README.md

COMPAS II: Path planning with ROS & MoveIt in the design environment

Robot planning: forward and inverse kinematic functions, cartesian and free-space planning. Planning scene operations. End effectors and discrete build elements.

Introduction to ROS, topics, services, actions. Basic interprocess communication via ROS nodes.

👉 Slides 📜 Assignment 03

Examples

• ROS & MoveIt planning

  • Load robot
  • Load robot: visualization
  • Forward Kinematics
  • Inverse Kinematics
  • Cartesian motion planning
  • Cartesian motion planning: visualization
  • Free space motion planning
  • Free space motion planning: visualization
  • Constraints

• Planning scene in MoveIt

  • Planning scene preview in GH
  • Add objects to the scene
  • Append nested objects to the scene
  • Remove objects from the scene

• ROS Concepts

  • Verify connection
  • Interconnected nodes: Listener
  • Interconnected nodes: Talker
  • Interconnected nodes: Talker in GH