Compling passed on source installation of kinetic-moveit and 1.4.0-ompl.
A light weight motion planning framework based on Moveit+OMPL. The main contribution in this repository：
- expose planning algorithm api in ompl
- add CBiRRT for motion planning with end-effector
- add dual-arm planning api and closure constraints planning
There are three ros packages:
- yeebot_commute: provide a service to access the "\joint_states" topic.
- yeebot_core: the core files for this framework
- examples: contains examples on UR5 and SDA5F robot and experiment materials.
Make sure you have installed ROS+Moveit+OMPL. And this is tested on ROS kinetic on Ubuntu 16.04.
mkdir -p ~/yeebot_ws/src # create a new workspace
git clone git@github.com:YeeKal/yeebot.git #download code
cd ..
catkin_make
If you want to run the examples, the corresponding moveit configuration package(UR5/SDA5F) should be in your computer.
UR5
Firstly launch ur5 moveit configuration demo. You need to download this package before running.
roslaunch ur5_moveit_config demo.launch
Then launch the service to access joint states.
roslaunch yeebot_commute get_joint_states.launch
Finally run the main file.
rosrun examples max_length_ur5
The robot will first move to the start point with no constraint, and then move to the target point with end-effector pose. The restricted is x-rotation and y-rotation which means this constraint simulates the robot holds a cup of water when moving.
SDA5F
The tutorial is the same as UR5. The difference is the main file:
rosrun examples sda5f_compare
This is an experiment running on the real robot.
SDA5F-Dual arm
This contains the dual-arm planning and closure constraint planning. In this simulation, a virtual revolute joint is added on the two end-effectors of SDA5F, which means these two end-effector will keep a certain distance and can only rotate about z-axis when moving.
rosrun examples dual_arm
