Run workcell demo¶
To run the demo simulation for the scene you just generated, do the following:
ROS1¶
$ source /opt/ros/melodic/setup.bash
$ catkin build
$ source devel/setup.bash
$ roslaunch <scene_name> demo.launch
ROS2¶
In a new terminal, navigate to your workcell_ws
$ source /opt/ros/foxy/setup.bash
$ colcon build
$ source install/setup.bash
$ ros2 launch <scene_name> demo.launch.py
Rviz will then be launched and you should see your scene displayed. To integrate this scene with Moveit2, check out grasp_execution_demo