Ry0 / rtr_moveit

A MoveIt! planning plugin for Realtime Robotics's RapidPlan

rtr_moveit

Description: A MoveIt! planning plugin for Realtime Robotics's RapidPlan.

Developed by Henning Kayser at PickNik Consulting

Travis:

Plugin Structure

The plugin consists of the three classes RTRPlannerManager, RTRPlanningContext and RTRPlannerInterface. While the first two implement the plugin structure of Moveit!, the RTRPlannerInterface provides an interface for sending motion planning requests to RapidPlan.

RapidPlan's HardwareInterface and PathPlanner need to be initialized with the same roadmaps at each query. At the moment, it is not possible to retrieve the currently loaded roadmap of the PathPlanner and the stored roadmaps on the Hardware. The RTRPlannerInterface keeps track of loaded and stored roadmaps and handles write access. To prevent race conditions, calls of the PathPlanner and HardwareInterface are synchronized with a mutex lock. The interface hides all of this and only provides functions for initialization, availability and planning attempts.

Install

Build from Source

These instructions assume you are running on Ubuntu 16.04:

1. Install ROS Kinetic and the following build tools.

    sudo apt-get install python-wstool python-catkin-tools
   

2. Download and Install RapidPlan + RapidSense from the RTR support site:

    https://support.rtr.ai
    https://docs.rtr.ai/_source/Installation.html#installation
   

3. Re-use or create a catkin workspace:

    export CATKIN_WS=~/ws_catkin/
    mkdir -p $CATKIN_WS/src
    cd $CATKIN_WS/src
   

4. Download the required repositories and install any dependencies:

    git clone [e-mail]:RealtimeRobotics/rtr_moveit.git
    wstool init .
    wstool merge rtr_moveit/rtr_moveit.rosinstall
    wstool update
    rosdep install --from-paths . --ignore-src --rosdistro kinetic
   

5. Configure and build the workspace:

    cd $CATKIN_WS
    catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
    catkin build
   

6. Source the workspace.

    source devel/setup.bash
   

Developers: Quick update code repositories

To make sure you have the latest repos:

cd $CATKIN_WS/src/rtr_moveit
git checkout master
git pull origin master
cd ..
wstool merge rtr_moveit/rtr_moveit.rosinstall
wstool update
rosdep install --from-paths . --ignore-src --rosdistro kinetic

Testing and Linting

To run roslint, use the following command with catkin-tools.

catkin build --no-status --no-deps --this --make-args roslint

To run catkin lint, use the following command with catkin-tools.

catkin lint -W2 --rosdistro kinetic

Use the following command with catkin-tools to run tests.

catkin run_tests --no-deps --this -i