This package was initially cloned with
git clone https://github.com/ros-planning/panda_moveit_config.git
then modified to use the IKFast plugin, configured by following this tutorial.
The modifications listed here have also been implemented, in particular
- the
move_group/MoveGroupDPRedundancyResolutionService
capability has been added to themove_group.launch
file - the
dp_redundancy_solver.yaml
has been added to theconfig/
folder, together with anobjective_funcion.xml
description - the
rqt_multiplot.xml
configuration file has been added to the/config
folder - the launch file
dp_redundancy_solver.launch
file has been added to the/launch
folder to load all the parameters needed by themoveit_dp_redundancy_resolution
library (look here for additional info). This launch file is called by themove_group.launch
file. - the
moveit.rviz
RViz configuration file has been modified to improve the visualization of the robot
This package has the same usage as the fourr_kazerounian_moveit_config
package. Instructions can be found here.
As far the non-redundant planning group is concerned, this package does not need to define one, as the IKFast plugin is used, which can handle redundancy by itself.