Welcome to ROS2 Grasp Library Tutorials

ROS2 Grasp Library is a ROS2 intelligent visual grasp solution for advanced industrial usages, with OpenVINO™ grasp detection and MoveIt Grasp Planning. These tutorials aim to help quickly bringup the solution in a new working environment.

The tutorials introduce how to

• Install, build, and launch the ROS2 Grasp Planner and Detector
• Use launch options to customize in a new workspace
• Bring up the intelligent visual grasp solution on a new robot
• Do hand-eye calibration for a new camera setup
• Launch the example applications

Contents:

• Overview
• Getting Start
  • ROS2 Grasp Planner and Detector
  • Use Launch Options for Customization
  • Robot Interface
  • Hand-eye Calibration
  • Launch Intelligent Visual Grasp Applications
• Grasp Planner
  • Tutorials
• Robot Interface
  • Robot Control Apps
• Bring up a New Robot
  • Minimum APIs to Implement
  • Optional implementation and possible extentions
  • Example UR5 Implementation
  • Test Your Implementation
  • Bring up Robot Control Applications
• Hand-eye Calibration
• Random Pick (OpenVINO Grasp Detection)
  • Overview
  • Requirement
  • Download and Build the Application
  • Launch the Application with Real Robot and Camera
• Recognize Pick (OpenVINO Grasp Detection + OpenVINO Object Segmentation)
  • Overview
  • Requirement
  • Download and Build the Application
  • Launch the Application with Real Robot and Camera
• ROS2 Grasp Library APIs
  • Grasp Planning ROS2 Interfaces
  • Hand-Eye Calibration ROS2 Interfaces
  • Robot Interface API
• [App Tutorial Template]
  • Overview
  • Requirements
  • Download and Build the Application
  • Launch the Application
  • Expected Outputs
  • Customization Notes