Turtlebot Waffle Pi from Openmanipulator with Gazebo

[Alleekkss]

Hello, currently working in ROS Noetic
I have a problem with lifting a can and moving it to another place in Gazebo
The robot model is Turtlebot Waffle Pi from Openmanipulator
I want to do something similar to this repository: https://github.com/AuTURBO/open_manipulator_with_tb3
I already have a script with reaching the right point, all I need is to lift and move the can and if you could I would like to make it so that you detect the Aruco marker using the camera before lifting it
Maybe someone can help with this?

Script with getting to the point:

`#!/usr/bin/env python3

import rospy
from geometry_msgs.msg import PoseStamped

def send_goal(x, y, theta):
# Publisher dla topicu /move_base_simple/goal
goal_pub = rospy.Publisher('/move_base_simple/goal', PoseStamped, queue_size=10)
# Oczekiwanie na połączenie z move_base
rospy.sleep(2)

# Tworzenie celu
goal = PoseStamped()
goal.header.frame_id = "map"
goal.header.stamp = rospy.Time.now()
goal.pose.position.x = x
goal.pose.position.y = y
goal.pose.orientation.z = theta  # Uwaga: pełny kwaternion może być potrzebny

# Publikacja celu
rospy.loginfo(f"Wysyłanie celu: x={x}, y={y}, theta={theta}")
goal_pub.publish(goal)

def main():
rospy.init_node('multi_point_navigation', anonymous=True)

while not rospy.is_shutdown():
    try:
        # Pobieranie współrzędnych od użytkownika
        x = float(input("Podaj współrzędną x: "))
        y = float(input("Podaj współrzędną y: "))
        theta = float(input("Podaj orientację (theta): "))
       
        # Wysyłanie celu
        send_goal(x, y, theta)

        # Pytanie o kontynuację
        cont = input("Czy chcesz wprowadzić kolejny punkt? (t/n): ").strip().lower()
        if cont != 't':
            rospy.loginfo("Koniec wprowadzania punktów.")
            break
    except ValueError:
        rospy.logwarn("Niepoprawny format danych. Spróbuj ponownie.")
    except rospy.ROSInterruptException:
        rospy.loginfo("Przerwano działanie skryptu.")
        break

if name == "main":
main()
`

[sunghowoo]

@Alleekkss This manual may still be helpful, although it is no longer maintained. Wishing you the best of luck!
👉 TurtleBot3 Home Service Challenge Manual

[Alleekkss]

@sunghowoo I tried but nothing worked

[sunghowoo]

@Alleekkss Apologies for the delayed response. Currently, the Home Service Challenge is no longer maintained in ROS 1 Noetic. Our Open Platform Team, which was newly established in January, has been working on porting it to ROS 2 Humble. This porting process is expected to be completed by April.