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Hi, Indeed pick & place (object_manipulation stack) is complex. You already managed to get your arm working in the warehouse_viewer which means you have kinematics and robot_description running.
What is complex is the whole setup (everything must be connected together). You may want to have a look at a diagram we created to understand the different parts of object_manipulation_stack Page 6 of this tutorial : http://mrl.isr.uc.pt/events/iros2012tutorial/download/Presentations/IROS2012-Hands-on-6.pdf
We also went for a rewrite of the wrapper (the thing commanding sub-functions to do pick and place) in our project. You can find an early version of our wrapper in the shadow sr-manipulation stack http://bazaar.launchpad.net/~shadowrobot/sr-manipulation/trunk/files/head:/sr_pick_and_place/lib/sr_pick_and_place as well as launch files that startup a lot of things. It is not in a release state but you may find some ideas on how to proceed. Hope this helped.
| | 2 | No.2 Revision |
Hi, Indeed pick & place (object_manipulation stack) is complex. You already managed to get your arm working in the warehouse_viewer which means you have kinematics and robot_description running.
What is complex is the whole setup (everything must be connected together). You may want to have a look at a diagram we created to understand the different parts of object_manipulation_stack Page 6 of this tutorial tutorial : http://mrl.isr.uc.pt/events/iros2012tutorial/download/Presentations/IROS2012-Hands-on-6.pdf
We also went for a rewrite of the wrapper (the thing commanding sub-functions to do pick and place) in our project. You can find an early version of our wrapper in the shadow sr-manipulation stack http://bazaar.launchpad.net/~shadowrobot/sr-manipulation/trunk/files/head:/sr_pick_and_place/lib/sr_pick_and_place here as well as launch files that startup a lot of things.
It is not in a release state but you may find some ideas on how to proceed.
Hope this helped.
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