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path_planning_master_thesis's Introduction

path_planning_master_thesis

Building the repo

git clone https://github.com/MobMonRob/path_planning_master_thesis.git
cd path_planning_master_thesis
git submodule init
git submodule update

after everything is fetched, execute catkin_make_isolated

Executing a planned trajectory

before executing a planned trajectory on the UR, you have to enable External Control on it

When interacting with the teach pendant, or sending other primary programs to the robot, the program will be stopped. On the ROS terminal you will see an output Connection to robot dropped, waiting for new connection. In those cases, restart program execution (e.g. by pressing the play button on the TP, or calling rosservice call /ur_hardware_interface/dashboard/play

Testing

roslaunch ur_robot_driver ur10_bringup.launch robot_ip:=$IP
roslaunch ur5e_moveit_config move_group.launch pipeline:=$PLANNER #Possible Planner : pilz_industrial_motion_planner, ompl, chomp, stomp
rviz
roslaunch moveit_tutorials move_group_interface_tutorial.launch
roslaunch vicon_bridge vicon.launch
rosbag record /forcePlate /joint_states /ench /tf /ur_hardware_interface/tool_data

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mobmonrob / path_planning_master_thesis Goto Github PK