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

Locate and navigate into the package

cd ~/perception_driven_ws/src/pick_and_place_application/

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.