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
roslaunch pick_and_place pick_and_place.launch
Rviz will display all the workcell components including the robot in its default position.
test_bed_core_node.cpp. This code is already complete. A service to find the pick target is being run, and a TrajOpt problem is set up to perform a pick and place operation. While the service to find the pick target is running, it will not find a pick and the path planning will not run. These will be the next tasks.