This repositiory involves starter code and samples for TECHIN517 at the University of Washington, Spring 2025, that aim to program the Fetch mobile manipulator to pick requested items from densely packed shelves. Please only use the code as reference. Do not simply copy the code and use it for your own lab.
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Labs and other documentation are on the wiki.
The commands for configuring lab 25 environment is in
lab25.sh
Lab 26 may be a bit difficult to implement. The code is in
applications/scripts/lab26_teleop.py
After configuring the correct environment in the previous lab for IKFast, applications, etc, you will be able to run the teleop code with the following command. Start each command in a new terminal.
roscore
roslaunch fetch_gazebo playground.launch
roslaunch robot_api move_group.launch
rosrun rviz rviz -d rviz_config/lab26.rviz
rosrun applications lab26_teleop.py