Robot Operating System Cookbook

How it works…

Several things happened in this experiment, so let's discuss it in parts!

First of all, we saw a couple of cubic and rectangular blocks appearing in the RViz. Well, those were the table and the object to be grasped, of course! Inside the pick_and_place.py script, we created these two objects and added them into the MoveIt planning scene. Whenever we add an object to the planning scene, it will appear in this way.

Second, the pick action starts. After getting the grasp object position, our node sends this position to the grasp server, which will generate IK and check if there's any valid IK in order to pick the object up. If it finds any feasible IK solution, the arm will begin to execute the specified motions in order to pick ...