Gentle_Pick_and_Place

Pick and place demo for gentle gripper.

Prequisites

Install pointcloud_proc library

git clone git@github.com:tkelestemur/point_cloud_proc.git

Running instructions

Open four terminals and run the source command in each terminal:

source ~/ur_ws/devel/setup.bash

Then run the following commands in each terminal by the same order:

1. Start the robot

roslaunch pick_and_place ur3e.launch

After this command, you need to start the gentle_pick program on the robot teaching pendant.

2. Start the camera node

roslaunch pick_and_place kinect.launch

3. Start the object clustering server

rosrun pick_and_place object_clustering_server

4. Start the pick and place demo

rosrun pick_and_place pick_and_place.py

If there is no item left on the talbe, the 4th program will automatically stop.
You need to manually add items back to the table and rerun the 4th command in the same window.