3_pick_and_place.md

Pick-and-Place Tutorial: Part 3

Table of Contents

• The Unity side
• The ROS side
• Run the game

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The Unity side

1. Select Publisher game object in the Hierarchy view, check Trajectory Planner, and uncheck Source Destination Publisher. Please refer to TrajectoryPlanner if you want to know how Trajectory Planner works.

2. Select Button game object in Hierarchy view under Canvas. In the Inspector view, On click (), switch to TrajectoryPlanner.PublishJoints().

The ROS side

Open a terminal window in the ROS catkin workspace. Then run the following command

roslaunch ur_moveit part_3.launch

Run the game

Return to Unity, and press play. Click the UI Publish Button in the Game view. ROS and Unity have now sucessfully connected!