segbot-ur5

The repo builds on BWI project of UTAustin and contains a mobile manipulator platform in gazebo.

Requirments

Make sure you have installed ROS Melodic and ROS_DISTRO environment variable is set correctly.

Installation

Create workspace and download repo:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
wstool init src https://raw.githubusercontent.com/keke-220/segbot-ur5/master/rosinstall/melodic.rosinstall

Install dependencies:

rosdep update
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

Build everything and source workspace:

catkin build -j6
source devel/setup.bash

Usage

Launch banquet environment and bring up mobile manipulator:

roslaunch tamp_perception segbot_ur5.launch

Open another terminal and test with a simple pick&place task:

source ~/catkin_ws/devel/setup.bash
rosrun tamp_perception pick_n_place.py

Dataset

Dataset can be downloaded here.

Model

The trained model can be downloaded here