grasping_ur5

This ros package is a pick and place application using Universal Robot (UR5) and a RGBD/ Stereo Camera.

gpd was modified to detect the centroid of point cloud clusters.

How to use this package?

roslaunch grasping_ur5 execute.launch

Subscribers: /detect_grasps/clustered_grasps

Publishers : /object_pose

Pick and Place with UR5 and Zed Stereo Camera

Expected Output: With little modification this package will work with ABB Manipulators