twc-swipe-across-the-dishes-moveit-example

• This project provides MoveIt example to for twc-swipe-across-the-dishes module.
• Use MoveIt to move m1013 doosan manipulator.
• Use MoveIt to check the path is valid.

MoveIt! example code

Generated swipe path with example

Move along the generated path

environment

• ROS Noetic
• MoveIt!

install

• Doosan m1013 driver
  • installation link
• twc-swipe-across-the-dishes module
  • installation link
  • This code must be installed for example to work.

Run example1 code

• The basic example of creating a push path
• launch MoveIt! example code
  • launch in virtual mode

    roslaunch twc_swipe_across_the_dishes_moveit_example real.launch mode:=virtual

  • if you connect to real robot

    roslaunch twc_swipe_across_the_dishes_moveit_example real.launch

• launch swipe server module

  roslaunch swipe_across_the_dishes server.launch

• launch swipe example code

  roslaunch twc_swipe_across_the_dishes_move_example example1.launch

• result

  Generated path from example1 code

Run example2 code

• Unfeasible swipe paths are verified through MoveIt!'s inverse kinematic calculations.
• Provide an offset of 0.5m depth in the x direction from the base link, with the same depth as Example 1.
• launch MoveIt! example code
  • launch in virtual mode

    roslaunch twc_swipe_across_the_dishes_moveit_example real.launch mode:=virtual

  • if you connect to real robot

    roslaunch twc_swipe_across_the_dishes_moveit_example real.launch

• launch swipe server module

  roslaunch swipe_across_the_dishes server.launch

• launch swipe example code

  roslaunch twc_swipe_across_the_dishes_move_example example2.launch

• result

  Generated path from example2 code

  Invalid message from motion planner