Download Instructions¶
One of the key features of this package it is semi-modular.
ROS projects generally revolve around usage of URDFs to setup an environment of a robotic workcell. Workcell Builder eases this process by implementing a GUI to generate your desired workcell environment and can be used for other projects as well!
Grasp Planner and Grasp Execution pipeline work hand in hand to provide a seamless pick and place solution with the workcell environment created by Workcell Builder.
Note
Grasp Execution requires a robotic workcell to be set up, so do install the whole EMD package if a pick and place solution is what you’re looking for!
Installing a perception package¶
The Easy Manipulation Deployment(EMD) package, specifically Grasp Planner, subscribes to either a topic with PointCloud2 message type OR topics from easy_perception_deployment(EPD) package.
Warning
EMD is dependent on a perception source. If your camera driver does not provide any PointCloud2 message type topics, do check out the EPD package!
Here Grasp Planner Input Message Types is a link for more information to determine which perception input fits best for your requirements.
Installing complete Easy Manipulation Deployment suite¶
Installing Easy Manipulation Deployment dependencies¶
Moveit2
Follow this link Moveit2 to build Moveit2 from source.
Note
The following Major EMD dependencies do not require to be built from source and will be installed with rosdep install in the steps below.
Pointcloud Library (PCL) | version: 1.10
The Flexible Collision Library (FCL) | version: 0.5
Installing only the Workcell Builder¶
mkdir -p ~/workcell_ws/src
cd ~/workcell_ws/src
git clone https://github.com/ros-industrial/easy_manipulation_deployment.git
mv easy_manipulation_deployment/assets/ .
mv easy_manipulation_deployment/scenes/ .
mv easy_manipulation_deployment/easy_manipulation_deployment/workcell_builder ./easy_manipulation_deployment
find ./easy_manipulation_deployment -mindepth 1 ! -regex '^./easy_manipulation_deployment/workcell_builder\(/.*\)?' -delete
cd ~/workcell_ws
source /opt/ros/foxy/setup.bash
rosdep install --from-paths src --ignore-src -yr --rosdistro "${ROS_DISTRO}"
colcon build
source install/setup.bash
Installing entire Easy Manipulation Deployment package¶
mkdir -p ~/workcell_ws/src
cd ~/workcell_ws/src
git clone https://github.com/ros-industrial/easy_manipulation_deployment.git
mv easy_manipulation_deployment/assets/ .
mv easy_manipulation_deployment/scenes/ .
mv easy_manipulation_deployment/easy_manipulation_deployment/workcell_builder ./easy_manipulation_deployment
cd ~/workcell_ws
source /opt/ros/foxy/setup.bash
rosdep install --from-paths src --ignore-src -yr --rosdistro "${ROS_DISTRO}"
source ~/ws_moveit2/install/setup.bash
colcon build
source install/setup.bash