IAFSM-UR5-Pick-and-Place-simulation

Prerequisites :

1. ROS1 noetic
2. MoveIt
3. Rviz
4. Gazebo

Setup

1. Extract all the packages into your src folder and build them
2. Configure Moveit in your ROS workspace

Building the Workspace

Use the following commands in your terminal:

cd /catkin_ws
catkin build

Launching the Moveit Planning scene and Gazebo world

Use the following commands in a new terminal: To launch the planning scene

roslaunch newxxx_combined_moveit_config demo.launch

To launch the Gazebo world

roslaunch newxxx_combined_moveit_config gazebo.launch

Running the python scripts

Make to sure the add the scripts in CmakeLists and then run the following commands in terminal : To run the simulation in the planning scene :

roslaunch newxxx_combined_moveit_config pick_and_place.py

To run the simulation in Gazebo world :

roslaunch newxxx_combined_moveit_config pick_and_place_gazebo.py

Media1.mp4