Palletising using ROS-I with UR10

asked 2018-03-05 03:27:14 -0600

prajval10 gravatar image

updated 2018-03-05 07:00:27 -0600

How would I go about building a palletising application in ROS if I want to use the ur_modern_driver to communicate with the UR10?

Using:

  • UR10
  • UR Sim 3.4.5-100
  • ROS Indigo
  • Ubuntu 14.04
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Comments

Can you clarify what would make 'palletising' different from other ROS applications that control manipulator motion?

gvdhoorn gravatar imagegvdhoorn ( 2018-03-05 03:42:14 -0600 )edit

May I ask why did you delete the question? It's definitely worthwhile discussing how such an application could be created using various ROS components. I just wanted to get you to write down your first thoughts on what the requirements are that make this a special case.

gvdhoorn gravatar imagegvdhoorn ( 2018-03-05 04:04:42 -0600 )edit

I realised this was a very broad question.

Thoughts on the requirements:

  • Handling vector of vectors for stacked pallets
  • Storing pallet frames - each part can be palletted by incrementing the frame by fixed x, y, z
  • pick-up & put-down pose for gripper
  • intermediate states for robot
prajval10 gravatar imageprajval10 ( 2018-03-05 06:26:09 -0600 )edit