SPIN

Semantic Perception (SPIN) focus on sensor fusion and robot integration. Robot used in this project is a UR3E with onrobot eyes camera and robotiq 2f140 gripper.

Quickstart

1. Clone this repo: git clone https://github.com/Jesper-H/SPIN.git

2. Install ros: ubuntu link

3. Install catkin and wstool as described here. Set up "workspace" as your workspace, download MoveIt source and compile it.

4. Run environment: roslaunch ur3e_robotiq140_eyes_moveit_config env.launch use_cam:=false

5. Activate external control. As instructed here

6. Run code: python3 pointcloudtools/main.py