Industrial MoveIt
Build
- Build the workspace:
- Cd into the catkin workspace directory and type the following command:
catkin build
Unit Test
- Run all of industrial_moveit unit tests:
- Cd into the catkin workspace directory and type the following command:
catkin run_tests
- Run the stomp_core unit tests:
catkin run_tests stomp_core
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.
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[ROS-Industrial]: http://www.ros.org/wiki/Industrial
[ROS wiki]: http://ros.org/wiki/industrial_moveit
[ConstrainedIK]: http://wiki.ros.org/constrained_ik?distro=indigo
[Stomp MoveIt!]: http://wiki.ros.org/stomp_moveit