Industrial MoveIt

Build

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

catkin_make --jobs=4

Unit Test

• Run stomp_core Unit Test:
  • Cd into the catkin workspace directory and type the following command:

catkin_make run_tests_stomp_core_gtest

• Inspect the Unit test
  • roscd into the stomp_core package and go locate the “stomp_3dof.cpp” file inside the test directory.

Stomp Moveit Demo

• Run the demo
  • Run the demo.launch file

  roslaunch stomp_test_kr210_moveit_config demo.launch
  

• In the Rviz Motion Planning planel, select rail_start_pose from the dropdwown menu under “Select Start State” and click Update
• In Rviz, select rail_end_pose from the dropdwown menu under “Select Goal State” and click Update
• Click Plan in order to generate a motion plan.

Configure Stomp

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

============================================================================================== [ROS-Industrial][] move it meta-package. See the [ROS wiki][] page for more information.
[ROS-Industrial]: http://www.ros.org/wiki/Industrial [ROS wiki]: http://ros.org/wiki/industrial_moveit