yepw / TORM

TORM

You can see information about this code through this webpage. (We uploaded our paper and video.)
https://sglab.kaist.ac.kr/TORM/
https://sglab.kaist.ac.kr/TORM-auro/

1. Install the dependencies.

 MoveIt!, Trac-ik 

2. Setup your robot.

 roslaunch moveit_setup_assistant setup_assistant.launch 

Make your PLANNING_GROUP

3. Execute the code.

• Run the "move_group.launch" for your robot.
• Run the problem using a launch file. (You can change a scene through the launch file.)

   roslaunch torm fetch.launch 

• Run the planning code.

   rosrun torm main 

  • You should change the "main.cpp" according to your settings.