aditya-vk / test_script_omplapp

OMPLApp Test Scripts

Dependency installation:

1. This package assumes you have ROS installed.

   • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
   • sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
   • sudo apt-get update && sudo apt-get install ros-melodic-desktop-full
   • Setup a catkin workspace.

2. Install DART for collision checking and physics simulations. The instructions are here. This is how I do it:

   • git clone DART from GitHub. Checkout the v6.8.0 branch.
   • Assuming you have a catkin workspace setup, catkin build dartsim should build the package.

3. Install AIKIDO for motion planning interface. It also interfaces with DART.

   • git clone http://github.com/personalrobotics/aikido
   • To ensure you have all the required dependencies: cd aikido && mkdir build && cd build && cmake ... Install the missing dependencies from apt.
   • AIKIDO has installation instructions on its readme but I personally generally avoid installing packages like dart etc. system-wide.
   • catkin build aikido

4. Finally build the current package:

   • catkin build test_script_omplapp

The executable is found under catkin_ws/devel/lib/test_script_omplapp/<exectuable name>.

To visualize the plan, you can open RViz and visualize the interactive marker under the topic dart.