Skip to content

LiuQiangBlog/industrial_moveit

 
 

Repository files navigation

Industrial MoveIt

Build

  • Build the workspace:
    • Cd into the catkin workspace directory and type the following command:
catkin build

Unit Test

  • Run all of industrial_moveit unit tests:
    • Cd into the catkin workspace directory and type the following command:
catkin run_tests 
  • Run the stomp_core unit tests:
catkin run_tests stomp_core

Stomp Moveit Demo

  • Run the demo

    • Run the demo.launch file
    roslaunch stomp_test_kr210_moveit_config demo.launch
    
    • In the Rviz Motion Planning planel, select rail_start_pose from the dropdwown menu under "Select Start State" and click Update
    • In Rviz, select rail_end_pose from the dropdwown menu under "Select Goal State" and click Update
    • Click Plan in order to generate a motion plan.

Configure Stomp

  • Locate the the stomp planner configuration file
    • roscd into the stomp_test_kr210_moveit_config package and locate the "stomp_config.yaml" file under the config directory
  • Rerun demo.launch file and plan once again to see how the changes affect the planner's behavior.

========================================================================
[ROS-Industrial]: http://www.ros.org/wiki/Industrial
[ROS wiki]: http://ros.org/wiki/industrial_moveit
[ConstrainedIK]: http://wiki.ros.org/constrained_ik [Stomp MoveIt!]: http://wiki.ros.org/stomp_moveit

Packages

No packages published

Languages

  • C++ 97.0%
  • CMake 2.6%
  • Python 0.4%