ROS IndexNo version for distro humble showing jade. Known supported distros are highlighted in the buttons above.
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro jazzy showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro kilted showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro rolling showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro ardent showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro bouncy showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro crystal showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro eloquent showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro dashing showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro galactic showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro foxy showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro iron showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro lunar showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro hydro showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro melodic showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pepper_moveit_config at Robotics Stack Exchange
No version for distro noetic showing jade. Known supported distros are highlighted in the buttons above.
|
|
pepper_moveit_config package from pepper_moveit_config repopepper_moveit_config |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/pepper_moveit_config.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2017-01-18 |
| 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
An automatically generated package with all the configuration and launch files for using the Pepper robot with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Natalia Lyubova
Authors
- Natalia Lyubova
pepper_moveit_config ===================
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a Pepper model which you can get from here:
https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_description or from the binary package : ros-indigo-pepper-description
The moveit package must be run on a remote computer and not directly on your robot.
1 Compile the package
pepper_moveit_config package doesn't need any compilation so running rospack profile should be enough.
And your ready to play with your Pepper
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 :
roslaunch pepper_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this:
{width=”100.0%”}
Check the box Allow Approximate IK Solutions (and optionally, choose the Planning library), and you are ready to control the robot.
On a real robot
To use MoveIt! on a real robot, you need to instanciate ROS controllers on the robot. To do so, you need:
First, set NAO_IP environment variable to your robot's IP address:
export NAO_IP=<YOUR_ROBOT_IP>
Launch the DCM bringup:
roslaunch pepper_dcm_bringup pepper_bringup.launch
Wait until it is ready, then run:
roslaunch pepper_moveit_config moveit_planner.launch
Using visual data from the robot's cameras
It is possible to integrate visual data from the robot's cameras into MoveIt that can be useful for obstacle detection. There are several ways to acquire visual data:
- using naoqi_driver
roslaunch naoqi_driver naoqi_driver.launch
- using pepper_sensors_py (get data from a single camera)
roslaunch pepper_sensors_py camera.launch
If you would like to do obstacle detection based on Octomap library
integrated in MoveIt, then change the active camera to the depth
camera through rqt_reconfigure. You can also tune acquisition
parameters if needed:
rosrun rqt_reconfigure rqt_reconfigure
Once depth data are available, you could configure Octomap to represents the robot's space as a set of occupied and free voxels.
{width=”100.0%”}
On a simulated robot (in Gazebo)
- To use MoveIt! with Gazebo simulation, you need:
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package pepper_moveit_config
0.0.8 (2017-01-18)
- Merge pull request #9 from ros-naoqi/fix_warnings Fix deprecated warnings
- put parameters in proper namespace
- use action rather than deprecated service. Use spaces instead of tabs
- fix deprecated xacro call
- Contributors: Mikael Arguedas, Natalia Lyubova
0.0.7 (2016-12-21)
- fix allowed_execution_duration_scaling
- fixing the robot visualization
- changing the type of virtual_odom
- fixing both arms
- adding wheels as passive joints
- Contributors: Natalia Lyubova
0.0.6 (2016-09-18)
- updating Octomap config to make compatible with pepper_sensors_py
- Update README.rst
- Merge pull request #6 from 130s/impr/default_safe_planner Use RRT as default.
- Use RRT as default.
- Contributors: Isaac I.Y. Saito, Natalia Lyubova
0.0.5 (2016-07-05)
- removing the broken moveit_ros_visualization dependence
- adding disabled self-collisions and cleaning
- Merge pull request #5 from nlyubova/master updating the tutorial
- updating the tutorial
- Merge pull request #4 from nlyubova/master cleaning and launch file rename
- renaming demo_real.launch to moveit_planner.launch to keep the same naming convention as for Nao
- cleaning
- Contributors: Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.4 (2016-02-03)
- remove pepper_meshes from dependency because license not displayed on buildfarm
- Contributors: Mikael Arguedas
0.0.3 (2016-02-03)
- update dependency list
- fixing controllers names
- Merge pull request #3 from 130s/add/botharms Add botharms MoveGroup and a simple unit test
- Merge pull request #2 from 130s/selectable_moveitconfig Accept .rviz file as an argument
- Add the simplest unit test
- Allow no RViz gui mode
- Add both_arms Move Group
- Accept .rviz file as an argument
- Merge pull request #1 from keulYSMB/master added the version argument and use xacro command instead of one globa…
- added the version argument and use xacro command instead of one global URDF file to allow different configurations
- fixing the repository path
- fixing kinematics params
- Contributors: Isaac I.Y. Saito, Mikael Arguedas, Natalia Lyubova, nlyubova
0.0.2 (2015-10-22)
- Creating moveit config
- Contributors: nlyubova
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| pepper_description | |
| moveit_ros_move_group | |
| moveit_planners_ompl | |
| joint_state_publisher | |
| robot_state_publisher | |
| moveit_fake_controller_manager | |
| moveit_simple_controller_manager | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/demo.launch
-
- db [default: false]
- debug [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- use_rviz [default: true]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- 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/moveit_planner.launch
-
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- config_filename [default: $(find pepper_moveit_config)/launch/moveit.rviz]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- version [default: 1.0]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/JulietteY20MP_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- use_controller_manager [default: true]
- launch/JulietteY20MP_moveit_sensor_manager.launch.xml
-
- moveit_sensor_manager [default: pepper_moveit_sensor_manager/Pr2MoveItSensorManager]
- moveit_octomap_sensor_params_file [default: $(find pepper_moveit_config)/config/sensors_xtion.yaml]
- head_pointing_frame [default: /CameraDepth_frame]
- launch/fake_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: JulietteY20MP]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: JulietteY20MP]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.