Homework 3 (Group 4)

Authors: Ben Benyamin, David Khachatryan, Pushkar Dave, Haodong Wang, Sairam Umakanth

This package creates an API using multiple different classes that offers an interface for the user to manipulate a robotic system. An example of a user node is implemented via the pick_node, which operates a pick and place functionality on a simple object, avoiding an obstacle.

Quickstart

1. After sourcing franka workspace, use ros2 launch franka_fer_moveit_config demo.launch.py to initialize franka and rviz
2. Use ros2 launch object_mover object_mover.launch.py use_pick_node:=true to launch the pick node
3. Run ros2 service call /pick object_mover_interfaces/srv/PickPose "{pick_point: {position: {x: 0.49, y: 0.13, z: 0.03}, orientation: {x: 0.707106 , y: 0.707106, z: 0.0, w: 0.0}}} to trigger the pick service to enable pick task
4. Here is a video of the pick task conducted:

group4_hw3_demo.webm