tams_pick_and_place_pointnetgpd

This package is modified from tams_ur5_pick_place and moveit_gpd_pick_object to adjust for PointNetGPD grasps.

Package needed:

• PointNetGPD
• camera_positioner
• gpd_grasp_msgs

Usage:

• Prepare a robot with MoveIt! configuration, it should contain two move groups, one for the arm, one for the gripper.
• PointNetGPD will publish grasps candidates using grasp messages defined at gpd_grasp_msgs.
• tams_pick_and_place_pointnetgpd will subscribe this message and plan a collision free path to the grasp using MoveIt!.