Start in Simulation Mode

In this exercise, we will start a ROS system that is ready to move the robot in simulation mode.

Run setup launch file in simulation mode (simulated robot and sensor)

In a terminal enter:

source ~/perception_driven_ws/install/setup.bash
ros2 launch pick_and_place_application

Rviz will display all the workcell components including the robot in its default position; at this stage your system is ready. However, no motion will take place until we run the pick and place node.

Setup for real robot and sensor

If you have the equipment and want to run this demo on real hardware, you need to pass some additional arguments to the launch file.

ros2 launch pick_and_place_application \
    use_sim_robot:=false robot_ip:={robot IP address}