Inspect the “pick_and_place_exercise” Package¶

In this exercise, we will get familiar with all the files that you’ll be interacting with throughout these exercises.

Acquire and initialize the Workspace¶

cp -r ~/industrial_training/exercises/Perception-Driven_Manipulation/template_ws ~/perception_driven_ws
cd ~/perception_driven_ws
source /opt/ros/kinetic/setup.bash
catkin init

Download source dependencies¶

Use the wstool command to download the repositories listed in the src/.rosinstall file

cd ~/perception_driven_ws/src/
wstool update

Download debian dependencies¶

Make sure you have installed and configured the rosdep tool. Then, run the following command from the src directory of your workspace.

rosdep install --from-paths . --ignore-src -y

Build your workspace¶

catkin build --cmake-args -G 'CodeBlocks - Unix Makefiles'

If the build fails then revisit the previous two steps to make sure all the dependencies were downloaded.

Source the workspace¶

Run the following command from your workspace parent directory

source devel/setup.bash

Locate and navigate into the package¶

cd ~/perception_driven_ws/src/collision_avoidance_pick_and_place/

Look into each file in the launch directory¶

ur5_setup.launch     : Brings up the entire ROS system (MoveIt!, rviz, perception, ROS-I drivers, robot I/O peripherals)
ur5_pick_and_place.launch   : Runs your pick and place node.

Look into the config directory¶

ur5/
 - pick_and_place_parameters.yaml    : List of parameters read by the pick and place node.
 - rviz_config.rviz   : Rviz configuration file for display properties.
 - target_recognition_parameters.yaml    : Parameters used by the target recognition service for detecting the box from the sensor data.
 - test_cloud_obstacle_descriptions.yaml    : Parameters used to generate simulated sensor data (simulated sensor mode only)
 - collision_obstacles.txt   : Description of each obstacle blob added to the simulated sensor data (simulated sensor mode only)

Look into the src directory¶

nodes:
 - pick_and_place_node.cpp : Main application thread. Contains all necessary headers and function calls.

tasks: Source files with incomplete function definitions.  You will fill with code where needed in order to complete the exercise.
 - create_motion_plan.cpp
 - create_pick_moves.cpp 
 - create_place_moves.cpp
 - detect_box_pick.cpp
 - pickup_box.cpp
 - place_box.cpp
 - move_to_wait_position.cpp
 - set_attached_object.cpp
 - set_gripper.cpp

utilities:  
 - pick_and_place_utilities.cpp : Contains support functions that will help you complete the exercise.