You can see information about this code through this webpage. (We uploaded our paper and video.)
https://sglab.kaist.ac.kr/TORM/
- Install the dependencies.
MoveIt!, Trac-ik
- Setup your robot.
roslaunch moveit_setup_assistant setup_assistant.launch
Make your PLANNING_GROUP
- Execute the code.
- Run the "move_group.launch" for your robot.
- Run the problem using a launch file. (You can change a scene through the launch file.)
roslaunch torm fetch.launch
- Run the planning code.
rosrun torm main
- You should change the "main.cpp" according to your settings.