This repo is to provide planning interface connecting from planners to robot's models or physical robots.
The initial applications aim to:
- Manipulator - fetch manipulator. The input is a pose/joint target, then the planner gets the pose and the robot models to generate trajectories. The trajectories are then transferred to the physical robots or sim-robots.
- Installation: ROS Noetic - Ubuntu 20.06
- Several ROS packages: moveit_python, moveit/planning_scene_interface, moveit/move_group_interface
Procedures: Run two launch files and a planning script:
- roslaunch fetch_gazebo planning.launch
- roslaunch fetch_moveit_config move_group.launch
The first launch file loads an Gazebo environment and a robot robot model. The second launch file loads a planner for planning.
- rosrun fetch_gazebo_moveit planning_pose.py This script provide some target pose for the manipulator to move.
- Mobile robot To move the fetch around, we can use package movebase to control the process.
Run two launch files:
- roslaunch fetch_gazebo planning.launch
- roslaunch fetch_gazebo_moveit movebase.launch
Then, run this script:
- rosrun fetch_gazebo_moveit move_robot.py
There is still a problem of robot rotating around the stop point, not standstill. (need to fix this).