Pick-and-Place-Robot-with-kuka-arm-and-moveit

Introduction

The project scene was taken and modified from udacity pick and place project sponsored by Amazon Robotics. And the trajectory wa planned using moveit

^{Visualization of environment in gazebo}

Prerequisite

1. Gazebo 11+
2. Ros1(Neotic)
3. Rviz

Set up project

Create a catkin workspace if you haven't created already

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_init_workspace

Clone project repository into the src directory of the catkin workspace

cd ~/catkin_ws/src
git clone https://github.com/Klins101/Pick-and-Place-Robot-with-kuka-arm-and-moveit.git

Install missing dependencies

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src --rosdistro=neotic -y

Make script files executable

cd ~/catkin_ws/src/pick-place-robot/kuka_arm/scripts
sudo chmod u+x target_spawn.py
sudo chmod u+x IK_server.py
sudo chmod u+x safe_spawner.sh

Build project

cd ~/catkin_ws
catkin_make

Add gazebo path to your ~/.bashrc file

export GAZEBO_MODEL_PATH=~/catkin_ws/src/Pick-and-Place-Robot-with-kuka-arm-and-moveit/kuka_arm/models

Add source setup.bash

source ~/catkin_ws/devel/setup.bash

Launch project by calling the safe_spawner shell script in a fresh terminal

cd ~/catkin_ws/src/Pick-and-Place-Robot-with-kuka-arm-and-moveit/kuka_arm/scripts
./safe_spawner.sh

Run the IK_server node from another terminal

cd ~/catkin_ws/src/Pick-and-Place-Robot-with-kuka-arm-and-moveit/kuka_arm/scripts
rosrun kuka_arm IK_server.py

Click on Next button on left side of RViz to change states

^{Rviz next}