Handbot

Overview

Handbot is a ROS2-based pick-and-place robotic system that utilizes point cloud data for planning and execution. This repository provides scripts and configurations to set up and run the pick-and-place demo.

For a detailed workflow and project overview, refer to the tutorial:
📌 Handbot Project Workflow

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Prerequisites

Before running the project, ensure you have the following installed:

✅ ROS2 Jazzy
✅ Dependencies for MoveIt and Point Cloud Processing

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Installation

Clone this repository and navigate to the workspace:

cd ~/ros2_ws/src
git clone https://github.com/darshmenon/handbot.git
cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash

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1. Running the Robot Simulation & Pick-and-Place Task

📂 Path to script:
~/ros2_ws/src/handbot_ros2/handbot_mtc_pick_place_demo/scripts/robot.sh

This script automates:

✅ Launching Gazebo with the MyCobot model
✅ Starting the MoveIt motion planning interface
✅ Setting up the camera view
✅ Executing the Pick-and-Place demo
✅ Running get_planning_scene_server to process the scene

To execute:

bash robot.sh

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2. Running the Point Cloud Processing Script

📂 Path to script:
~/ros2_ws/src/handbot_ros2/handbot_mtc_pick_place_demo/scripts/pointcloud.sh

This script automates:

✅ Converting PCD files to point cloud messages
✅ Sending processed data to RViz for visualization

To execute:

bash pointcloud.sh

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3. Ensuring Execution Permissions

Before running the scripts, grant execution permissions if needed:

chmod +x ~/ros2_ws/src/handbot_ros2/handbot_mtc_pick_place_demo/scripts/pointcloud.sh
chmod +x ~/ros2_ws/src/handbot_ros2/handbot_mtc_pick_place_demo/scripts/robot.sh

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4. Updating Default Directory Paths

Before running the demo, update the directory paths in the relevant files:

Modify the default PCD file path in get_planning_scene_server.cpp

declare_parameter("output_directory", "/your/custom/path/", "Directory to save output PCD files");

📂 Located at:
~/ros2_ws/src/handbot_ros2/handbot_mtc_pick_place_demo/src/get_planning_scene_server.cpp

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Update the configuration file

📂 File path:
~/ros2_ws/src/handbot_ros2/handbot_mtc_pick_place_demo/config/get_planning_scene_server.yaml

Modify these values with your directory:

output_directory: "/your/custom/path/"
debug_pcd_filename: "debug_cloud.pcd"

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Contact

For issues or contributions, create an issue or a pull request on the GitHub repository.

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