Pick_place_ros

Pick and place - motion planning of a real 6-DOF manipulator using ROS

Mechatronics course project

For all project details read the file report.pdf

Project video: https://youtu.be/WUDkOi_OQT8

src folder for the whole workspace: Downlaod src.zip, unzip in a folder then run catkin_make

Launch Gazebo for grasping: $ roslaunch seven_dof_arm_gazebo seven_dof_arm_bringup_grasping.launch

Start MoveIt! motion planning: $ roslaunch seven_dof_arm_config moveit_planning_execution.launch

Launch MoveIt! Grasp server: $ roslaunch seven_dof_arm_gazebo grasp_generator_server

Run the Grasp client: $ rosrun seven_dof_arm_gazebo pick_only.py

Run the place node $ python "workspace_directory"/src/seven_dof_config/scripts/debug_code.py

Works only on ubuntu 14.04.02