Sample applications#
This repository must be checked out in a catkin workspace containing the franka_description, panda_moveit_config, and panda_simulation ROS packages provided here. This repository contains different examples for the planning and execution of robotic motions with MoveIt in ROS.
Interactive Planner#
The interactive planner launches RViz and Gazebo, without any pre-defined execution logic. It is intended that one uses RViz to plan motions in RViz and to execute them in Gazebo.
Expected results:
A Gazebo window to observe the executed robot motion opens.
An RViz window to plan motions.
Launch with: roslaunch sample_applications interactive_planner.launch
Cartesian Space Planner#
The basic cartesian space planner launches a simple programm which plans and executes a cartesian trajectory containing 3 way points. The functionality for adapting the velocity of the robot are commented out, so they can be added by the user whenever needed.
Expected results:
A Gazebo window to observe the executed robot motion opens
An RViz window to see the plan and trigger the motion opens.
The motion does not start automatically, instead it must be triggered by pressing next in the RvizVisualToolsGUI within RViz
Launch with: roslaunch sample_applications cartesian_planner.launch
Joint Space Planner#
The basic joint space planner launches a simple programm which plans and executes a cartesian trajectory to one pose. The functionality for adapting the velocity of the robot are commented out, so they can be added by the user whenever needed.
Expected results:
A Gazebo window to observe the executed robot motion opens
An RViz window to see the plan and trigger the motion opens.
The motion does not start automatically, instead it must be triggered by pressing next in the RvizVisualToolsGUI within RViz
Launch with: roslaunch sample_applications joint_space_planner.launch
Obstacle aware Planner#
The obstacle aware planner launches a simple programm which plans and executes a joint space trajectory to one pose. The motion is constrained by an obstacle, which the robot arm will move around.
Expected results:
A Gazebo window to observe the executed robot motion opens.
An RViz window to see the plan and trigger the motion opens.
Both windows will contain a “flying” obstacle
The motion does not start automatically, instead it must be triggered by pressing next in the RvizVisualToolsGUI within RViz
Launch with: roslaunch sample_applications obstacle_aware_planner.launch
Grasping Planner#
The grasping planner is a simple demonstration of the grasping pipeline of MoveIt. The demonstration starts automatically and is fully connected with the Gazebo Simulator. Thus, both in the RViz-visualization and Gazebo, you can see two tables and a “stick” which will be moved throught the demonstration from the 1st table to the 2nd table.
Expected results:
A Gazebo window opens showing obstacles and to observe the executed robot motion
An RViz window to see the plan and trigger the motion opens.
The motion does start automatically
Launch with: roslaunch sample_applications pick_place_planner.launch