README.md

Pick and place task with UR5e robot and rg2 gripper

This implements a pick and place task for a UR5e robot and rg2 gripper moving 5 blocks from a table to another one.

Build && Run

Using downloaded docker image

docker pull ghcr.io/mikael-jorda/robotics-test_solution:main
xhost local:root
docker-compose up

Building docker image locally

Alternatively, you can build the docker image yourself

sh build_docker_image.sh
xhost local:root
docker-compose -f dpcker-compose-local.yml up

Building from source (not tested)

Or you can build and run without docker images

sh build_without_docker.sh
cd catkin_ws
catkin build
source devel/setup.bash
roslaunch simple_scene gazebo.launch

and in another terminal

cd catkin_ws
source devel/setup.bash
roslaunch simple_scene simple_planner.launch