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This code was developed in order to add the dual arm capability to the moveIt! ROS package. The dual arm capability manages coordinated dual arm manipulation through two action servers (dual arm pick and dual arm place). This code was developed in the frame of the ECHORD++: Dual Arm Worker project.
The moveIt! dual arm planning code is a framework composed by several ROS modules.
- This code will be released soon (February, March 2018). For now only the members and the partners of the project have access to this code.
- The code was tested with the PR2 robot and the NextageOpen robot under ROS Indigo and Ubuntu 14.04. In the next weeks, the development will move to ROS Kinetic and Ubuntu 16.04.
- The code is still in development and new features are coming (capability map, experience based planner).
This wiki contains:
- Description about the concept
- Descriptions of the modules
- Instructions to install the code
- Some tutorials describing and showing the dual arm capability (c++ and python)
- Some results about the dual arm planning
This section explains the concept of the moveit dual arm capability.
move_groupx
dual_arm_manipulation
dual_arm_msgs
dual_arm_constraint_sampler
dual_arm_planning_tutorials
moveit_ompl_dual_arm_planning_context
moveit_planner_visual_tools
Tutorials in c++ and python are available online and also locally after generating the offline tutorials.
These tutorials will guide you through:
- How to setup your robot
- How to use dual arm pick and place to manipulate a part
- ...
TODO
- TODO: Add article about the project
- TODO: Add articles about dual arm motion planning (Juan Cortés et al)
If you can't find an answer in this wiki, you can open a new issue here