6. Pick and Place Demo - GitSRealpe/abb_irb140_ros_sim GitHub Wiki

To test all the components of this project (Robot simulation, Motion planning, commander scripts, and picking plugin), we have prepared a demo for you to use. This demo launches the robot in a Gazebo world with some objects in a bin, the robot will pick a cube and then place in the shelf to its right. You can see it in this video:

Pick and Drop demo (ROS, Moveit, Gazebo sim)

If everything previous to this has worked, you just have to run two commands in the Linux terminal to see the script in action.

Execute this line roslaunch irb140_commander commander_gazebo.launch in a terminal to launch the Gazebo simulation of the robot with the objects that you have already installed before. The Moveit configuration for this robot will load too so it's ready to receive motion requests.

This launch will also load the robot commander scripts for Joint, Pose, and Path commands, meaning that their topics will be available for publishing to them.

With the simulation running, the Moveit Framework waiting to execute motion requests and the robot_commander ready to receive goal requests, you can execute this Python script to see everything in action. Just execute the following in other terminal window:
rosrun pick_routine.py

This script is similar to the already presented examples of using the robot commander through Python scripts, the only new thing specific to this one is that it also includes control of the gripper, for the gripper action.

These lines of code show how to command the joint controllers of the simulated gripper directly from Python, the with the pick plugin running, the gripper is able to pick up objects and drop them.

The rest of the code is just Pose appending to a list to form series of paths to the robot to perform, it should be exactly as shown in the mentioned video.