This ROS melodic workspace is created on Ubuntu 18.04. Here I have worked on several moveit related projects like Pick, Place, Pouring task for multi-manipulator system using MoveIt Task Constructor(MTC).
- Installation
- Package description
- Helper scripts
- Team
- Contributing
- FAQ
- Support
- License
- Acknowledgments
All the
code
required to get started
-
- You should have ROS melodic on your ubuntu 18.04.
- All ROS dependency is satisfied.
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git clone https://github.com/iamrajee/ws_moveit.git
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cd ws_moveit/ ./refresh.sh make
source ~/ws_moveit/devel/setup.bash
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This is the default Pick & Place demo provided by the MTC. (Source the workspace before every Roslaunch)
Terminal 1: roslaunch moveit_task_constructor_demo demo.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace.launch
Run (Click to expand!)
Terminal 1: roslaunch moveit_task_constructor_demo demo2.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace2.launch
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo3.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace3.launch
TODO
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo4.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace4.launch
Also commented various ways which didn't worked
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo5.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace5.launch
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo6.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace6.launch
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo7.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace7.launch
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo8.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace8.launch
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo9.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace9.launch
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo10.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace10.launch
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo11.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace11.launch
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo12.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace12.launch
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo13.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace13.launch
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo14.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace14.launch
TODO
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo15.launch
Terminal 2: roslaunch moveit_task_constructor_demo pickplace15.launch
This is the default cartesian demo provided by the MTC.
Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian.launch/demo.launch
Terminal 2: rosrun moveit_task_constructor_demo cartesian
Run (Click to expand!)
Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian2.launch
Terminal 2: rosrun moveit_task_constructor_demo cartesian2
task execution not return problem -> resolved by using in built t.execute() and updating with recent PR #136
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo3.launch
Terminal 2: rosrun moveit_task_constructor_demo cartesian2
Terminal 3: rosrun moveit_task_constructor_demo cartesian3
or
Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian3.launch
Terminal 2: rosrun moveit_task_constructor_demo cartesian3
(Cleaned) could plan but can execute -> resolved by commenting "capabilities" and "disable_capabilities" parameter in move_group.launch
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian4.launch
Terminal 2: rosrun moveit_task_constructor_demo cartesian4
Run
Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian5.launch
Terminal 2: rosrun moveit_task_constructor_demo cartesian5
This is the default Modular demo provided by the MTC.
Terminal 1: roslaunch moveit_task_constructor_demo demo.launch
Terminal 2: rosrun moveit_task_constructor_demo modular
Run (Click to expand!)
Terminal 1: roslaunch moveit_task_constructor_demo demo.launch
Terminal 2: rosrun moveit_task_constructor_demo modular2
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panda pkg contain cpp and py interface for moveit.*
Terminal 1:$ roscore $ TODO
Terminal 2:
$ TODO
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panda pkg contain cpp and py interface for moveit.*
Terminal 1:$ roscore $ TODO
Terminal 2:
$ TODO
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See full video here. In this pkg TODO
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#!/bin/bash source /opt/ros/melodic/setup.bash source install/local_setup.bash source install/setup.bash clear
It will source the workspace after buiding workspace or after creating new pkg. Run it as
./refresh.sh
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SHELL=/bin/bash all: make run run: catkin_make bash refresh.sh
It will build the workspace . Run it as
make
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#!/bin/bash cd src/ catkin create $1 cd ../ make source refresh.sh
It will create new package . Run it as
./createpkg.sh newpkg_name
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#!/bin/bash rosrun rqt_tf_tree rqt_tf_tree
It will launch the gui to visvualise the tf tree. Run it as
./tftree.sh
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#!/bin/bash printenv | grep -i ROS
It will print the ROS related environment variable . Run it as
./printenv.sh
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sudo rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
It will install dependencies of all pkg in the workspace. Run it in the workspace as
./rosdep.sh
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#!/bin/bash ssh rajendra@rajendra
It will ssh into another system. Useful when using multiple ros masters. Run it as
./rajendra.sh
Or Contributors/supporters/mentors/guides who helped me out in these projects.
Abhinand A S | Sachin Rustagi | Swami Prasad |
---|---|---|
To get started...
-
Option 1
- π΄ Fork this repo!
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Option 2
- π― Clone this repo to your local machine using
https://github.com/iamrajee/ws_moveit.git
- π― Clone this repo to your local machine using
- HACK AWAY! π¨π¨π¨
- π Create a new pull request using
https://github.com/iamrajee/ws_moveit/compare/
.
- I ran into some issue while running above package, what to do now?
- Simply contact me!
Reach out to me for any help!
Name : Rajendra Singh Email : [email protected] Web : https://iamrajee.github.io/ LinkedIn : https://www.linkedin.com/in/rajendra-singh-6b0b3a13a/ Twitter: @i_am_rajee |
|
- MIT license
- Copyright (c) 2019 Rajendra Singh.
- Hat tip to anyone whose code was used and thanks to everyone who inspired and supported me in this project.