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pepper_moveit_config package from pepper_moveit_config repo

pepper_moveit_config

API Docs
Browse Code

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
README.rst

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 :

``` {.sourceCode .bash} roslaunch pepper_moveit_config demo.launch


Once launching the demo, you should see the robot in MoveIt! GUI like
this:

![image](tuto/moveit_launch.png){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:

-   [pepper\_dcm\_bringup](https://github.com/ros-naoqi/pepper_dcm_robot)
-   [pepper\_control](https://github.com/ros-naoqi/pepper_virtual)

First, set NAO\_IP environment variable to your robot\'s IP address:


``` {.sourceCode .bash}
export NAO_IP=<YOUR_ROBOT_IP>

Launch the DCM bringup:

``` {.sourceCode .bash} roslaunch pepper_dcm_bringup pepper_bringup.launch


Wait until it is ready, then run:


``` {.sourceCode .bash}
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

``` {.sourceCode .bash} roslaunch naoqi_driver naoqi_driver.launch


-   using pepper\_sensors\_py (get data from a single camera)

    
``` {.sourceCode .bash}
    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:

``` {.sourceCode .bash} 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.

![image](tuto/moveit_octomap.png){width="100.0%"}

On a simulated robot (in Gazebo)
--------------------------------

To use MoveIt! with Gazebo simulation, you need:

:   -   [pepper\_dcm\_bringup](https://github.com/ros-naoqi/pepper_dcm_robot)
    -   [pepper\_control](https://github.com/ros-naoqi/pepper_virtual)
    -   [pepper\_gazebo\_plugin](https://github.com/ros-naoqi/pepper_virtual)

Launch Gazebo, like this:


``` {.sourceCode .bash}
roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch

Wait until it is ready, then click on the Play button in Gazebo.

Finally, start MoveIt!:

``` {.sourceCode .bash} roslaunch pepper_moveit_config moveit_planner.launch

```

3 Use Moveit:

Go to MoveIt GUI, and check the box "Allow approximate IK Solutions" on the bottom of the left control panel. Then, go to the Planning tab.

Select which part of the robot you want to move: In the plugin list, go to MotionPlanning/Planning Request/Planning Group and choose a roobot's part to control. You should see an interactive marker on the chosen robot's part.

Now, you can control the robot by drag and dropping the interactive markers. Then, you can compute a trajectory to reach the new position, by clicking the 'Planning' button on the Planning tab. Once you satisfied by the planned trajectory, you can try it on your real robot by using 'Execute' and/or 'Plan and execute' buttons.

NOTE: The start state is not updated automatically, you have to go to 'Select Start State' select 'Current' and click 'Update'.

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.

Launch files

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 repo

pepper_moveit_config

API Docs
Browse Code

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
README.rst

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 :

``` {.sourceCode .bash} roslaunch pepper_moveit_config demo.launch


Once launching the demo, you should see the robot in MoveIt! GUI like
this:

![image](tuto/moveit_launch.png){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:

-   [pepper\_dcm\_bringup](https://github.com/ros-naoqi/pepper_dcm_robot)
-   [pepper\_control](https://github.com/ros-naoqi/pepper_virtual)

First, set NAO\_IP environment variable to your robot\'s IP address:


``` {.sourceCode .bash}
export NAO_IP=<YOUR_ROBOT_IP>

Launch the DCM bringup:

``` {.sourceCode .bash} roslaunch pepper_dcm_bringup pepper_bringup.launch


Wait until it is ready, then run:


``` {.sourceCode .bash}
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

``` {.sourceCode .bash} roslaunch naoqi_driver naoqi_driver.launch


-   using pepper\_sensors\_py (get data from a single camera)

    
``` {.sourceCode .bash}
    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:

``` {.sourceCode .bash} 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.

![image](tuto/moveit_octomap.png){width="100.0%"}

On a simulated robot (in Gazebo)
--------------------------------

To use MoveIt! with Gazebo simulation, you need:

:   -   [pepper\_dcm\_bringup](https://github.com/ros-naoqi/pepper_dcm_robot)
    -   [pepper\_control](https://github.com/ros-naoqi/pepper_virtual)
    -   [pepper\_gazebo\_plugin](https://github.com/ros-naoqi/pepper_virtual)

Launch Gazebo, like this:


``` {.sourceCode .bash}
roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch

Wait until it is ready, then click on the Play button in Gazebo.

Finally, start MoveIt!:

``` {.sourceCode .bash} roslaunch pepper_moveit_config moveit_planner.launch

```

3 Use Moveit:

Go to MoveIt GUI, and check the box "Allow approximate IK Solutions" on the bottom of the left control panel. Then, go to the Planning tab.

Select which part of the robot you want to move: In the plugin list, go to MotionPlanning/Planning Request/Planning Group and choose a roobot's part to control. You should see an interactive marker on the chosen robot's part.

Now, you can control the robot by drag and dropping the interactive markers. Then, you can compute a trajectory to reach the new position, by clicking the 'Planning' button on the Planning tab. Once you satisfied by the planned trajectory, you can try it on your real robot by using 'Execute' and/or 'Plan and execute' buttons.

NOTE: The start state is not updated automatically, you have to go to 'Select Start State' select 'Current' and click 'Update'.

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.

Launch files

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 repo

pepper_moveit_config

API Docs
Browse Code

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
README.rst

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 :

``` {.sourceCode .bash} roslaunch pepper_moveit_config demo.launch


Once launching the demo, you should see the robot in MoveIt! GUI like
this:

![image](tuto/moveit_launch.png){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:

-   [pepper\_dcm\_bringup](https://github.com/ros-naoqi/pepper_dcm_robot)
-   [pepper\_control](https://github.com/ros-naoqi/pepper_virtual)

First, set NAO\_IP environment variable to your robot\'s IP address:


``` {.sourceCode .bash}
export NAO_IP=<YOUR_ROBOT_IP>

Launch the DCM bringup:

``` {.sourceCode .bash} roslaunch pepper_dcm_bringup pepper_bringup.launch


Wait until it is ready, then run:


``` {.sourceCode .bash}
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

``` {.sourceCode .bash} roslaunch naoqi_driver naoqi_driver.launch


-   using pepper\_sensors\_py (get data from a single camera)

    
``` {.sourceCode .bash}
    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:

``` {.sourceCode .bash} 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.

![image](tuto/moveit_octomap.png){width="100.0%"}

On a simulated robot (in Gazebo)
--------------------------------

To use MoveIt! with Gazebo simulation, you need:

:   -   [pepper\_dcm\_bringup](https://github.com/ros-naoqi/pepper_dcm_robot)
    -   [pepper\_control](https://github.com/ros-naoqi/pepper_virtual)
    -   [pepper\_gazebo\_plugin](https://github.com/ros-naoqi/pepper_virtual)

Launch Gazebo, like this:


``` {.sourceCode .bash}
roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch

Wait until it is ready, then click on the Play button in Gazebo.

Finally, start MoveIt!:

``` {.sourceCode .bash} roslaunch pepper_moveit_config moveit_planner.launch

```

3 Use Moveit:

Go to MoveIt GUI, and check the box "Allow approximate IK Solutions" on the bottom of the left control panel. Then, go to the Planning tab.

Select which part of the robot you want to move: In the plugin list, go to MotionPlanning/Planning Request/Planning Group and choose a roobot's part to control. You should see an interactive marker on the chosen robot's part.

Now, you can control the robot by drag and dropping the interactive markers. Then, you can compute a trajectory to reach the new position, by clicking the 'Planning' button on the Planning tab. Once you satisfied by the planned trajectory, you can try it on your real robot by using 'Execute' and/or 'Plan and execute' buttons.

NOTE: The start state is not updated automatically, you have to go to 'Select Start State' select 'Current' and click 'Update'.

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.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pepper_moveit_config at Robotics Stack Exchange