To run panda arm with Moveit controllers:
roslaunch panda_moveit_config demo.launch
To run ros_dmp:
roslaunch ros_dmp dmp_sim.launch
Run rviz to visualize learned and demonstrated path published on following topics which can be visualized in rviz.
- Select frame "panda_link0" in rviz to view the generated paths (changes made in ros_dmp)
/learn_dmp_service_node/demonstrated_path/learn_dmp_service_node/cartesian_path/learn_dmp_service_node/imitated_path
Go to ros_dmp/example folder and run the Learn_client script:
python learn_client.py
Start the planning script:
python planning_script_traj.py
Now generate motion_client: (Dont forget to change the path to weights/example.yaml)
python motion_generation_client.py