industrial_moveit repository

Repository Summary

Checkout URI https://github.com/ros-industrial/industrial_moveit.git
VCS Type git
VCS Version indigo
Last Updated 2017-03-24
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

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.

CONTRIBUTING

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