RnC_WS_COLCON

Open four or required number of terminals then:

Terminal 1

colcon build

Every Terminal

source install/setup.bash

Task 1B

To Launch the gazebo-

ros2 launch eyantra_warehouse task1b.launch.py

To launch moveit

ros2 launch ur_simulation_gazebo spawn_ur5_launch_moveit.launch.py 

To launch script

python3 src/pymoveit2/examples/task1b_boiler_plate.py

Task 1C

To Launch the gazebo

ros2 launch eyantra_warehouse task1c.launch.py  

To launch moveit

ros2 launch ur_simulation_gazebo spawn_ur5_launch_moveit.launch.py 

To launch script

python3 src/pymoveit2/examples/task1c.py

Task 2a

To Launch the gazebo

ros2 launch eyantra_warehouse task2a.launch.py  

To launch moveit

ros2 launch ur_simulation_gazebo spawn_ur5_launch_moveit.launch.py 

To launch script

To launch publisher

python3 src/pymoveit2/examples/task1b_boiler_plate.py

To launch main script (listener + Arm Execution)

python3 src/pymoveit2/examples/task2a.py