​​FBTUG-FarmHarvestBot 研究筆記-MoveIT

​​緣起

  • ​​玩 ROS 啥都不會，有時會問先進目前在學什麼，回說 MoveIT, 百廢待舉，一時也沒空看。
  • ​​最近採果 base 帶起，終於走到要接上手臂這邊，先學點東西
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​​主圖

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​​重要參考

  • ​​moveit source code
  • ​​PICKNIK
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​​影片

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​​試玩

​​MoveIt! Motion Planning Framework
  • ​​Setup
​​sudo apt install ros-kinetic-moveit
​​git clone https://github.com/ros-planning/moveit_tutorials.git -b kinetic-devel
​​git clone https://github.com/ros-planning/panda_moveit_config.git -b kinetic-devel
​​git clone https://github.com/frankaemika/franka_ros
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​​~/catkin_ws$rosdep install -y --from-paths . --ignore-src --rosdistro kinetic
​​catkin_make -DCMAKE_BUILD_TYPE=Release
  • ​​Tested OK