Pick and Place Simulation In Gazebo Using The Panda Robot From Franka Emika

Introduction

This repository contains the necessary packages to perform a simple pick and place task using ROS, Moveit! motion planning framework and Gazebo Physics Engine. Simulation is performed on a machine that natively runs Ubuntu 20.04.2 LTS. Noetic distribution of ROS is used. Note that the content in this repository is built on top of this repository.

How to get started

Install the necessary ROS packages of Panda robot:

sudo apt install ros-noetic-libfranka ros-noetic-franka-ros

Run the following commands to create the workspace and install additional packages:

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/bataseven/panda_simulation.git
git clone https://github.com/bataseven/panda_moveit_config.git
git clone --branch simulation https://github.com/bataseven/franka_ros.git
git clone https://github.com/pal-robotics/gazebo_ros_link_attacher.git
cd ..
sudo apt-get install libboost-filesystem-dev
rosdep install --from-paths src --ignore-src -y --skip-keys libfranka
catkin_make

After building the workspace, source the setup.bash. To avoid sourcing it whenever a new terminal opens, add it to the bashrc. If the workspace is located in the $HOME folder, run the following command:

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

How to use

To run the simulation enter the command:

roslaunch panda_simulation simulation.launch

Start the demo by running the node in a seperate thread

rosrun panda_simulation grasping_demo.py

Simulation in action