05: Interacting with objects - Interbotix/turtlebot2i GitHub Wiki
Object Interaction and Manipulation
01. Follow previous guides from this wiki:
The previous wiki documents will help when interacting with objects:
02. Bringup your robot:
roslaunch turtlebot2i_bringup turtlebot2i_demo1.launch
03. Detecting objects:
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.
04. Interactive markers:
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.
05. Sorting by color:
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 ).