Workcell Builder Example

In this example we will be creating a simple robotic workcell using the UR5 and the Robotiq-2F gripper. The expected scene will be as shown. (Note that the robot is currently not in a home pose because the grasp execution node has not been initialized with this visualization) In the package we include the UR and Robotiq description and moveit_config folders, but in this tutorial we will show you how to do it from scratch

• Before running the GUI
  • Downloading Robot and End effector resources
  • Edit CMakelists.txt and package.xml
  • Xacro-ize the SRDFs
• Starting the Workcell Builder
• Adding A Manipulator
• Adding an end effector
• Adding an Object
  • Create visual component of link
  • Create Collision component of link
  • Set external joint attributes
• Loading an Object
• Adding External joints for Objects
  • Linking table to the external world
• Generating files and folders
• Check if scene is properly generated
• Adding a camera to the scene
  • Downloading Camera Description Folder
  • Add the camera to the scene
  • Checking camera frame reference