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

https://md.inf.tu-dresden.de/uploads/upload_7235af97877647ef244072ff7ed4f3b9.png

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