Programming UR10 for Pick and Place

[arunava...@gmail.com]

Hello,

So I need to program my UR10 to perform a pick place on receiving a feedback from my Cognex vision. Is there any place to get started with to know how to get started with my UR10 in ROS. I have certainly been through the ROS wiki. But is there any examples online where I can maybe have some idea to be able to perform what I am trying. Also are there ros packages for cognex or how to integrate my cognex to be able to receive x,y,z and theta information and subscribe to them to have my arm reach the location of interest. Any help will be appreciated.

Language intending to use is C++.

ROS indigo and IROS installed. 

Sincerely

Arunava

[Shaun Edwards]

Arunava,

The ROS-Industrial training material may be of help.  Specifically, the perception driven application: https://github.com/ros-industrial/industrial_training/wiki#application-demo---perception-driven-manipulation 

It utilizes a UR5 and a camera based vision system.  

I don't know of any ROS packages for Cognex, but if you find some, please share with the group.

-Shaun

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Shaun Edwards

[G.A. vd. Hoorn - 3ME]

On 6-3-2017 5:30, Shaun Edwards wrote:
> Arunava,
>
> The ROS-Industrial training material may be of help. Specifically, the
> perception driven application:
> https://github.com/ros-industrial/industrial_training/wiki#application-demo---perception-driven-manipulation
>
>
> It utilizes a UR5 and a camera based vision system.
>
> I don't know of any ROS packages for Cognex, but if you find some, please
> share with the group.

Génération Robots released some packages some time ago. See [1].


Gijs

[1]
http://www.ros.org/news/2015/05/modbus-cognex-in-sight-camera-and-siemens-s7-plc-ros-wrapper.html

[Jairo Matheus]

Hi Arunava,

Could you find some api on pick and place?

I am also looking for this and have not found anything yet.