MoveIt Pick and Place - Python version

The repository is a Python version of this MoveIt tutorial on pick and place with slight changes. moveit_msgs::Grasp is not used.

Structure of package

.
├── CMakeLists.txt
├── package.xml
├── launch
│   ├── run_pick_place.launch
│   └── spawn_gen3_lite.launch
└── scripts
    └── main.py

Installation

• Package depends on ros_kortex and was tested on melodic-devel version of it.

• Thus install ros_kortex melodic by following instructions in the repository.

• Add this package to your src folder with:

git clone https://github.com/dabarov/moveit-pick-place-python.git

• And build the workspace with:

catkin_make

Usage

1. To start simulation run:

roslaunch pick_place_python spawn_gen3_lite.launch

2. To start pick and place control run:

roslaunch pick_place_python run_pick_place.launch