- ROS Noetic node examples with robot motion planners implemented in WRS.
- Docker environment for ROS Noetic packages
- ROS node examples with grasp planners (Wan et al., IEEE TRO 2021)
- Ubuntu 20.04 PC
- ROS Noetic (Python3)
- docker 20.10.12
- docker-compose 1.29.2
- nvidia-docker2 2.8.0-1
git clone git@github.com:Osaka-University-Harada-Laboratory/wros.git --recursive --depth 1 && cd wros && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel
- Build and run the docker environment
- Create and start docker containers in the initially opened terminal
docker compose up
- Execute the container in another terminal
xhost + && docker exec -it wros_noetic_container bash
- Change planning parameters in wros_tutorials/config/XXX.yaml
- Run a planning process in the container
- Use byobu to easily command several commands
byobu
- First command & F2 to create a new window & Second command ...
- Ctrl + F6 to close the selected window
- Run the grasp planner
roslaunch wros_tutorials plan_grasp.launch config:=XXX.yaml
- Call the planning service
rosservice call /plan_grasp
Please refer to wros_tutorials/config/planner_params_robotiqhe_example.yaml.
byobu
roslaunch wros_tutorials plan_grasp.launch config:=planner_params_robotiqhe_example.yaml
rosservice call /plan_grasp
Please refer to wros_tutorials/config/planner_params_robotiq85_example.yaml.
byobu
roslaunch wros_tutorials plan_grasp.launch config:=planner_params_robotiq85_example.yaml
rosservice call /plan_grasp
Please refer to wros_tutorials/config/planner_params_robotiq140_example.yaml.
byobu
roslaunch wros_tutorials plan_grasp.launch config:=planner_params_robotiq140_example.yaml
rosservice call /plan_grasp
Please refer to wros_tutorials/config/planner_params_suction_example.yaml.
byobu
roslaunch wros_tutorials plan_grasp.launch config:=planner_params_suction_example.yaml
rosservice call /plan_grasp
Please refer to wros_tutorials/config/planner_params_sgb30_example.yaml.
byobu
roslaunch wros_tutorials plan_grasp.launch config:=planner_params_sgb30_example.yaml
rosservice call /plan_grasp
We always welcome collaborators!
Takuya Kiyokawa
Weiwei Wan
Keisuke Koyama
Kensuke Harada
This software is released under the BSD-3-Clause License, see LICENSE.