ROS Index
|
|
Repository Summary
| Description | A ROS2 package that allows rapid digitization of robotic work cells and ease of efficient path-planning of manipulators. |
| Checkout URI | https://github.com/ros-industrial/easy_manipulation_deployment.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-03-19 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| onrobot_airpick4_description | 0.6.4 |
| onrobot_airpick4_moveit_config | 0.6.4 |
| robotiq_3f_gripper_description | 0.6.4 |
| robotiq_3f_moveit_config | 0.6.4 |
| robotiq_85_description | 0.6.4 |
| robotiq_85_moveit_config | 0.6.4 |
| single_suction_description | 0.6.4 |
| single_suction_moveit_config | 0.6.4 |
| realsense2_description | 2.2.15 |
| table_description | 2.0.0 |
| workbench_description | 2.0.0 |
| fanuc_description | 0.7.0 |
| fanuc_moveit_config | 0.7.0 |
| panda_description | 0.7.0 |
| panda_moveit_config | 0.7.0 |
| ur10_moveit_config | 1.2.7 |
| ur3_moveit_config | 1.2.7 |
| ur5_moveit_config | 1.2.7 |
| ur_description | 1.2.7 |
| run_dynamic_safety | 2.2.2 |
| run_grasp_execution | 0.1.0 |
| run_grasp_planner | 0.1.0 |
| run_waypoint_execution | 0.1.0 |
| emd_dynamic_safety | 0.1.0 |
| emd_grasp_execution | 0.1.0 |
| emd_grasp_planner | 0.1.0 |
| emd_waypoint_execution | 0.1.0 |
| workcell_builder | 0.1.1 |
| emd_msgs | 0.1.1 |
| suction_test | 2.0.0 |
| ur5_2f_test | 2.0.0 |
| ur5_3f_test | 2.0.0 |
| ur5_airpick4_test | 2.0.0 |
README
Easy Manipulation Deployment
Note that EMD is currently NOT under maintenance and we DO NOT recommend its use in new projects.
We still welcome contributions and bug fixes, and will work out a maintenance plan in the future.
This ROS2 package provides a modular and easy to deploy manipulation pipeline that integrates perception elements to establish an end-to-end pick and place task
This package was tested with the easy_perception_deployment ROS2 package, but any other perception system that provides the same ROS2 message in the right topic can work with this package as well.
It is recommended to run this package on ROS2 Foxy.
Full Documentation/Wiki
Check out the Full Documentation here
Check out the API Documentation here
Components
1) Grasp Planner
An algorithmic based grasp planner that plans grasps in 3D space. Highly configurable and currently supports multifinger parallel grippers and suction cup arrays.
Two Finger Gripper
Three Finger Gripper
Single Suction Cup
2x2 Suction Array
2) Grasp Execution
A Moveit2 Based Grasp Execution package that incorporates real time dynamic safety components
3) Workcell Builder
A GUI based solution for ease of generation of robotic workcell simulations
Acknowledgements
We would like to acknowledge the Singapore government for their vision and support to start this ambitious research and development project, “Accelerating Open Source Technologies for Cross Domain Adoption through the Robot Operating System”. The project is supported by Singapore National Robotics Programme (NRP).
Any opinions, findings and conclusions or recommendations expressed in this material are those of the author(s) and do not reflect the views of the NR2PO.