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panda_moveit_config

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 the move_group.launch file
  • the dp_redundancy_solver.yaml has been added to the config/ folder, together with an objective_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 the moveit_dp_redundancy_resolution library (look here for additional info). This launch file is called by the move_group.launch file.
  • the moveit.rviz RViz configuration file has been modified to improve the visualization of the robot

Usage

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.