This provides a solution to Robotics Simulation Challenge : Problem Statement
To see the simulation in action follow the following steps:
(run roscore in the background)
Clone this repo on to your system:
git clone https://github.com/Ronit-k/gazebo_hackathon.git
go to the workspace Robotic_Arm
cd gazebo_hackathon/Robotic_Arm
Add the required git repositories to your catkin workspace:
cd src/
git clone https://github.com/JenniferBuehler/general-message-pkgs.git
git clone https://github.com/JenniferBuehler/gazebo-pkgs.git
build the workspace
cd ..
catkin build
*if any warnings appear, try to build again
source the setup file
source devel/setup.bash
to see the robotic arm in an empty gazebo world
roslaunch src/robot_arm_urdf/launch/arm_urdf.launch
to see the robotic arm in the demo_world, provided
roslaunch src/robot_arm_urdf/launch/gazebo_demo_world.launch
Now to see the simulation in action, first make the python script pick_place.py executable
sudo chmod +x src/moveit_robot_arm_sim/scripts/pick_place.py
then
roslaunch src/moveit_robot_arm_sim/launch/full_robot_arm_sim.launch
and on to a new terminal window, execute the python script
src/moveit_robot_arm_sim/scripts/pick_place.py
click here to see the simulation