Ruthwik Dasyam 120405563 ENPM662 - Planning for Autonomous Robots

workflow :

• Setting up panda robot for moveit setup assistant
• Creating a new workspace with panda_description and ruth_configuration (from setup assistant)
• creating a new package for cpp script
• determining joint angles for pick place configurations, for arm and gripper
• Once joint angles are given in the code, in order of execution
• Launch Rviz and run the cpp code

No extra libraries used ::

Steps to visualize the script

• move the package 'package_120405563' to your workspace containing panda_description and setup_configuration (from moveit setup assistant) packages
• colon build
• launch rviz from your configuration package ros2 launch <configuration_package_name> demo.launch.py
• In other terminal, run the script ros2 run package_120405563 ruth_script

The panda arm performing pick and place action is visualized in rviz