webots_ros

The webots_manipulation package contains training code of Webots with MoveIt!.

Getting started

• Build a dockerfile from webots_docker. Instructions in that repo.
• Organize the project like this:

worskpace
|
|___webots_docker
|___ws
    |___src
        |___robotiq
        |___universal_robot
        |___webots_manipulation

Clone the following dependencies into your workspace:

• robotiq
• universal_robot

Instructions

Minimal testing

roslaunch webots_manipulation minimal.launch

Complete

roslaunch webots_manipulation complete.launch

[Old] Pick and place

rosrun webots_manipulation pick_and_place

Grasping generator and pipeline

roslaunch webots_manipulation grasp_pipeline.launch

Motion planning pipeline

roslaunch webots_manipulation motion_planning_pipeline.launch

---

Tips

• Getting move_groups. Open the MoveIt! Command Line Tool:

$ rosrun moveit_commander moveit_commander_cmdline.py
> use [TAB]