notice：These files have not been secondary confirmed！I can only be sure that they can work properly in my environment.

In this version, the robot arm can recognize and clip the target Run the program and add the target.Note that the target is not included in this library.

$ cd ~/catkin_ws
$ source devel/setup.bash
$ roslaunch arm1 gazebo.launch

run the image processing node. For program logic reasons,the image processing node should be run first. Otherwise, the program will not run.

$ cd ~/catkin_ws
$ source devel/setup.bash
$ rosrun arm1 image_process

run the logical controller node.

$ cd ~/catkin_ws
$ source devel/setup.bash
$ rosrun arm1 arm_command

View the rgb-camera topic

rqt_image_view /rgb_camera/image_raw

Watch this video: https://www.bilibili.com/video/BV15t4y1U7HF/ (chinese)

for example:

Updated the solidworks file of the robot. Not sure if arm0.1.SLDASM can be opened, you may need to find the file again.

Upload the original package files, which exported from Solidworks 2017. Attention: The package name is gripper0 instead of arm0. You need to modify the package's name and then add it to your src file in your workspace. I didn't check its correctness! And this package just for display the original package file.