Fixed Position Pick

Overview

This demo shows how to use the robot interface to pick and place a object at a predefined location with an UR5 robot arm.

Requirement

Before running the code, make sure you have followed the instructions below to setup the robot correctly.

• Hardware
  • Host running ROS2
  • UR5
  • Robot Gripper
• Software
  • ROS2 Dashing Desktop
  • robot_interface

Download and Build the Example Code

Within your ROS2 workspace, download and compile the example code:

cd <path_of_your_ros2_workspace>/src

git clone https://github.com/intel/ros2_grasp_library.git

cd ..

colcon build --base-paths src/ros2_grasp_library/grasp_apps/fixed_position_pick

Launch the Application

• Launch the application

ros2 launch fixed_position_pick fixed_position_pick.launch.py

Note

Please make sure the emergency button on the teach pendant is in your hand, in case there is any accident.

• Expected Outputs:
  1. The robot moves to the home pose
  2. The robot picks up an object from the predefined location
  3. The robot places the object to another location
  4. The robot moves back to the home pose