To preview the robot visually in rviz, you can make navigate to the catkin environment and run the following commands

catkin_make
source devel/setup.bash
roslaunch bartending_robot display.launch

Motion Planning testing (Dec 5)

We currently have two (2) motion planning scripts. Why? There's one for picking a bottle up from the right hand side, and one for the left. Still WIP! They need to be combined into one.

In the meantime, here's how to run them:

1. Open a terminal tab and run

cd catkin_ws
source devel/setup.bash
make bringup

2. Open a second terminal tab and run

source devel/setup.bash
make execution

3. To pick and pour from either side,
   • Right hand side

   catkin_ws/src/ur5e_gripper_gazebo/moveit
   python3 motion_planning_right.py
   

   • Left hand side

   catkin_ws/src/ur5e_gripper_gazebo/moveit
   python3 motion_planning_left.py
   

NOTE: We do not know yet how to pick up bottles in simulation.