grasp-planning

grasp planning based on obstruction degree

Tested in Ubuntu 16.04, ROS Kinetic

Prerequisites

ROS "Desktop Full" install: instructions.

Install ROS packages

$ sudo apt-get install ros-kinetic-moveit
$ sudo apt-get install ros-kinetic-trac-ik-kinematics-plugin
$ sudo apt-get install ros-kinetic-industrial-core
$ sudo apt-get install ros-kinetic-abb
$ sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
$ sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers

Install CGAL 4.7

$ sudo apt-get install libcgal-dev

Compiling

Clone the repository or manually download the files to your ROS catkin workspace and compile them with "catkin_make" command: instructions.

Usage

1. Start gazebo simulator

$ roslaunch my_abb_support my_abb_gazebo.launch

2. Start MoveIt motion planning in a new terminal

$ roslaunch my_abb_moveit_config my_abb_moveit_gazebo.launch

3. Open a new termianl, load the object models and start the grasp planning program

$ roslaunch pick_demo_sim spawn_objects.launch
$ rosrun pick_demo_sim pick_demo_sim