Can i still use this repo for replicating the pick and place experiment?

[Atharv-B]

I recently started exploring pick and place for my gen3. I am using this repo for learning more about grasping.. I wanted to know if I can replicate the code using this repo? If not, how do I use the code base on the new repo. Any help will be appreciated.

Happy to provide more info if needed!

Cheers

[kyassini]

Nice! It's been a while since I've updated this repo, so if you'd like to see some more recent and generalized pick and place code using FlexBE, this repo might be of interest to you: https://github.com/uml-robotics/armada_behaviors (Still a work in progress I believe.)

To answer your question: if you have your gen3 working with MoveIt in ROS, then yes, you should also be able to just use the code in this repo with your own launch files to run through pick and place. Let me know if you have any questions.

[Atharv-B]

Thanks for the quick reply! I see. I am using ROS Noetic; will this repo (manipulation_experiments) be compatible with my ROS version? I am trying to install this package in my catkin_ws, but it throws a bunch of errors. I believe it could be the ROS compatibility.
Also, can I run the kortex drivers and use the gpd_grasping_node.launch and real_gen3_grasping to do a trial grasping? Or do I need to have fully new launch files?

Again, thank you for you help! I really appreciate it.

Cheers!

[kyassini]

Unfortunately it was developed on Kinetic and won't build on Noetic. You're right, there are quite a few compatibility issues.

So the launch files point to some custom gen3 bring up files, they won't work without some configuration. But the structure would be the same as it is now: launch the kortex drivers, the gpd_ros node, and a pick-and-place node that does the Basic Grasping steps in the readme.

Regardless, I started playing around with getting this repo up to date. When I get the time, I'll push an updated Noetic branch that will be ready to go for trying pick-and-place on the simulated gen3. It's a good opportunity for me to clean up this repo in general.

So in it's current state, I think the best usage of this repo is simply as a branching off point.

[Atharv-B]

Understood. I'm looking forward to the updated branch.

Does the same go for armada_behaviors repo as well? I was able to install the package. Can I use the launch files directly with minor changes, or do I need to have the configuration for using the files?

I promise this is the last question; I don't want to bug you more than I did.

Thanks again, Cheers!