Usage examples

Grasp Planning for a Single Object

Robotiq Hand-E

• Please refer to wros2_tutorials/config/planner_params_robotiqhe_single_example.yaml.

  byobu

  ros2 launch wros2_tutorials plan_grasp_launch.py config:=planner_params_robotiqhe_single_example.yaml

  ros2 service call /plan_grasp std_srvs/srv/Empty

  

Robotiq 2F-85

• Please refer to wros2_tutorials/config/planner_params_robotiq85_single_example.yaml.

  byobu

  ros2 launch wros2_tutorials plan_grasp_launch.py config:=planner_params_robotiq85_single_example.yaml

  ros2 service call /plan_grasp std_srvs/srv/Empty

  

Robotiq 2F-140

• Please refer to wros2_tutorials/config/planner_params_robotiq140_single_example.yaml.

  byobu

  ros2 launch wros2_tutorials plan_grasp_launch.py config:=planner_params_robotiq140_single_example.yaml

  ros2 service call /plan_grasp std_srvs/srv/Empty

  

Grasp Planning for an Object on a Table

Robotiq Hand-E

• Please refer to wros2_tutorials/config/planner_params_robotiqhe_obstcl_example.yaml.

  byobu

  ros2 launch wros2_tutorials plan_grasp_launch.py config:=planner_params_robotiqhe_obstcl_example.yaml

  ros2 service call /plan_grasp std_srvs/srv/Empty

  

Robotiq 2F-85

• Please refer to wros2_tutorials/config/planner_params_robotiq85_obstcl_example.yaml.

  byobu

  ros2 launch wros2_tutorials plan_grasp_launch.py config:=planner_params_robotiq85_obstcl_example.yaml

  ros2 service call /plan_grasp std_srvs/srv/Empty

  

Robotiq 2F-140

• Please refer to wros2_tutorials/config/planner_params_robotiq140_obstcl_example.yaml.

  byobu

  ros2 launch wros2_tutorials plan_grasp_launch.py config:=planner_params_robotiq140_obstcl_example.yaml

  ros2 service call /plan_grasp std_srvs/srv/Empty