ROS Index
|
nao_moveit_config package from nao_moveit_config reponao_moveit_config |
Package Summary
| Tags | No category tags. |
| Version | 0.0.11 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/nao_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-20 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Surya Ambrose
- Natalia Lyubova
Authors
- Mikael Arguedas
nao_moveit_config
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a NAO model which you can get from here:
https://github.com/ros-naoqi/nao_robot/tree/master/nao_description or from the binary package : ros-indigo-nao-description
The moveit package must be run on a remote computer and not directly on your robot.
URDF and Textures used
This moveit package is based on a textured nao: https://github.com/ros-naoqi/nao_meshes
The urdf used for the generation of the configuration files is at: https://github.com/ros-naoqi/nao_robot
-
Compile the packages
nao_moveit_config package doesn't need any compilation so running rospack profile should be enough
For the dcm and gazebo packages you need to compile the C++ nodes. In order to compile nao_dcm packages, you need to set the environment variable AL_DIR to the path to naoqiSDK-c++ on your computer.
Then you can run the usual
``` {.sourceCode .bash} catkin_make
And your ready to play with your nao
2. Run MoveIt
=============
Without a robot \-\-\-\-\-\-\-\-\-\-\-\--You can run this moveit package
either unconnected to any robot or attached to a robot (real or
simulated): For a standalone execution :
``` {.sourceCode .bash}
roslaunch nao_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
On a real robot -------------To launch it on a real nao you need: - nao_dcm_bringup (https://github.com/ros-aldebaran/nao_dcm_robot) - nao_control (https://github.com/ros-aldebaran/nao_virtual)
First, set NAO_IP environment variable to your robot's IP address:
``` {.sourceCode .bash}
export NAO_IP=
Launch the DCM bringup:
``` {.sourceCode .bash}
roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch
Wait until it is ready, then run:
``` {.sourceCode .bash} roslaunch nao_moveit_config moveit_planner.launch
On a simulated robot (in Gazebo)
\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\--To use
MoveIt! with Gazebo simulation, you need: - nao\_dcm\_bringup
(<https://github.com/ros-aldebaran/nao_dcm_robot>) - nao\_control
(<https://github.com/ros-aldebaran/nao_virtual>) - nao\_gazebo\_plugin
(<https://github.com/ros-aldebaran/nao_virtual>)
Launch Gazebo, like this:
``` {.sourceCode .bash}
roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch
Wait until it is ready, then click on the Play button in Gazebo.
Finally, start MoveIt!:
``` {.sourceCode .bash} roslaunch nao_moveit_config moveit_planner.launch
```
This is based on the work of Konstantinos Chatzilygeroudis: https://github.com/costashatz/nao_dcm.
3 Use Moveit:
RVIZ has been open: you can see that a MotionPlanning plugin has been launched. First check the box "Allow approximate IK Solutions" on the bottom of the left control panel. Then, go to the Planning tab.
Select which part of the robot you want to move: In the plugin list on the upper part of the left column, you can select a group under MotionPlanning/Planning Request/Planning Group
Now you can define your motion by drag and dropping the interactive markers. You can compute a trajectory by clicking the 'planning' button Once the motion is satisfying you can try it on your real robot using 'execute' or 'plan and execute'.
NOTE: The start state is not updated automatically, you have to go to 'Select Start State' select 'Current' and click 'Update'.
Changelog for package nao_moveit_config
0.0.11 (2017-01-20)
- Merge pull request #18 from ros-naoqi/update_maintainers update maintainers
- update maintainers
- Merge pull request #17 from ros-naoqi/nlyubova-patch-2 Update the execution time
- Update the execution time
- Merge pull request #16 from ros-naoqi/fix-deprecated-warnings Fix deprecated warnings
- update parameter namespace
- fix deprecated xacro call
- use action rather than service for trajectory execution
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.10 (2016-09-18)
- Update README.rst
- adding RRT as default planner
- remove vrabaud as a maintainer
- Merge pull request #12 from ros-naoqi/update_dead_links update dead links
- update dead links
- updating the README
- Contributors: Mikael Arguedas, Natalia Lyubova, Vincent Rabaud
0.0.9 (2016-02-03)
- remove nao_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.8 (2016-02-03)
- updated dependency list
- Contributors: Mikael Arguedas
0.0.7 (2016-01-23)
- homogenize group names to match side_bodyChain
- added end effectors for legs
- update collision matrix: fix collision on NAO's feet
- rename demo_real.launch into moveit_planner.launch to match tutorials
- Merge pull request #9 from nlyubova/master missing collisions
- fixing srdf, adding missing collisions
- fixing the projection_evaluator joints for hand groups
- added demo_real.launch from nlyubova's fork
- Contributors: Mikael Arguedas, Vincent Rabaud, nlyubova
0.0.6 (2015-10-21)
- updating the readme
- fixing the config for the most recent urdf
- add myself as a maintainer
- Contributors: Vincent Rabaud, nlyubova
- add myself as a maintainer
- Contributors: Vincent Rabaud
0.0.5 (2015-05-25)
- install the .setup_assistant file for potential introspection
- remove the URDF and fix the README
- add a .setup_assistant
- Added foot and pelvis fake controllers
- Added foot and pelvis controllers
- Contributors: Arguedas Mikael, Konstantinos Chatzilygeroudis, Vincent Rabaud
0.0.4 (2014-12-04)
- fixed collision for ankle
- fixed path to xacro file
- fixed hand links names
- Update README.rst Added note for missing deppendency
- add missing dependency
- added moveit tutorial
- Contributors: Arguedas Mikael, Mikael ARGUEDAS, margueda
0.0.3 (2014-10-01)
- update README
- Merge branch 'master' of github.com:ros-nao/nao_moveit_config
- unify group names to match romeo_moveit_config agreement
- Update README.rst
- Update README.rst
- fixed dependencies and update README
- Initial tracks.yaml
- Contributors: Arguedas Mikael, margueda
0.0.2 (2014-09-24)
- added version argument to every launchfile
- avoid looping animations
- fixed moveit.rviz location
- Merge branch 'master' of github.com:ros-aldebaran/nao_moveit_config
- fixed robot_description xacro path
- Contributors: margueda
0.0.1 (2014-09-18)
- fix typos
- Update README.md
- Update README.md
- updated model and cleaning
- update README
- new moveit with controllers
- add README
- initial commit of Ioan's modifications
- Contributors: Arguedas Mikael, Vincent Rabaud, margueda
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/planning_pipeline.launch
-
- pipeline [default: ompl]
- launch/ompl_planning_pipeline.launch
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse_settings.launch
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/sensor_manager.launch
-
- moveit_sensor_manager [default: nao]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: V40]
- launch/trajectory_execution.launch
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: nao]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/NaoH25V40_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/NaoH25V40_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pr2_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find nao_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: NaoH25V40]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: NaoH25V40]
Messages
Services
Plugins
Recent questions tagged nao_moveit_config at Robotics Stack Exchange
|
|
nao_moveit_config package from nao_moveit_config reponao_moveit_config |
Package Summary
| Tags | No category tags. |
| Version | 0.0.11 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/nao_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-20 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Surya Ambrose
- Natalia Lyubova
Authors
- Mikael Arguedas
nao_moveit_config
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a NAO model which you can get from here:
https://github.com/ros-naoqi/nao_robot/tree/master/nao_description or from the binary package : ros-indigo-nao-description
The moveit package must be run on a remote computer and not directly on your robot.
URDF and Textures used
This moveit package is based on a textured nao: https://github.com/ros-naoqi/nao_meshes
The urdf used for the generation of the configuration files is at: https://github.com/ros-naoqi/nao_robot
-
Compile the packages
nao_moveit_config package doesn't need any compilation so running rospack profile should be enough
For the dcm and gazebo packages you need to compile the C++ nodes. In order to compile nao_dcm packages, you need to set the environment variable AL_DIR to the path to naoqiSDK-c++ on your computer.
Then you can run the usual
``` {.sourceCode .bash} catkin_make
And your ready to play with your nao
2. Run MoveIt
=============
Without a robot \-\-\-\-\-\-\-\-\-\-\-\--You can run this moveit package
either unconnected to any robot or attached to a robot (real or
simulated): For a standalone execution :
``` {.sourceCode .bash}
roslaunch nao_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
On a real robot -------------To launch it on a real nao you need: - nao_dcm_bringup (https://github.com/ros-aldebaran/nao_dcm_robot) - nao_control (https://github.com/ros-aldebaran/nao_virtual)
First, set NAO_IP environment variable to your robot's IP address:
``` {.sourceCode .bash}
export NAO_IP=
Launch the DCM bringup:
``` {.sourceCode .bash}
roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch
Wait until it is ready, then run:
``` {.sourceCode .bash} roslaunch nao_moveit_config moveit_planner.launch
On a simulated robot (in Gazebo)
\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\--To use
MoveIt! with Gazebo simulation, you need: - nao\_dcm\_bringup
(<https://github.com/ros-aldebaran/nao_dcm_robot>) - nao\_control
(<https://github.com/ros-aldebaran/nao_virtual>) - nao\_gazebo\_plugin
(<https://github.com/ros-aldebaran/nao_virtual>)
Launch Gazebo, like this:
``` {.sourceCode .bash}
roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch
Wait until it is ready, then click on the Play button in Gazebo.
Finally, start MoveIt!:
``` {.sourceCode .bash} roslaunch nao_moveit_config moveit_planner.launch
```
This is based on the work of Konstantinos Chatzilygeroudis: https://github.com/costashatz/nao_dcm.
3 Use Moveit:
RVIZ has been open: you can see that a MotionPlanning plugin has been launched. First check the box "Allow approximate IK Solutions" on the bottom of the left control panel. Then, go to the Planning tab.
Select which part of the robot you want to move: In the plugin list on the upper part of the left column, you can select a group under MotionPlanning/Planning Request/Planning Group
Now you can define your motion by drag and dropping the interactive markers. You can compute a trajectory by clicking the 'planning' button Once the motion is satisfying you can try it on your real robot using 'execute' or 'plan and execute'.
NOTE: The start state is not updated automatically, you have to go to 'Select Start State' select 'Current' and click 'Update'.
Changelog for package nao_moveit_config
0.0.11 (2017-01-20)
- Merge pull request #18 from ros-naoqi/update_maintainers update maintainers
- update maintainers
- Merge pull request #17 from ros-naoqi/nlyubova-patch-2 Update the execution time
- Update the execution time
- Merge pull request #16 from ros-naoqi/fix-deprecated-warnings Fix deprecated warnings
- update parameter namespace
- fix deprecated xacro call
- use action rather than service for trajectory execution
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.10 (2016-09-18)
- Update README.rst
- adding RRT as default planner
- remove vrabaud as a maintainer
- Merge pull request #12 from ros-naoqi/update_dead_links update dead links
- update dead links
- updating the README
- Contributors: Mikael Arguedas, Natalia Lyubova, Vincent Rabaud
0.0.9 (2016-02-03)
- remove nao_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.8 (2016-02-03)
- updated dependency list
- Contributors: Mikael Arguedas
0.0.7 (2016-01-23)
- homogenize group names to match side_bodyChain
- added end effectors for legs
- update collision matrix: fix collision on NAO's feet
- rename demo_real.launch into moveit_planner.launch to match tutorials
- Merge pull request #9 from nlyubova/master missing collisions
- fixing srdf, adding missing collisions
- fixing the projection_evaluator joints for hand groups
- added demo_real.launch from nlyubova's fork
- Contributors: Mikael Arguedas, Vincent Rabaud, nlyubova
0.0.6 (2015-10-21)
- updating the readme
- fixing the config for the most recent urdf
- add myself as a maintainer
- Contributors: Vincent Rabaud, nlyubova
- add myself as a maintainer
- Contributors: Vincent Rabaud
0.0.5 (2015-05-25)
- install the .setup_assistant file for potential introspection
- remove the URDF and fix the README
- add a .setup_assistant
- Added foot and pelvis fake controllers
- Added foot and pelvis controllers
- Contributors: Arguedas Mikael, Konstantinos Chatzilygeroudis, Vincent Rabaud
0.0.4 (2014-12-04)
- fixed collision for ankle
- fixed path to xacro file
- fixed hand links names
- Update README.rst Added note for missing deppendency
- add missing dependency
- added moveit tutorial
- Contributors: Arguedas Mikael, Mikael ARGUEDAS, margueda
0.0.3 (2014-10-01)
- update README
- Merge branch 'master' of github.com:ros-nao/nao_moveit_config
- unify group names to match romeo_moveit_config agreement
- Update README.rst
- Update README.rst
- fixed dependencies and update README
- Initial tracks.yaml
- Contributors: Arguedas Mikael, margueda
0.0.2 (2014-09-24)
- added version argument to every launchfile
- avoid looping animations
- fixed moveit.rviz location
- Merge branch 'master' of github.com:ros-aldebaran/nao_moveit_config
- fixed robot_description xacro path
- Contributors: margueda
0.0.1 (2014-09-18)
- fix typos
- Update README.md
- Update README.md
- updated model and cleaning
- update README
- new moveit with controllers
- add README
- initial commit of Ioan's modifications
- Contributors: Arguedas Mikael, Vincent Rabaud, margueda
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/planning_pipeline.launch
-
- pipeline [default: ompl]
- launch/ompl_planning_pipeline.launch
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse_settings.launch
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/sensor_manager.launch
-
- moveit_sensor_manager [default: nao]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: V40]
- launch/trajectory_execution.launch
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: nao]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/NaoH25V40_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/NaoH25V40_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pr2_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find nao_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: NaoH25V40]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: NaoH25V40]
Messages
Services
Plugins
Recent questions tagged nao_moveit_config at Robotics Stack Exchange
|
|
nao_moveit_config package from nao_moveit_config reponao_moveit_config |
Package Summary
| Tags | No category tags. |
| Version | 0.0.11 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/nao_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-20 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Surya Ambrose
- Natalia Lyubova
Authors
- Mikael Arguedas
nao_moveit_config
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a NAO model which you can get from here:
https://github.com/ros-naoqi/nao_robot/tree/master/nao_description or from the binary package : ros-indigo-nao-description
The moveit package must be run on a remote computer and not directly on your robot.
URDF and Textures used
This moveit package is based on a textured nao: https://github.com/ros-naoqi/nao_meshes
The urdf used for the generation of the configuration files is at: https://github.com/ros-naoqi/nao_robot
-
Compile the packages
nao_moveit_config package doesn't need any compilation so running rospack profile should be enough
For the dcm and gazebo packages you need to compile the C++ nodes. In order to compile nao_dcm packages, you need to set the environment variable AL_DIR to the path to naoqiSDK-c++ on your computer.
Then you can run the usual
``` {.sourceCode .bash} catkin_make
And your ready to play with your nao
2. Run MoveIt
=============
Without a robot \-\-\-\-\-\-\-\-\-\-\-\--You can run this moveit package
either unconnected to any robot or attached to a robot (real or
simulated): For a standalone execution :
``` {.sourceCode .bash}
roslaunch nao_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
On a real robot -------------To launch it on a real nao you need: - nao_dcm_bringup (https://github.com/ros-aldebaran/nao_dcm_robot) - nao_control (https://github.com/ros-aldebaran/nao_virtual)
First, set NAO_IP environment variable to your robot's IP address:
``` {.sourceCode .bash}
export NAO_IP=
Launch the DCM bringup:
``` {.sourceCode .bash}
roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch
Wait until it is ready, then run:
``` {.sourceCode .bash} roslaunch nao_moveit_config moveit_planner.launch
On a simulated robot (in Gazebo)
\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\--To use
MoveIt! with Gazebo simulation, you need: - nao\_dcm\_bringup
(<https://github.com/ros-aldebaran/nao_dcm_robot>) - nao\_control
(<https://github.com/ros-aldebaran/nao_virtual>) - nao\_gazebo\_plugin
(<https://github.com/ros-aldebaran/nao_virtual>)
Launch Gazebo, like this:
``` {.sourceCode .bash}
roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch
Wait until it is ready, then click on the Play button in Gazebo.
Finally, start MoveIt!:
``` {.sourceCode .bash} roslaunch nao_moveit_config moveit_planner.launch
```
This is based on the work of Konstantinos Chatzilygeroudis: https://github.com/costashatz/nao_dcm.
3 Use Moveit:
RVIZ has been open: you can see that a MotionPlanning plugin has been launched. First check the box "Allow approximate IK Solutions" on the bottom of the left control panel. Then, go to the Planning tab.
Select which part of the robot you want to move: In the plugin list on the upper part of the left column, you can select a group under MotionPlanning/Planning Request/Planning Group
Now you can define your motion by drag and dropping the interactive markers. You can compute a trajectory by clicking the 'planning' button Once the motion is satisfying you can try it on your real robot using 'execute' or 'plan and execute'.
NOTE: The start state is not updated automatically, you have to go to 'Select Start State' select 'Current' and click 'Update'.
Changelog for package nao_moveit_config
0.0.11 (2017-01-20)
- Merge pull request #18 from ros-naoqi/update_maintainers update maintainers
- update maintainers
- Merge pull request #17 from ros-naoqi/nlyubova-patch-2 Update the execution time
- Update the execution time
- Merge pull request #16 from ros-naoqi/fix-deprecated-warnings Fix deprecated warnings
- update parameter namespace
- fix deprecated xacro call
- use action rather than service for trajectory execution
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.10 (2016-09-18)
- Update README.rst
- adding RRT as default planner
- remove vrabaud as a maintainer
- Merge pull request #12 from ros-naoqi/update_dead_links update dead links
- update dead links
- updating the README
- Contributors: Mikael Arguedas, Natalia Lyubova, Vincent Rabaud
0.0.9 (2016-02-03)
- remove nao_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.8 (2016-02-03)
- updated dependency list
- Contributors: Mikael Arguedas
0.0.7 (2016-01-23)
- homogenize group names to match side_bodyChain
- added end effectors for legs
- update collision matrix: fix collision on NAO's feet
- rename demo_real.launch into moveit_planner.launch to match tutorials
- Merge pull request #9 from nlyubova/master missing collisions
- fixing srdf, adding missing collisions
- fixing the projection_evaluator joints for hand groups
- added demo_real.launch from nlyubova's fork
- Contributors: Mikael Arguedas, Vincent Rabaud, nlyubova
0.0.6 (2015-10-21)
- updating the readme
- fixing the config for the most recent urdf
- add myself as a maintainer
- Contributors: Vincent Rabaud, nlyubova
- add myself as a maintainer
- Contributors: Vincent Rabaud
0.0.5 (2015-05-25)
- install the .setup_assistant file for potential introspection
- remove the URDF and fix the README
- add a .setup_assistant
- Added foot and pelvis fake controllers
- Added foot and pelvis controllers
- Contributors: Arguedas Mikael, Konstantinos Chatzilygeroudis, Vincent Rabaud
0.0.4 (2014-12-04)
- fixed collision for ankle
- fixed path to xacro file
- fixed hand links names
- Update README.rst Added note for missing deppendency
- add missing dependency
- added moveit tutorial
- Contributors: Arguedas Mikael, Mikael ARGUEDAS, margueda
0.0.3 (2014-10-01)
- update README
- Merge branch 'master' of github.com:ros-nao/nao_moveit_config
- unify group names to match romeo_moveit_config agreement
- Update README.rst
- Update README.rst
- fixed dependencies and update README
- Initial tracks.yaml
- Contributors: Arguedas Mikael, margueda
0.0.2 (2014-09-24)
- added version argument to every launchfile
- avoid looping animations
- fixed moveit.rviz location
- Merge branch 'master' of github.com:ros-aldebaran/nao_moveit_config
- fixed robot_description xacro path
- Contributors: margueda
0.0.1 (2014-09-18)
- fix typos
- Update README.md
- Update README.md
- updated model and cleaning
- update README
- new moveit with controllers
- add README
- initial commit of Ioan's modifications
- Contributors: Arguedas Mikael, Vincent Rabaud, margueda
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/planning_pipeline.launch
-
- pipeline [default: ompl]
- launch/ompl_planning_pipeline.launch
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse_settings.launch
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/sensor_manager.launch
-
- moveit_sensor_manager [default: nao]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: V40]
- launch/trajectory_execution.launch
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: nao]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/NaoH25V40_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/NaoH25V40_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pr2_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find nao_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: NaoH25V40]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: NaoH25V40]
Messages
Services
Plugins
Recent questions tagged nao_moveit_config at Robotics Stack Exchange
|
|
nao_moveit_config package from nao_moveit_config reponao_moveit_config |
Package Summary
| Tags | No category tags. |
| Version | 0.0.11 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/nao_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-20 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Surya Ambrose
- Natalia Lyubova
Authors
- Mikael Arguedas
nao_moveit_config
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a NAO model which you can get from here:
https://github.com/ros-naoqi/nao_robot/tree/master/nao_description or from the binary package : ros-indigo-nao-description
The moveit package must be run on a remote computer and not directly on your robot.
URDF and Textures used
This moveit package is based on a textured nao: https://github.com/ros-naoqi/nao_meshes
The urdf used for the generation of the configuration files is at: https://github.com/ros-naoqi/nao_robot
-
Compile the packages
nao_moveit_config package doesn't need any compilation so running rospack profile should be enough
For the dcm and gazebo packages you need to compile the C++ nodes. In order to compile nao_dcm packages, you need to set the environment variable AL_DIR to the path to naoqiSDK-c++ on your computer.
Then you can run the usual
``` {.sourceCode .bash} catkin_make
And your ready to play with your nao
2. Run MoveIt
=============
Without a robot \-\-\-\-\-\-\-\-\-\-\-\--You can run this moveit package
either unconnected to any robot or attached to a robot (real or
simulated): For a standalone execution :
``` {.sourceCode .bash}
roslaunch nao_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
On a real robot -------------To launch it on a real nao you need: - nao_dcm_bringup (https://github.com/ros-aldebaran/nao_dcm_robot) - nao_control (https://github.com/ros-aldebaran/nao_virtual)
First, set NAO_IP environment variable to your robot's IP address:
``` {.sourceCode .bash}
export NAO_IP=
Launch the DCM bringup:
``` {.sourceCode .bash}
roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch
Wait until it is ready, then run:
``` {.sourceCode .bash} roslaunch nao_moveit_config moveit_planner.launch
On a simulated robot (in Gazebo)
\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\-\--To use
MoveIt! with Gazebo simulation, you need: - nao\_dcm\_bringup
(<https://github.com/ros-aldebaran/nao_dcm_robot>) - nao\_control
(<https://github.com/ros-aldebaran/nao_virtual>) - nao\_gazebo\_plugin
(<https://github.com/ros-aldebaran/nao_virtual>)
Launch Gazebo, like this:
``` {.sourceCode .bash}
roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch
Wait until it is ready, then click on the Play button in Gazebo.
Finally, start MoveIt!:
``` {.sourceCode .bash} roslaunch nao_moveit_config moveit_planner.launch
```
This is based on the work of Konstantinos Chatzilygeroudis: https://github.com/costashatz/nao_dcm.
3 Use Moveit:
RVIZ has been open: you can see that a MotionPlanning plugin has been launched. First check the box "Allow approximate IK Solutions" on the bottom of the left control panel. Then, go to the Planning tab.
Select which part of the robot you want to move: In the plugin list on the upper part of the left column, you can select a group under MotionPlanning/Planning Request/Planning Group
Now you can define your motion by drag and dropping the interactive markers. You can compute a trajectory by clicking the 'planning' button Once the motion is satisfying you can try it on your real robot using 'execute' or 'plan and execute'.
NOTE: The start state is not updated automatically, you have to go to 'Select Start State' select 'Current' and click 'Update'.
Changelog for package nao_moveit_config
0.0.11 (2017-01-20)
- Merge pull request #18 from ros-naoqi/update_maintainers update maintainers
- update maintainers
- Merge pull request #17 from ros-naoqi/nlyubova-patch-2 Update the execution time
- Update the execution time
- Merge pull request #16 from ros-naoqi/fix-deprecated-warnings Fix deprecated warnings
- update parameter namespace
- fix deprecated xacro call
- use action rather than service for trajectory execution
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.10 (2016-09-18)
- Update README.rst
- adding RRT as default planner
- remove vrabaud as a maintainer
- Merge pull request #12 from ros-naoqi/update_dead_links update dead links
- update dead links
- updating the README
- Contributors: Mikael Arguedas, Natalia Lyubova, Vincent Rabaud
0.0.9 (2016-02-03)
- remove nao_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.8 (2016-02-03)
- updated dependency list
- Contributors: Mikael Arguedas
0.0.7 (2016-01-23)
- homogenize group names to match side_bodyChain
- added end effectors for legs
- update collision matrix: fix collision on NAO's feet
- rename demo_real.launch into moveit_planner.launch to match tutorials
- Merge pull request #9 from nlyubova/master missing collisions
- fixing srdf, adding missing collisions
- fixing the projection_evaluator joints for hand groups
- added demo_real.launch from nlyubova's fork
- Contributors: Mikael Arguedas, Vincent Rabaud, nlyubova
0.0.6 (2015-10-21)
- updating the readme
- fixing the config for the most recent urdf
- add myself as a maintainer
- Contributors: Vincent Rabaud, nlyubova
- add myself as a maintainer
- Contributors: Vincent Rabaud
0.0.5 (2015-05-25)
- install the .setup_assistant file for potential introspection
- remove the URDF and fix the README
- add a .setup_assistant
- Added foot and pelvis fake controllers
- Added foot and pelvis controllers
- Contributors: Arguedas Mikael, Konstantinos Chatzilygeroudis, Vincent Rabaud
0.0.4 (2014-12-04)
- fixed collision for ankle
- fixed path to xacro file
- fixed hand links names
- Update README.rst Added note for missing deppendency
- add missing dependency
- added moveit tutorial
- Contributors: Arguedas Mikael, Mikael ARGUEDAS, margueda
0.0.3 (2014-10-01)
- update README
- Merge branch 'master' of github.com:ros-nao/nao_moveit_config
- unify group names to match romeo_moveit_config agreement
- Update README.rst
- Update README.rst
- fixed dependencies and update README
- Initial tracks.yaml
- Contributors: Arguedas Mikael, margueda
0.0.2 (2014-09-24)
- added version argument to every launchfile
- avoid looping animations
- fixed moveit.rviz location
- Merge branch 'master' of github.com:ros-aldebaran/nao_moveit_config
- fixed robot_description xacro path
- Contributors: margueda
0.0.1 (2014-09-18)
- fix typos
- Update README.md
- Update README.md
- updated model and cleaning
- update README
- new moveit with controllers
- add README
- initial commit of Ioan's modifications
- Contributors: Arguedas Mikael, Vincent Rabaud, margueda
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/planning_pipeline.launch
-
- pipeline [default: ompl]
- launch/ompl_planning_pipeline.launch
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse_settings.launch
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/sensor_manager.launch
-
- moveit_sensor_manager [default: nao]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: V40]
- launch/trajectory_execution.launch
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: nao]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/NaoH25V40_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/NaoH25V40_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pr2_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find nao_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: NaoH25V40]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: NaoH25V40]