Planning examples
It is challenging to properly test the constrained planning plugin. How do I validate it works as it should, given the probabilistic nature of the planners and the orientation constraints that are difficult to visualize.
This page discusses existing and future planning examples to show the status of the planning plugin in detail.
A quick recap from the readme, running a specific planning examples entails two steps.
- Launch the robot configuration move group node:
roslaunch elion_examples panda_example.launchroslaunch kuka_kr5_moveit_config demo.launch-
roslaunch setup_1_moveit_config demo.launch(welding examples)
- Solve the planning problem base on a config file in elion_examples/config, e.g.
rosrun elion_examples elion_run_example welding_example.json.
See this spreadsheet, it is not finished yet. (Should I create a table here on the wiki?)
Start and goal state are given as joint values. Constraints on x, y and z-position.
