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 [Stomp MoveIt!]: http://wiki.ros.org/stomp_moveit