Industrial MoveIt

Note:: the STOMP packages were recently removed from this repository. They are hosted over at ros-industrial/stomp_ros now.

ROS Distro Support

	Indigo	Jade	Kinetic
Branch	indigo-devel	indigo-devel	kinetic-devel
Status	supported	supported	supported
Version	version	version	version

Travis - Continuous Integration

Status:

License

ROS Buildfarm

	Indigo Source	Indigo Debian	Jade Source	Jade Debian	Kinetic Source	Kinetic Debian
industrial_moveit

Build

• Build the workspace:
  • Cd into the catkin workspace directory and type the following command:

catkin build

Unit Test

• Run all of industrial_moveit unit tests:
  • Cd into the catkin workspace directory and type the following command:

catkin run_tests 

• Run the stomp_core unit tests:

catkin run_tests stomp_core

Stomp Moveit Demo

• Run the demo

  • Run the demo.launch file

  roslaunch industrial_moveit_test_moveit_config demo.launch
  

  • In the Rviz Motion Planning planel, select rail_start_pose from the dropdown menu under "Select Start State" and click Update
  • In Rviz, select rail_end_pose from the dropdown menu under "Select Goal State" and click Update
  • Click Plan in order to generate a motion plan.

Configure Stomp

• Locate the the stomp planner configuration file
  • roscd into the industrial_moveit_test_moveit_config package and locate the "stomp_config.yaml" file under the config directory
• Rerun demo.launch file and plan once again to see how the changes affect the planner's behavior.

Seeding Stomp

The STOMP planner works through optimization: it starts with a given trajectory, called the seed, and iteratively attempts to improve it. This seed is set:

1. By default, it is set to the joint interpolated path between the start and end joint configurations.
2. If you wish, you can set your own seed trajectory.

The StompPlanner class works off of the moveit_msgs/MotionPlanRequest message type which does not provide an interface for seeds. Until that is added, we bastardize the unused MotionPlanRequest::trajectory_constraints field to serve this purpose. Use the StompPlanner::encodeSeedTrajectory(const trajectory_msgs::JointTrajectory& seed) static function to do this:

StompPlanner planner = makeStompPlanner(); // However you initialize
planning_interface::MotionPlanRequest request;

// set your nominal goals, start conditions, etc...

trajectory_msgs::JointTrajectory seed_traj; // Look up your seed traj
request.trajectory_constraints = StompPlanner::encodeSeedTrajectory(seed_traj);

// Call the planning service or the planner itself
planner.setMotionPlanRequest(request)

MotionPlanResponse res;
planner.solve(res);

There is no current way to set this through the MoveGroupInterface class.

========================================================================
[ROS-Industrial]: http://www.ros.org/wiki/Industrial
[ROS wiki]: http://ros.org/wiki/industrial_moveit
[ConstrainedIK]: http://wiki.ros.org/constrained_ik [Stomp MoveIt!]: http://wiki.ros.org/stomp_moveit