Arm Planning

sbpl_arm_planning

Repositories

ROS Diamondback
Arm Navigation
svn co https://mediabox.grasp.upenn.edu/svn/penn-ros-pkgs/sbpl_arm_planning/branches/diamondback/
 
ROS Electric
Arm Navigation
svn co https://mediabox.grasp.upenn.edu/svn/penn-ros-pkgs/sbpl_arm_planning/branches/electric/
 
ROS Fuerte
Arm Navigation
svn co https://mediabox.grasp.upenn.edu/svn/penn-ros-pkgs/sbpl_arm_planning/branches/fuerte_arm_navigation/
(install documentation below)
MoveIt! (only compatible with June 2012)
svn co https://mediabox.grasp.upenn.edu/svn/penn-ros-pkgs/sbpl_arm_planning/trunk/
 
ROS Groovy
C++ API
git clone https://github.com/bcohen/sbpl_manipulation.git
install documentation
MoveIt!
Coming soon!
 

How to get started (ROS Fuerte):

Download & Compile:

0) Install prerequisites:
sudo apt-get install ros-fuerte-pr2-kinematics ros-fuerte-arm-navigation ros-fuerte-arm-navigation-experimental
 
1) Get the Arm Planner:
svn co https://mediabox.grasp.upenn.edu/svn/penn-ros-pkgs/sbpl_arm_planning/branches/fuerte_arm_navigation/ sbpl_arm_planning
 
2) Get the SBPL:
git clone https://github.com/sbpl/sbpl.git
 
3) Build the SBPL. Follow the directions here:
https://github.com/sbpl/sbpl/blob/master/README.txt
 
4) Build the Arm Planner:
rosmake sbpl_arm_planner_node
 
5) Build the test package (for testing the planner):
rosmake simple_arm_utils
 

Run Demo:

Make sure you added this to your bashrc: export ROBOT=sim
Terminal 1 - Bring up Gazebo & Right Arm Navigation Stack
roslaunch simple_arm_control gazebo_with_right_arm_nav.launch
 
Terminal 2 - Bring up RViz (add display for visualization markers)
rosrun rviz rviz
 
Terminal 3 - Launch the planner for the right arm
roslaunch sbpl_arm_planner_node sbpl_planning_right_arm.launch
 
Terminal 4 - Request a motion plan
roslaunch simple_arm_control goal1.launch