This repository contains the Openmanipulator-X and Moveit! packages. The robot also includes an overhead camera.
Devcontainer instructions:
Install VSCode, devcontainer extension and Docker. Clone the repository and open the folder in VSCode:
$ git clone git@github.com:vncprado/AI6001-OMX-Moveit-devcontainer.git
Select the option "Reopen in container".
After the finishing loading the folder in Docker. Open a terminal.
To launch the tutorial:
$ catkin_make
$ source devel/setup.bash
$ roslaunch omx_tutorials omx_camera_scene.launch
Alawys run source devel/setup.bash when oppening a new terminal.
After this you should be able to open the browser on localhost:6080 and see the GUI (RViz and Gazebo).
The novnc web page requires the password: vscode.
To run the rest of the tutorial:
$ rosrun omx_tutorials object_detection.py
$ rosrun omx_tutorials omx_pick_obj.py
You can also run for debbuging:
$ rosrun omx_tutorials print_frames.py
To launch the original system just use:
$ catkin_make
$ source devel/setup.bash
$ roslaunch open_manipulator_controllers joint_trajectory_controller.launch sim:=true