Fetch Robot Manipulation test

A guideline for Fetch robot under the simulation and real-world.

Tested on Ubuntu 18.04 + Ros Melodic

Build and Compile

1. Clone this repository:

cd ~/Desktop
git clone https://github.com/siyeonkim33/fetch_ws.git

2. Build the workspace:

cd ~/Desktop/fetch_ws
catkin_make

Execution

Gazebo world

Before opening gazebo world, there might be several minor errors.

1. Error in REST request

: Open the configuration file.

sudo gedit ~/.ignition/fuel/config.yaml 

: Change the line 6 from url: https://api.ignitionfuel.org to url: https://api.ignitionrobotics.org

MoveIt!

Open the visualization tool Rviz and start move_group for Fetch robot. With the execution of ros launch file below, it will be able to run Planning Scene Interface on Rviz. Also, you can check whether the remote PC is successfully communicating with Fetch robot via turning-on the interactive marker on Rviz.

roslaunch fetch_moveit_demo demo.launch # Turn-on Rviz and PlanningSceneInterface*

or

roslaunch fetch_moveit_demo move_group.launch # Only run the move_group node

PoseCNN

roscd pose_cnn
./experiments/scripts/ros_ycb_object_test.sh {gpu_ids}