cyton_alpha package to grasp objects using MoveIt! and moveit_simple_grasps
To gripper configuration see config/cyton_grasp_data.yaml (more information: https://github.com/davetcoleman/moveit_simple_grasps/tree/hydro-devel)
Packages required:
- Moveit
$ sudo apt-get install ros-hydro-moveit-full
$ sudo apt-get install ros-hydro-moveit-core- cyton_alpha
cd ~/catkin_ws/src
git clone https://github.com/LCAD-UFES/cyton_alpha.git- moveit_simple_grasps
Install From Source
Clone this repository into a catkin workspace, then use the rosdep install tool to automatically download its dependencies. (this steps are for Ros Hydro use:
cd ~/catkin_ws/src
git clone https://github.com/davetcoleman/moveit_simple_grasps.git -b hydro-devel
cd ..
source devel/setup.bash
rosdep install --from-paths src --ignore-src --rosdistro hydro
catkin_makeRun the following:
roslaunch cyton_alpha_moveit_config demo.launch
roslaunch cyton_alpha_pick_place grasp_generator_server.launch
rosrun cyton_alpha_pick_place pick_lego.pyroslaunch cyton_alpha_gazebo cyton_empty_world.launch
roslaunch cyton_alpha_moveit_config moveit_rviz.launch config:=true
roslaunch cyton_alpha_pick_place grasp_generator_server.launch
rosrun cyton_alpha_pick_place pick_lego.py