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Home Courses Hello (Real) World with ROS – Robot Operating System Course materials Lectures 4.5.4 Pick & Place: Part 3

4.5.4 Pick & Place: Part 3

Course subject(s) Module 4. Manipulation

In this lecture, we will finish the build of a simple pick and place pipeline with different MoveGroup APIs.

Computing the linear motion:

compute_cartesian_path() API

Considers current Pose and the starting waypoint
Uses the waypoints and two other arguments
Checks for collision
Outputs
- - Plan – the trajectory of joint angles and
  - A fraction of successful attempts

Update generated trajectory to the goal message and send it.

Lastly, use the set_named_target("R1Place") to move the robot to the object.

Run the script to see the robot in action. This concludes the Pick & Place code demonstration.

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Based on a work at https://online-learning.tudelft.nl/courses/hello-real-world-with-ros-robot-operating-systems//.

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