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Moveit Package

This moveit package is built from the original moveit package, with three main modifications:

  1. Introduce a new cost considering the length of the elastic band, see moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp

  2. Implememnt a planning framework in moveit_tutorials/doc/move_group_interface/src/move_group_cpp_trajectory_generation.cpp

  3. The controller used in real robot is changed to contact-aware controller, see panda_moveit_config/launch/franka_control.launch

Install

  1. Follow the instruction here: https://moveit.ros.org/install/source/ (Note that use the code of this package, intead of the official moveit source code.)

  2. You should first change the path defined in the moveit/moveit_planners/ompl/ompl_interface/CMakeLists.txt: set the CONTACT_DETECTION_PATH to the path of the contact_detection package.

  3. Blacklist: catkin config --blacklist moveit_commander moveit_setup_assistant moveit_ros_robot_interaction moveit_ros_visualization moveit_ros_benchmarks moveit_controller_manager_example

  4. One curl error can be solved by moveit/moveit#697 However, remember to delete the build and devel files before rebuild.

  5. Run the rviz launch demo, there may be a bug to load the motion planning visualization: [ERROR] [1671728392.408823536]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load. Can be solved by install sudo apt-get install ros-noetic-moveit-ros-visualization https://blog.csdn.net/u011304078/article/details/102723477

Usage in simulation

Start the robot

roslaunch panda_moveit_config demo_gazebo.launch

Then plan a path by running

roslaunch moveit_tutorials move_group_cpp_trajectory_generation.launch

Usage connecting with real robot

Connect to the real robot

roslaunch panda_moveit_config franka_control.launch robot_ip:=172.16.0.2 load_gripper:=true

Then plan a path by running

roslaunch moveit_tutorials move_group_cpp_trajectory_generation.launch