grasp

GMAR grasping exercise

Clone this folder to your src in workspace which is containing moveIt and baxter files

starting Baxter in Simulation

Open terminal Terminal commands to start Baxter in Simulator Exectute one by one:

$ cd gmar_ws/
$ source devel/setup.bash
$ ./baxter.sh sim
$ roslaunch baxter_gazebo baxter_world.launch

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starting MoveIt

Open new terminal Exectute one by one:

$ cd gmar_ws/
$ ./baxter.sh sim
$ source devel/setup.bash
$ rosrun baxter_tools enable_robot.py -e
$ roslaunch baxter_moveit_config baxter_grippers.launch

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Baxter Collision Scene

IMPORTANT: Never execute a plan without the appropriate collision domain!!

Copy and Paste the file baxter_table.scene into your workspace

In the Motion Planning window select the "Scene Objects" tab. Press "Import From Text" and select the baxter_table.scene you copied before.

Go to the "Context" tab and press "Publish Current Scene". Now MoveIt has the table in it's collision domain.

In the window displays select "Motion Planning" - "Planning Request". In the "Planning Group" select the arm you want to plan.

Now you are ready to plan. Please keep in mind that before every planning request you have to set the update the start state to the current state.

Grasp

Edit file moveBaxter.cpp to achieve grasping. Run your demo

$ cd gmar_ws/
$ ./baxter.sh 
$ source devel/setup.bash
$ rosrun grasp moveB

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#Vision Start tracking of modelled object with v4r Start openni

$ cd gmar_ws/
$ ./baxter.sh 
$ source devel/setup.bash
$ roslaunch openni2_launch openni2.launch depth_registration:=true

in new terminal start tracker of the object

$ cd gmar_ws/
$ ./baxter.sh 
$ source devel/setup.bash
$ rosrun object_tracker object_tracker_service -m /home/{your path}/models/tea/tracking_model.ao

in another terminal call tracking service

$ cd gmar_ws/
$ ./baxter.sh sim
$ source devel/setup.bash
$ rosservice call /object_tracker/start_recording