Computer Vision Pick and Place from Scratch in ROS2, C++, MoveIt2, and OpenCV

In this ROS2 and robotics tutorial, we explain

1. How to create a combined model of a robot and a gripper and simulate the created model in ROS2.
2. How to properly configure the MoveIt2 path planner and define the control groups such that the created model can be used for path planning and pick-and-place.
3. How to create a Gazebo simulation and control the robot model in Gazebo using the MoveIt2 path planner.
4. How to model a camera in ROS2 and Gazebo and how to record and visualize camera images as the robot moves in C++.
5. How to implement a pinhole camera model for calculating scene coordinates from the camera images.
6. How to implement a computer vision model in C++ and OpenCV for object recognition.
7. How to use OpenCV to determine the object center and orientation.
8. How to write C++ ROS2 MoveIt2 code to perform pick-and-place tasks.
9. How to simulate pick-and-place tasks in Gazebo.

The YouTube tutorial is given here.