Branch_Manipulation

This repo provides the strategy to manipulate the branch. It includes the geometric modeling of branches, constrained RRT* to generate way-points, force-aware re-planing and pose servo to follow the generated way-points

Prerequisites

1. Install Universal Robots ROS2 Driver

   sudo apt-get install ros-distro-ur

2. Start the driver

   # Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur20, ur30
   # Replace the IP address with the IP address of your actual robot / URSim
   ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=192.168.56.xxx

3. Start Moveit

   ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5 launch_rviz:=true

4. Activate Servo mode

   ros2 control switch_controllers --deactivate scaled_joint_trajectory_controller --activate forward_position_controller

   ros2 service call /servo_node/start_servo std_srvs/srv/Trigger