Description

This project was one of my first ones while learning ROS. The goal is to pick a box and leave it somewhere else. No computer vision was used. Instead, I simulated in Moveit the scenery of my desk. we attach the grabbing object in order to avoid any collisions while moving it away.

Overview

The setup of our world is that the robot sits on top of a table that is on top of another table. In front of it, there is an object that we consider as an obstacle. Right from this obstacle (in respect to the robot), there is another object. The goal is to figure out a path in order to grab the object and while avoiding our box obstacle leave the object on the other side. Below we see a demonstration of it at rViz(figure 1) and using the real robot(figure 2).

rViz Pick & Place Fig.1

Real Robot Fig 2