This package contains the launch/immc_bringup_factory.launch which is the starting point of the task within the Virtual Micro Challenge.
This launch file will:
- Run the Gazebo simulator with the factory world.
- Spawn the mobile manipulator at the origin of the factory world.
- Run the move_group interface to control the arm and the gripper.
- Run the navigation stack to control the mobile base.
- Provide the map of the factory world to the map server for autonomous navigation.
- Spawn objects for manipulation at the input are (stock).
- Run order manager node.
To start:
- Source you workspace directory
- Specify Turtlebot3 robot model
$ export TURTLEBOT3_MODEL=waffle_pi - Launch the file
$ roslaunch immc_bringup immc_bringup_factory.launch