In this exercise, we will move the robot through the place motions while avoiding obstacles with an attached payload. In addition, the gripper must be opened or close at the appropriate time in order to complete the task.
- In the main program, locate the function call to
- Go to the source file of that function by clicking in any part of the function and pressing F2 in QtCreator.
- Remove the first line containing the following
ROS_ERROR_STREAM ...so that the program runs.
Find every line that begins with the comment
Fill Code:and read the description. Then, replace every instance of the comment
ENTER CODE HEREwith the appropriate line of code.
/* Fill Code: . . . */ /* ======== ENTER CODE HERE ======== */
The execute() method sends a motion plan to the robot.
Build Code and Run¶
Compile the pick and place node:
Alternatively, in a terminal:
catkin build collision_avoidance_pick_and_place
Run the supporting nodes with the launch file:
roslaunch collision_avoidance_pick_and_place ur5_setup.launch
In another terminal, run your node with the launch file:
roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch
At this point your exercise is complete and the robot should move through the pick and place motions and then back to the wait pose. Congratulations!