pick_and_place

repo to showcase pick and place with moveit2 and perception pipeline

To visualize the urdf in rviz with no ros2 control

ros2 launch pick_and_place_description visualize_robot.launch.py

To visualize the urdf in rviz with ros2 control (mock hardware system)

ros2 launch pick_and_place_description start_control.launch.py

To launch the model in gazebo

ros2 launch pick_and_place_description start_gazebo.launch.py

To launch the model in ignition

ros2 launch pick_and_place_description start_ignition.launch.py

To launch the model with test environment in gazebo

ros2 launch pick_and_place_simulation start_simulation.launch.py

To launch moveit

ros2 launch pick_and_place_moveit_config start_moveit.launch.py

To run pick and place demo without vision

ros2 run pick_and_place_test_nodes test_pick_and_place

To run the object detection node

ros2 run pick_and_place_detection object_pose_detector