ydk18 / motion_planning_argorithm-chomp

Panda_moveit_config, Manipulator-H-moveit / OMPL, CHOMP

Install Moveit! tutorial

Install ROS

Follow all the instructions to install ROS. Please make sure you have followed all steps and have the latest versions of packages installed:

rosdep update

sudo apt-get update

sudo apt-get dist-upgrade

Source installation requires wstool, catkin_tools, and optionally clang-format:

sudo apt-get install python-wstool python-catkin-tools clang-format-3.9

Create Workspace and Source

Optionally create a new workspace, you can name it whatever:

mkdir ~/catkin_ws && cd ~/catkin_ws

Next, source your ROS workspace to load the necessary environment variables, depending on what version of ROS you installed.

source /opt/ros/kinetic/setup.bash

Download Source Code

By default, we will assume you are building the latest branch - master. This branch builds for ROS Kinetic and newer, e.g. on Ubuntu 16.04 and newer. If you would like to build an older release of MoveIt from source, see the section below.

Pull down required repositories and build from within the root directory of your catkin workspace:

wstool init src

wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall

wstool update -t src

rosdep install -y --from-paths src --ignore-src --rosdistro kinetic

catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release

Build MoveIt

catkin build

Source the Catkin Workspace

source ~/catkin_ws/devel/setup.bash

Execute Manipulator-H of CHOMP

To run the CHOMP planner with obstacles, open two shells. In the first shell start RViz and wait for everything to finish loading:

roslaunch manipulator_h_moveit demo_chomp.launch

In the second shell, run either of the two commands:

rosrun moveit_tutorials collision_scene_example.py cluttered

or

rosrun moveit_tutorials collision_scene_example.py sparse

Execute panda_moveit_config of CHOMP

To run the CHOMP planner with obstacles, open two shells. In the first shell start RViz and wait for everything to finish loading:

roslaunch panda_moveit_config demo_chomp.launch

In the second shell, run either of the two commands:

rosrun moveit_tutorials collision_scene_example.py cluttered

or

rosrun moveit_tutorials collision_scene_example.py sparse