A library of MoveIt 2 task plans for bin picking, kitting and machine tending. Ships with calibration routines for Franka FR3, UR-series and legacy OEM arms, plus a skill-runner that exposes each routine as a ROS 2 action.
MoveIt 2 Pick-Place Skill Pack
Drop-in MoveIt 2 skills: bin picking, kitting, machine tending — calibrated per arm.
A library of MoveIt 2 task plans for bin picking, kitting and machine tending. Ships with calibration routines for Franka FR3, UR-series and legacy OEM arms, plus a skill-runner that exposes each routine as a ROS 2 action.
- Mixed-SKU bin picking
- Kitting cells
- CNC machine tending
Installs the MoveIt 2 skill server and registers pick-place, kitting and machine-tending actions for the configured arm.
- ROS 2 Humble + MoveIt 2 binaries installed
- Working URDF/SRDF for your arm (FR3, UR or iiwa)
- An RGB-D camera publishing /camera/color and /camera/depth (Realsense / Zivid / Photoneo)
- Eye-in-hand or eye-to-hand calibration not yet performed — wizard included
- 01Install the skill pack
sudo apt update && sudo apt install ros-humble-roslab-moveit-skills - 02Run hand-eye calibration
Interactive wizard captures 20 poses and writes the transform.
ros2 run roslab_skills calibrate_handeye --arm fr3 --camera realsense_d435 - 03Launch the skill server
ros2 launch roslab_skills skill_server.launch.py arm:=fr3 - 04Trigger a pick
Send a bin-pick goal — the planner picks the best graspable item in /camera frame.
ros2 action send_goal /pick_from_bin roslab_skills/action/PickFromBin \ "{bin_frame: bin_a, place_frame: kit_slot_1}"
Skill server reports `state: SUCCEEDED` and the object lands in the place frame.
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