Semantic Perception (SPIN) focus on sensor fusion and robot integration. Robot used in this project is a UR3E with onrobot eyes camera and robotiq 2f140 gripper.
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Clone this repo: git clone https://github.com/Jesper-H/SPIN.git
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Install ros: ubuntu link
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Install catkin and wstool as described here. Set up "workspace" as your workspace, download MoveIt source and compile it.
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Run environment: roslaunch ur3e_robotiq140_eyes_moveit_config env.launch use_cam:=false
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Activate external control. As instructed here
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Run code: python3 pointcloudtools/main.py