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.

Look in test_bed_core_node.cpp. This code is already complete. A service to find the pick target is run, and a TrajOpt problem is setup to perform a pick and place operation. While the service to find the pick target will run, it will not find a pick and the pathplanning will not run. These will be the next tasks.