Now that we have the target object defined in the scene, we need to generate grasping poses to pick it up. To achieve this aim, we use the grasp generator server from the moveit_simple_grasps package, which can be found at https://github.com/davetcoleman/moveit_simple_grasps.
Unfortunately, there isn't a debian package available in Ubuntu for ROS Kinetic. Therefore, we need to run the following commands to add the kinetic-devel branch to our workspace (inside the src folder of the workspace):
$ wstool set moveit_simple_grasps --git https://github.com/davetcoleman/moveit_simple_grasps.git -v kinetic-devel
$ wstool up moveit_simple_grasps
We can build this using the following commands:
$ cd ..
$ caktin_make
Now we can run the grasp ...
