Manipulation with UBR-1¶
UBR-1 comes with higher level robot functions which can be used as building blocks when creating your robot application. One of these building blocks is MoveIt! which allows high level control of the arm.
Internally MoveIt comprises many modules offering everything from kinematics and planning to plan execution and some perception.
Starting MoveIt! on the UBR-1¶
ubr@brain:~$ roslaunch ubr1_moveit move_group.launch
Sending Commands in Python¶
TODO: moveit_python example?
Sending Commands in C++¶
Running the Pick and Place Demo¶
TODO: show how to run the demo
roslaunch ubr1_grasping grasping.launch
rosrun ubr1_grasping pick_and_place.py --once