Perception-Driven Manipulation Introduction

Goal

The purpose of these exercises is to implement a ROS node that drives a robot through a series of moves and actions in order to complete a pick and place task. In addition, they will serve as an example as to how to integrate a variety of software capabilities (perception, controller drivers, I/O, inverse kinematics, path planning, collision avoidance, etc) into a ROS-based industrial application.

Objectives

• Understand the components and structure of a real or simulated robot application.

• Learn how to command robot moves using Moveit!.

• Learn how to move the arm to a joint or Cartesian position.

• Leverage perception capabilities including AR tag recognition and PCL.

• Plan collision-free paths for a pick and place task.

• Control robot peripherals such as a gripper.