ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
|
crs_motion_planning package from collaborative-robotic-sanding repocrs_application crs_area_selection crs_gazebo_plugins crs_gui crs_motion_planning crs_msgs crs_perception crs_process_data crs_robot_comms crs_support crs_toolpath_gen crs_utils_py |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Collaborative Robotic Sanding Application |
| Checkout URI | https://github.com/swri-robotics/collaborative-robotic-sanding.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-01-29 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Motion Planning nodes and library for the CRS project
Additional Links
No additional links.
Maintainers
- ros-industrial
Authors
No additional authors.
CRS Motion Planning Package
Testing
Launch main application launch file
ros2 launch crs_application crs.launch.xml
Freespace Planner
Parameters
- target_link - TF frame of interest that will be moving to the specified goal
- start_position (optional) - specified start joint state, defaults to current state
- goal_position (optional) - specified end joint state, if unused defaults to goal_pose
- goal_pose (optional) - specified end cartesian position, required if goal_position unused
- num_steps (optional) - number of timesteps in returned trajectory, defaults to 200
- execute (optional) - if true the trajectory will be published in addition to being returned
Outputs
- output_trajectory - The determined trajectory to the goal position from the start position
- success - Whether or not the planner succeeded
- message - Information about the success or failure of the attempt
Usage
This service can be called from the command line, an example is presented below
ros2 service call /plan_freespace_motion crs_msgs/srv/CallFreespaceMotion "{execute: 1, target_link: 'camera_link_optical', goal_pose: {translation: {x: 0.125, y: 0.0, z: 1.6}, rotation: {w: 0.0, x: 1.0, y: 0.0, z: 0.0}}}"
Process Planner
For simple testing run the process planner test node which can call the process planner when given a service trigger
ros2 run crs_motion_planning crs_motion_planning_process_planner_test
Then in another terminal call the service trigger
ros2 service call /test_process_planner std_srvs/srv/Trigger
Rviz will first populate with a marker array of blue arrows to show the original path.
Once planning is complete and successful 2 new marker arrays will be publised.
The first is an array of light blue spheres to denote the unreachable waypoints.
The second includes 3 different colored arrows:
-
Green: Successfully planned rasters
-
Yellow: Skipped rasters due to raster length being below specified threshold
-
Red: Rasters that failed to pass through trajopt surface planner
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rosidl_default_generators | |
| actionlib_msgs | |
| rclcpp_action | |
| geometry_msgs | |
| trajectory_msgs | |
| sensor_msgs | |
| std_srvs | |
| std_msgs | |
| crs_msgs | |
| control_msgs | |
| cartesian_trajectory_msgs | |
| tesseract_msgs | |
| tesseract | |
| tesseract_monitoring | |
| tesseract_rosutils | |
| tesseract_kinematics | |
| tesseract_visualization | |
| ur_ikfast_kinematics | |
| trajopt | |
| trajopt_utils | |
| trajopt_sco | |
| descartes_light | |
| descartes_ikfast | |
| descartes_samplers | |
| tf2 | |
| iterative_spline_parameterization | |
| yaml_cpp_vendor | |
| action_msgs | |
| visualization_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| crs_application | |
| crs_gui |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged crs_motion_planning at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
|
|
crs_motion_planning package from collaborative-robotic-sanding repocrs_application crs_area_selection crs_gazebo_plugins crs_gui crs_motion_planning crs_msgs crs_perception crs_process_data crs_robot_comms crs_support crs_toolpath_gen crs_utils_py |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Collaborative Robotic Sanding Application |
| Checkout URI | https://github.com/swri-robotics/collaborative-robotic-sanding.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-01-29 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Motion Planning nodes and library for the CRS project
Additional Links
No additional links.
Maintainers
- ros-industrial
Authors
No additional authors.
CRS Motion Planning Package
Testing
Launch main application launch file
ros2 launch crs_application crs.launch.xml
Freespace Planner
Parameters
- target_link - TF frame of interest that will be moving to the specified goal
- start_position (optional) - specified start joint state, defaults to current state
- goal_position (optional) - specified end joint state, if unused defaults to goal_pose
- goal_pose (optional) - specified end cartesian position, required if goal_position unused
- num_steps (optional) - number of timesteps in returned trajectory, defaults to 200
- execute (optional) - if true the trajectory will be published in addition to being returned
Outputs
- output_trajectory - The determined trajectory to the goal position from the start position
- success - Whether or not the planner succeeded
- message - Information about the success or failure of the attempt
Usage
This service can be called from the command line, an example is presented below
ros2 service call /plan_freespace_motion crs_msgs/srv/CallFreespaceMotion "{execute: 1, target_link: 'camera_link_optical', goal_pose: {translation: {x: 0.125, y: 0.0, z: 1.6}, rotation: {w: 0.0, x: 1.0, y: 0.0, z: 0.0}}}"
Process Planner
For simple testing run the process planner test node which can call the process planner when given a service trigger
ros2 run crs_motion_planning crs_motion_planning_process_planner_test
Then in another terminal call the service trigger
ros2 service call /test_process_planner std_srvs/srv/Trigger
Rviz will first populate with a marker array of blue arrows to show the original path.
Once planning is complete and successful 2 new marker arrays will be publised.
The first is an array of light blue spheres to denote the unreachable waypoints.
The second includes 3 different colored arrows:
-
Green: Successfully planned rasters
-
Yellow: Skipped rasters due to raster length being below specified threshold
-
Red: Rasters that failed to pass through trajopt surface planner
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rosidl_default_generators | |
| actionlib_msgs | |
| rclcpp_action | |
| geometry_msgs | |
| trajectory_msgs | |
| sensor_msgs | |
| std_srvs | |
| std_msgs | |
| crs_msgs | |
| control_msgs | |
| cartesian_trajectory_msgs | |
| tesseract_msgs | |
| tesseract | |
| tesseract_monitoring | |
| tesseract_rosutils | |
| tesseract_kinematics | |
| tesseract_visualization | |
| ur_ikfast_kinematics | |
| trajopt | |
| trajopt_utils | |
| trajopt_sco | |
| descartes_light | |
| descartes_ikfast | |
| descartes_samplers | |
| tf2 | |
| iterative_spline_parameterization | |
| yaml_cpp_vendor | |
| action_msgs | |
| visualization_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| crs_application | |
| crs_gui |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged crs_motion_planning at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
|
|
crs_motion_planning package from collaborative-robotic-sanding repocrs_application crs_area_selection crs_gazebo_plugins crs_gui crs_motion_planning crs_msgs crs_perception crs_process_data crs_robot_comms crs_support crs_toolpath_gen crs_utils_py |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Collaborative Robotic Sanding Application |
| Checkout URI | https://github.com/swri-robotics/collaborative-robotic-sanding.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-01-29 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Motion Planning nodes and library for the CRS project
Additional Links
No additional links.
Maintainers
- ros-industrial
Authors
No additional authors.
CRS Motion Planning Package
Testing
Launch main application launch file
ros2 launch crs_application crs.launch.xml
Freespace Planner
Parameters
- target_link - TF frame of interest that will be moving to the specified goal
- start_position (optional) - specified start joint state, defaults to current state
- goal_position (optional) - specified end joint state, if unused defaults to goal_pose
- goal_pose (optional) - specified end cartesian position, required if goal_position unused
- num_steps (optional) - number of timesteps in returned trajectory, defaults to 200
- execute (optional) - if true the trajectory will be published in addition to being returned
Outputs
- output_trajectory - The determined trajectory to the goal position from the start position
- success - Whether or not the planner succeeded
- message - Information about the success or failure of the attempt
Usage
This service can be called from the command line, an example is presented below
ros2 service call /plan_freespace_motion crs_msgs/srv/CallFreespaceMotion "{execute: 1, target_link: 'camera_link_optical', goal_pose: {translation: {x: 0.125, y: 0.0, z: 1.6}, rotation: {w: 0.0, x: 1.0, y: 0.0, z: 0.0}}}"
Process Planner
For simple testing run the process planner test node which can call the process planner when given a service trigger
ros2 run crs_motion_planning crs_motion_planning_process_planner_test
Then in another terminal call the service trigger
ros2 service call /test_process_planner std_srvs/srv/Trigger
Rviz will first populate with a marker array of blue arrows to show the original path.
Once planning is complete and successful 2 new marker arrays will be publised.
The first is an array of light blue spheres to denote the unreachable waypoints.
The second includes 3 different colored arrows:
-
Green: Successfully planned rasters
-
Yellow: Skipped rasters due to raster length being below specified threshold
-
Red: Rasters that failed to pass through trajopt surface planner
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rosidl_default_generators | |
| actionlib_msgs | |
| rclcpp_action | |
| geometry_msgs | |
| trajectory_msgs | |
| sensor_msgs | |
| std_srvs | |
| std_msgs | |
| crs_msgs | |
| control_msgs | |
| cartesian_trajectory_msgs | |
| tesseract_msgs | |
| tesseract | |
| tesseract_monitoring | |
| tesseract_rosutils | |
| tesseract_kinematics | |
| tesseract_visualization | |
| ur_ikfast_kinematics | |
| trajopt | |
| trajopt_utils | |
| trajopt_sco | |
| descartes_light | |
| descartes_ikfast | |
| descartes_samplers | |
| tf2 | |
| iterative_spline_parameterization | |
| yaml_cpp_vendor | |
| action_msgs | |
| visualization_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| crs_application | |
| crs_gui |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged crs_motion_planning at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
|
|
crs_motion_planning package from collaborative-robotic-sanding repocrs_application crs_area_selection crs_gazebo_plugins crs_gui crs_motion_planning crs_msgs crs_perception crs_process_data crs_robot_comms crs_support crs_toolpath_gen crs_utils_py |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Collaborative Robotic Sanding Application |
| Checkout URI | https://github.com/swri-robotics/collaborative-robotic-sanding.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-01-29 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Motion Planning nodes and library for the CRS project
Additional Links
No additional links.
Maintainers
- ros-industrial
Authors
No additional authors.
CRS Motion Planning Package
Testing
Launch main application launch file
ros2 launch crs_application crs.launch.xml
Freespace Planner
Parameters
- target_link - TF frame of interest that will be moving to the specified goal
- start_position (optional) - specified start joint state, defaults to current state
- goal_position (optional) - specified end joint state, if unused defaults to goal_pose
- goal_pose (optional) - specified end cartesian position, required if goal_position unused
- num_steps (optional) - number of timesteps in returned trajectory, defaults to 200
- execute (optional) - if true the trajectory will be published in addition to being returned
Outputs
- output_trajectory - The determined trajectory to the goal position from the start position
- success - Whether or not the planner succeeded
- message - Information about the success or failure of the attempt
Usage
This service can be called from the command line, an example is presented below
ros2 service call /plan_freespace_motion crs_msgs/srv/CallFreespaceMotion "{execute: 1, target_link: 'camera_link_optical', goal_pose: {translation: {x: 0.125, y: 0.0, z: 1.6}, rotation: {w: 0.0, x: 1.0, y: 0.0, z: 0.0}}}"
Process Planner
For simple testing run the process planner test node which can call the process planner when given a service trigger
ros2 run crs_motion_planning crs_motion_planning_process_planner_test
Then in another terminal call the service trigger
ros2 service call /test_process_planner std_srvs/srv/Trigger
Rviz will first populate with a marker array of blue arrows to show the original path.
Once planning is complete and successful 2 new marker arrays will be publised.
The first is an array of light blue spheres to denote the unreachable waypoints.
The second includes 3 different colored arrows:
-
Green: Successfully planned rasters
-
Yellow: Skipped rasters due to raster length being below specified threshold
-
Red: Rasters that failed to pass through trajopt surface planner
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rosidl_default_generators | |
| actionlib_msgs | |
| rclcpp_action | |
| geometry_msgs | |
| trajectory_msgs | |
| sensor_msgs | |
| std_srvs | |
| std_msgs | |
| crs_msgs | |
| control_msgs | |
| cartesian_trajectory_msgs | |
| tesseract_msgs | |
| tesseract | |
| tesseract_monitoring | |
| tesseract_rosutils | |
| tesseract_kinematics | |
| tesseract_visualization | |
| ur_ikfast_kinematics | |
| trajopt | |
| trajopt_utils | |
| trajopt_sco | |
| descartes_light | |
| descartes_ikfast | |
| descartes_samplers | |
| tf2 | |
| iterative_spline_parameterization | |
| yaml_cpp_vendor | |
| action_msgs | |
| visualization_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| crs_application | |
| crs_gui |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged crs_motion_planning at Robotics Stack Exchange
|
|
crs_motion_planning package from collaborative-robotic-sanding repocrs_application crs_area_selection crs_gazebo_plugins crs_gui crs_motion_planning crs_msgs crs_perception crs_process_data crs_robot_comms crs_support crs_toolpath_gen crs_utils_py |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Collaborative Robotic Sanding Application |
| Checkout URI | https://github.com/swri-robotics/collaborative-robotic-sanding.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-01-29 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Motion Planning nodes and library for the CRS project
Additional Links
No additional links.
Maintainers
- ros-industrial
Authors
No additional authors.
CRS Motion Planning Package
Testing
Launch main application launch file
ros2 launch crs_application crs.launch.xml
Freespace Planner
Parameters
- target_link - TF frame of interest that will be moving to the specified goal
- start_position (optional) - specified start joint state, defaults to current state
- goal_position (optional) - specified end joint state, if unused defaults to goal_pose
- goal_pose (optional) - specified end cartesian position, required if goal_position unused
- num_steps (optional) - number of timesteps in returned trajectory, defaults to 200
- execute (optional) - if true the trajectory will be published in addition to being returned
Outputs
- output_trajectory - The determined trajectory to the goal position from the start position
- success - Whether or not the planner succeeded
- message - Information about the success or failure of the attempt
Usage
This service can be called from the command line, an example is presented below
ros2 service call /plan_freespace_motion crs_msgs/srv/CallFreespaceMotion "{execute: 1, target_link: 'camera_link_optical', goal_pose: {translation: {x: 0.125, y: 0.0, z: 1.6}, rotation: {w: 0.0, x: 1.0, y: 0.0, z: 0.0}}}"
Process Planner
For simple testing run the process planner test node which can call the process planner when given a service trigger
ros2 run crs_motion_planning crs_motion_planning_process_planner_test
Then in another terminal call the service trigger
ros2 service call /test_process_planner std_srvs/srv/Trigger
Rviz will first populate with a marker array of blue arrows to show the original path.
Once planning is complete and successful 2 new marker arrays will be publised.
The first is an array of light blue spheres to denote the unreachable waypoints.
The second includes 3 different colored arrows:
-
Green: Successfully planned rasters
-
Yellow: Skipped rasters due to raster length being below specified threshold
-
Red: Rasters that failed to pass through trajopt surface planner
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rosidl_default_generators | |
| actionlib_msgs | |
| rclcpp_action | |
| geometry_msgs | |
| trajectory_msgs | |
| sensor_msgs | |
| std_srvs | |
| std_msgs | |
| crs_msgs | |
| control_msgs | |
| cartesian_trajectory_msgs | |
| tesseract_msgs | |
| tesseract | |
| tesseract_monitoring | |
| tesseract_rosutils | |
| tesseract_kinematics | |
| tesseract_visualization | |
| ur_ikfast_kinematics | |
| trajopt | |
| trajopt_utils | |
| trajopt_sco | |
| descartes_light | |
| descartes_ikfast | |
| descartes_samplers | |
| tf2 | |
| iterative_spline_parameterization | |
| yaml_cpp_vendor | |
| action_msgs | |
| visualization_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| crs_application | |
| crs_gui |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged crs_motion_planning at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
|
|
crs_motion_planning package from collaborative-robotic-sanding repocrs_application crs_area_selection crs_gazebo_plugins crs_gui crs_motion_planning crs_msgs crs_perception crs_process_data crs_robot_comms crs_support crs_toolpath_gen crs_utils_py |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Collaborative Robotic Sanding Application |
| Checkout URI | https://github.com/swri-robotics/collaborative-robotic-sanding.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-01-29 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Motion Planning nodes and library for the CRS project
Additional Links
No additional links.
Maintainers
- ros-industrial
Authors
No additional authors.
CRS Motion Planning Package
Testing
Launch main application launch file
ros2 launch crs_application crs.launch.xml
Freespace Planner
Parameters
- target_link - TF frame of interest that will be moving to the specified goal
- start_position (optional) - specified start joint state, defaults to current state
- goal_position (optional) - specified end joint state, if unused defaults to goal_pose
- goal_pose (optional) - specified end cartesian position, required if goal_position unused
- num_steps (optional) - number of timesteps in returned trajectory, defaults to 200
- execute (optional) - if true the trajectory will be published in addition to being returned
Outputs
- output_trajectory - The determined trajectory to the goal position from the start position
- success - Whether or not the planner succeeded
- message - Information about the success or failure of the attempt
Usage
This service can be called from the command line, an example is presented below
ros2 service call /plan_freespace_motion crs_msgs/srv/CallFreespaceMotion "{execute: 1, target_link: 'camera_link_optical', goal_pose: {translation: {x: 0.125, y: 0.0, z: 1.6}, rotation: {w: 0.0, x: 1.0, y: 0.0, z: 0.0}}}"
Process Planner
For simple testing run the process planner test node which can call the process planner when given a service trigger
ros2 run crs_motion_planning crs_motion_planning_process_planner_test
Then in another terminal call the service trigger
ros2 service call /test_process_planner std_srvs/srv/Trigger
Rviz will first populate with a marker array of blue arrows to show the original path.
Once planning is complete and successful 2 new marker arrays will be publised.
The first is an array of light blue spheres to denote the unreachable waypoints.
The second includes 3 different colored arrows:
-
Green: Successfully planned rasters
-
Yellow: Skipped rasters due to raster length being below specified threshold
-
Red: Rasters that failed to pass through trajopt surface planner
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rosidl_default_generators | |
| actionlib_msgs | |
| rclcpp_action | |
| geometry_msgs | |
| trajectory_msgs | |
| sensor_msgs | |
| std_srvs | |
| std_msgs | |
| crs_msgs | |
| control_msgs | |
| cartesian_trajectory_msgs | |
| tesseract_msgs | |
| tesseract | |
| tesseract_monitoring | |
| tesseract_rosutils | |
| tesseract_kinematics | |
| tesseract_visualization | |
| ur_ikfast_kinematics | |
| trajopt | |
| trajopt_utils | |
| trajopt_sco | |
| descartes_light | |
| descartes_ikfast | |
| descartes_samplers | |
| tf2 | |
| iterative_spline_parameterization | |
| yaml_cpp_vendor | |
| action_msgs | |
| visualization_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| crs_application | |
| crs_gui |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged crs_motion_planning at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
|
|
crs_motion_planning package from collaborative-robotic-sanding repocrs_application crs_area_selection crs_gazebo_plugins crs_gui crs_motion_planning crs_msgs crs_perception crs_process_data crs_robot_comms crs_support crs_toolpath_gen crs_utils_py |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Collaborative Robotic Sanding Application |
| Checkout URI | https://github.com/swri-robotics/collaborative-robotic-sanding.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-01-29 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Motion Planning nodes and library for the CRS project
Additional Links
No additional links.
Maintainers
- ros-industrial
Authors
No additional authors.
CRS Motion Planning Package
Testing
Launch main application launch file
ros2 launch crs_application crs.launch.xml
Freespace Planner
Parameters
- target_link - TF frame of interest that will be moving to the specified goal
- start_position (optional) - specified start joint state, defaults to current state
- goal_position (optional) - specified end joint state, if unused defaults to goal_pose
- goal_pose (optional) - specified end cartesian position, required if goal_position unused
- num_steps (optional) - number of timesteps in returned trajectory, defaults to 200
- execute (optional) - if true the trajectory will be published in addition to being returned
Outputs
- output_trajectory - The determined trajectory to the goal position from the start position
- success - Whether or not the planner succeeded
- message - Information about the success or failure of the attempt
Usage
This service can be called from the command line, an example is presented below
ros2 service call /plan_freespace_motion crs_msgs/srv/CallFreespaceMotion "{execute: 1, target_link: 'camera_link_optical', goal_pose: {translation: {x: 0.125, y: 0.0, z: 1.6}, rotation: {w: 0.0, x: 1.0, y: 0.0, z: 0.0}}}"
Process Planner
For simple testing run the process planner test node which can call the process planner when given a service trigger
ros2 run crs_motion_planning crs_motion_planning_process_planner_test
Then in another terminal call the service trigger
ros2 service call /test_process_planner std_srvs/srv/Trigger
Rviz will first populate with a marker array of blue arrows to show the original path.
Once planning is complete and successful 2 new marker arrays will be publised.
The first is an array of light blue spheres to denote the unreachable waypoints.
The second includes 3 different colored arrows:
-
Green: Successfully planned rasters
-
Yellow: Skipped rasters due to raster length being below specified threshold
-
Red: Rasters that failed to pass through trajopt surface planner
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rosidl_default_generators | |
| actionlib_msgs | |
| rclcpp_action | |
| geometry_msgs | |
| trajectory_msgs | |
| sensor_msgs | |
| std_srvs | |
| std_msgs | |
| crs_msgs | |
| control_msgs | |
| cartesian_trajectory_msgs | |
| tesseract_msgs | |
| tesseract | |
| tesseract_monitoring | |
| tesseract_rosutils | |
| tesseract_kinematics | |
| tesseract_visualization | |
| ur_ikfast_kinematics | |
| trajopt | |
| trajopt_utils | |
| trajopt_sco | |
| descartes_light | |
| descartes_ikfast | |
| descartes_samplers | |
| tf2 | |
| iterative_spline_parameterization | |
| yaml_cpp_vendor | |
| action_msgs | |
| visualization_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| crs_application | |
| crs_gui |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged crs_motion_planning at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
|
|
crs_motion_planning package from collaborative-robotic-sanding repocrs_application crs_area_selection crs_gazebo_plugins crs_gui crs_motion_planning crs_msgs crs_perception crs_process_data crs_robot_comms crs_support crs_toolpath_gen crs_utils_py |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Collaborative Robotic Sanding Application |
| Checkout URI | https://github.com/swri-robotics/collaborative-robotic-sanding.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-01-29 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Motion Planning nodes and library for the CRS project
Additional Links
No additional links.
Maintainers
- ros-industrial
Authors
No additional authors.
CRS Motion Planning Package
Testing
Launch main application launch file
ros2 launch crs_application crs.launch.xml
Freespace Planner
Parameters
- target_link - TF frame of interest that will be moving to the specified goal
- start_position (optional) - specified start joint state, defaults to current state
- goal_position (optional) - specified end joint state, if unused defaults to goal_pose
- goal_pose (optional) - specified end cartesian position, required if goal_position unused
- num_steps (optional) - number of timesteps in returned trajectory, defaults to 200
- execute (optional) - if true the trajectory will be published in addition to being returned
Outputs
- output_trajectory - The determined trajectory to the goal position from the start position
- success - Whether or not the planner succeeded
- message - Information about the success or failure of the attempt
Usage
This service can be called from the command line, an example is presented below
ros2 service call /plan_freespace_motion crs_msgs/srv/CallFreespaceMotion "{execute: 1, target_link: 'camera_link_optical', goal_pose: {translation: {x: 0.125, y: 0.0, z: 1.6}, rotation: {w: 0.0, x: 1.0, y: 0.0, z: 0.0}}}"
Process Planner
For simple testing run the process planner test node which can call the process planner when given a service trigger
ros2 run crs_motion_planning crs_motion_planning_process_planner_test
Then in another terminal call the service trigger
ros2 service call /test_process_planner std_srvs/srv/Trigger
Rviz will first populate with a marker array of blue arrows to show the original path.
Once planning is complete and successful 2 new marker arrays will be publised.
The first is an array of light blue spheres to denote the unreachable waypoints.
The second includes 3 different colored arrows:
-
Green: Successfully planned rasters
-
Yellow: Skipped rasters due to raster length being below specified threshold
-
Red: Rasters that failed to pass through trajopt surface planner
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rosidl_default_generators | |
| actionlib_msgs | |
| rclcpp_action | |
| geometry_msgs | |
| trajectory_msgs | |
| sensor_msgs | |
| std_srvs | |
| std_msgs | |
| crs_msgs | |
| control_msgs | |
| cartesian_trajectory_msgs | |
| tesseract_msgs | |
| tesseract | |
| tesseract_monitoring | |
| tesseract_rosutils | |
| tesseract_kinematics | |
| tesseract_visualization | |
| ur_ikfast_kinematics | |
| trajopt | |
| trajopt_utils | |
| trajopt_sco | |
| descartes_light | |
| descartes_ikfast | |
| descartes_samplers | |
| tf2 | |
| iterative_spline_parameterization | |
| yaml_cpp_vendor | |
| action_msgs | |
| visualization_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| crs_application | |
| crs_gui |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged crs_motion_planning at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
|
|
crs_motion_planning package from collaborative-robotic-sanding repocrs_application crs_area_selection crs_gazebo_plugins crs_gui crs_motion_planning crs_msgs crs_perception crs_process_data crs_robot_comms crs_support crs_toolpath_gen crs_utils_py |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Collaborative Robotic Sanding Application |
| Checkout URI | https://github.com/swri-robotics/collaborative-robotic-sanding.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-01-29 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Motion Planning nodes and library for the CRS project
Additional Links
No additional links.
Maintainers
- ros-industrial
Authors
No additional authors.
CRS Motion Planning Package
Testing
Launch main application launch file
ros2 launch crs_application crs.launch.xml
Freespace Planner
Parameters
- target_link - TF frame of interest that will be moving to the specified goal
- start_position (optional) - specified start joint state, defaults to current state
- goal_position (optional) - specified end joint state, if unused defaults to goal_pose
- goal_pose (optional) - specified end cartesian position, required if goal_position unused
- num_steps (optional) - number of timesteps in returned trajectory, defaults to 200
- execute (optional) - if true the trajectory will be published in addition to being returned
Outputs
- output_trajectory - The determined trajectory to the goal position from the start position
- success - Whether or not the planner succeeded
- message - Information about the success or failure of the attempt
Usage
This service can be called from the command line, an example is presented below
ros2 service call /plan_freespace_motion crs_msgs/srv/CallFreespaceMotion "{execute: 1, target_link: 'camera_link_optical', goal_pose: {translation: {x: 0.125, y: 0.0, z: 1.6}, rotation: {w: 0.0, x: 1.0, y: 0.0, z: 0.0}}}"
Process Planner
For simple testing run the process planner test node which can call the process planner when given a service trigger
ros2 run crs_motion_planning crs_motion_planning_process_planner_test
Then in another terminal call the service trigger
ros2 service call /test_process_planner std_srvs/srv/Trigger
Rviz will first populate with a marker array of blue arrows to show the original path.
Once planning is complete and successful 2 new marker arrays will be publised.
The first is an array of light blue spheres to denote the unreachable waypoints.
The second includes 3 different colored arrows:
-
Green: Successfully planned rasters
-
Yellow: Skipped rasters due to raster length being below specified threshold
-
Red: Rasters that failed to pass through trajopt surface planner
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rosidl_default_generators | |
| actionlib_msgs | |
| rclcpp_action | |
| geometry_msgs | |
| trajectory_msgs | |
| sensor_msgs | |
| std_srvs | |
| std_msgs | |
| crs_msgs | |
| control_msgs | |
| cartesian_trajectory_msgs | |
| tesseract_msgs | |
| tesseract | |
| tesseract_monitoring | |
| tesseract_rosutils | |
| tesseract_kinematics | |
| tesseract_visualization | |
| ur_ikfast_kinematics | |
| trajopt | |
| trajopt_utils | |
| trajopt_sco | |
| descartes_light | |
| descartes_ikfast | |
| descartes_samplers | |
| tf2 | |
| iterative_spline_parameterization | |
| yaml_cpp_vendor | |
| action_msgs | |
| visualization_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| crs_application | |
| crs_gui |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.