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05: Interacting with objects
The previous wiki documents will help when interacting with objects:
roslaunch turtlebot2i_bringup turtlebot2i_demo1.launch
Once the robot is ready (objects reachable in arm workspace) launch the block_manipluation package:
roslaunch turtlebot2i_block_manipulation block_sorting_demo.launch
The terminal will accept two commands as input d to detect objects and m to move the objects autonomously.
The block_sorting_demo also supports simple pick and place operations using interactive markers. Using RViz you can visualize the detected objects and manipulate the positions of the markers published to the turtlebot_blocks topic. If RViz is not started you can execute roslaunch turtlebot2i_bringup remote_view.launch and the topics will be preconfigured in the left column.
The autonomous sorting demo will move objects in front of the robot to the left and right sides of the arm workspace. If you haven't started the block_manipulation package and would like the robot to immediately sort execute
roslaunch turtlebot2i_block_manipulation block_sorting_demo.launch auto_sort:=true
You also have the option of inputting commands via the terminal whether you've launched with the auto_sort argument or not ( d to detect objects and m to move the objects autonomously ).