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LABSIR Bin Picking ROS Simulation packages

This a set of ROS packages for simulating the ABB IRB140 robot for a Pick and Place task, mainly for academic purposes. Aimed to the students of Robotics in the National University of Colombia.

Each package contains different functionalities, some of them require the use of the others packages, so its recommended to download or install all of them as a whole.

Please follow each section to understand the installation and use of each of its components

• Installation
  • Required ROS packages
  • Gazebo Sim stuff
  • Joint mimic
    
  • YCB Props
    
  • Pick Plugin
    
• Bringup and simulation
  • RViz
  • Gazebo
• Moveit config package
  • Moveit Setup Assistant
  • Self_collisions
  • Planing Groups
  • Robot Poses
  • ROS Controllers
  • Configuration Files
• Moveit! demos
  • RViz Moveit demo
  • Gazebo sim Moveit demo
• Moveit API
  • Robot Commander
    • Joint Commander
    • Pose Commander
    • Path Commander
  • Using rqt to publish to robot_commander topics
  • Using Python to publish to robot_commander topics
• Pick and Place demo
  • Start the simulation
  • Run the pick routine
• Deployment in a real robot
  • Connecting with ROS to the controller
  • Using Moveit with a real robot

Author: Sebastian Realpe Rua, mainly for use in the National University of Colombia robotics lab: LABSIR.