
  • Go to the source file of that function by clicking in any part of the function and pressing F2 in QtCreator.
  • Remove the first line containing the following RCLCPP_ERROR_STREAM ... so that the program runs.

Complete Code

  • Find every line that begins with the comment Fill Code: and read the description. Then, replace every instance of the comment UNCOMMENT AND COMPLETE with the appropriate line of code.

    /* Fill Code:
        .
        .
        .
    */
    /* UNCOMMENT AND COMPLETE: ... */
    
  • The execute() method sends a motion plan to the robot.

Build Code and Run

  • Compile the pick and place node:

    • In QTCreator: Build ‣ Build Project

    • Alternatively, in a terminal:

      colcon build
      
  • Run the supporting nodes with the launch file (only if needed):

    ros2 launch pick_and_place_application application_setup.launch.py
    
  • In another terminal, run your node with the launch file:

    ros2 launch pick_and_place_application application_run.launch.py
    
  • At this point your exercise is complete and the robot should move through the pick and place motions and then back to the wait pose. Congratulations!