Pick and Plae Pipeline using UR5 with Robotiq gripper and Realsense Camera

1. Launch UR5 driver.

In ur_common.launch, modify by deleting

,

since we want to use our own URDF that includes the robotiq and realsense.

roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.0.100 kinematics_config:=$(rospack find ur_calibration)/etc/my_robot_calibration.yaml

for the robot bringup launch file, comment robot_state_publisher

(Go to UR5 screen) - follow directions there a) Go to init screen b) Power ON - Start - OK b) Run Program c) File - Load Program d) mmnewer.urp e) Play button (Terminal should read connected to reverse interface)

2. launch the gripper driver for arduino

roslaunch robotiq_2f_gripper_control gripper_bringup.launch

-> in robotiq/robotiq_modbus_rtu/src/robotiq_modbus_rtu/comModbusRtu.py

1. chanage line 58: "print "Unable to connect to %s" % device" to "print ("Unable to connect to %s" % device)"
2. change line 76: "for i in range(0, len(data)/2):" to "for i in range(0, int(len(data)/2)):"

Also, check if joints match here in URDF file:

joints -> in robotiq/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro: <xacro:macro name="inner_finger_joint" params="prefix fingerprefix"> </xacro:macro>

3. Moveit configuration launch

roslaunch ur5_with_robotiq_moveit_config ur5_gripper_moveit_planning_execution.launch

RViz a) Fixed Frame - base_link b) Add - Motion planning

4. RGBD camera realsense node with pointcloud

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

5. Launch perception node for manipulation

roslaunch simple_grasping basic_perception_dbg.launch 

-> create launch file

1. create "launch" folder in simple_grasping
2. create file "basic_perception_dbg.launch" under "launch" folder
3. in "basic_perception_dbg.launch":

4. create folder "config" 5. create file "simple_grasping.yaml" under "launch" folder 5. in "simple_grasping.yaml":

yaml file for package simple_grasping with rosnode "basic_grasping_perception"

############################################################################ gripper: tool_to_planning_frame: 0.150 # should be 0.165 after fix the simple_grasping

finger tips are 195mm from wrist_roll_link, fingers are 60mm deep

finger_depth: 0.020 gripper_tolerance: 0.05 approach: min: 0.145 desired: 0.15 retreat: min: 0.145 desired: 0.15

use_debug: True

6. Run python file

rosrun ur5_python_moveit_wrapper move_group_python_interface_tutorial.py

Summary of launch files:

---

roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.0.100 kinematics_config:=$(rospack find ur_calibration)/etc/my_robot_calibration.yaml

roslaunch robotiq_2f_gripper_control gripper_bringup.launch

roslaunch ur5_with_robotiq_moveit_config ur5_gripper_moveit_planning_execution.launch

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

roslaunch simple_grasping basic_perception_dbg.launch

rosrun ur5_python_moveit_wrapper move_group_python_interface_tutorial.py