Generating and Optimizing Topologically Distinct Guesses for Mobile Manipulator Path Planning

https://arxiv.org/abs/2410.20635

Results

Path 1 Path 2 Path 3

(Might show "No connection to server", please wait a few seconds and the simulation should load)

Animation controls are under "Open Controls/Animation/defualt";

Build

1. Install Drake
2. Install pybullet (recommended via virtual environment venv)

   python3 -m venv .
   source bin/activate
   pip3 install pybullet --upgrade
   

3. Build ros2_ws

   cd ros2_ws && rosdep install -y --ignore-src --rosdistro jazzy --from-paths .
   

Run

1. Edit config/planning_setting.py to set up planning parameters
2. pushd config && python3 planning_setting.py; popd
3. pushd topo_geo_paths && RUST_BACKTRACE=1 RUST_LOG=info cargo run -r; popd
4. python3 optimize_feasible.py --filename topo_geo_paths/trajectory0.txt --output trajectory0_opt.txt 2>/dev/null
5. source ros2_ws/install/setup.zsh; python3 drake_viz.py --filename=trajectory0_opt.txt

MoveIt2

Building moveit2 from source is required due to some bugs on constraint planning in the release version.

Whenever editing config/planning_setting.py, remember to run python3 planning_setting.py within the config/ directory. The MoveIt experiments rely on some auto-generated files sym-linked to the config/ directory.