Sawyer + Robotiq 2f 85 Gripper Pick and Place

Sawyer + Robotiq 2f 85 gripper pick and place is a repository which allows for pick and place functionality within Gazebo simulator. This code can be applied to a real Sawyer and Robotiq gripper as well.

Installation

This repository depends on the following (clone into catkin workspace src folder):

ROS Kinetic

Robotiq Package

Sawyer IRL Project

Sawyer MoveIt Package

Sawyer Robot Package

Intera SDK

Intera Common Package

Gazebo ROS Link Attacher Plugin

The contents of this repository can not all be installed all in one location. Please refer to the following project structure for directions on installation of each folder:

.
├── gazebo_ros_link_attacher_scripts  # Put contents into /gripper_ros_link_attacher/scripts/
├── models                            # Put whole folder into robotiq/robotiq_2f_gripper_control/
├── pick_and_place_scripts            # Put contents into /robotiq/robotiq_2f_gripper_control/
└── README.md

Usage

First, navigate to your catkin_ws folder in a new terminal window and make sure the workspace has been sourced properly:

cd ~/catkin_ws/
source devel/setup.bash

Next, start robot_gazebo.launch:

roslaunch sawyer_irl_project robot_gazebo.launch

In a new terminal window, once robot_gazebo.launch has finished starting RViz and Gazebo, start simple_pnp_gazebo.py:

rosrun robotiq_2f_gripper_control simple_pnp_gazebo.py