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Experimental MoveIt 2 - Drake Integration

Under construction

Docker Workflow (Preferred and tested)

Requirements

docker and docker-compose - Follow instructions here.

Steps

The following steps clone and build the base image that you will require to test/build/run/develop with the repo (and will take some time, as it builds moveit)

git clone https://github.com/moveit/moveit_drake.git
cd moveit_drake
docker compose build

This should give you an image with drake and moveit2. Next, create a container with the following and create shell access.

docker compose up
docker compose exec -it moveit_drake bash

Follow instructions below to build moveit_drake

Local Installation

Install Drake

Follow these instructions

Build moveit_drake

Follow the MoveIt Source Build instructions to set up a colcon workspace with MoveIt from source.

Open a command line to your colcon workspace:

cd ${WORKSPACE}/src

Download the MoveIt Tutorials source code:

git clone https://github.com/moveit/moveit_drake.git
vcs import < moveit_drake/moveit_drake.repos
rosdep install -r --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} -y

Configure and build the workspace:

cd ${WORKSPACE}
colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release

Run the demo

ros2 launch moveit_drake pipeline_testbench.launch.py

Development

Todo section

This section keeps a list of immediate todos, will be deleted before repo release

  • Create drake planning pipeline option in pipeline_testbench.launch.py
  • Declare to moveit, to use the drake ktopt planning pipeline
  • Build planner manager and planning context to display info from moveit and drake instance.
    • Generated placeholder classes mimicking stomp implementation.
    • Display info messages during testbench runtime.
    • [ ]
  • read Robot description and display onto drake visualizer

Doubts

  • stomp_moveit::ParamListener, where is this being declared
  • Why is the parameter file in the "res" directory

Potential issues

  • Assumes that planner managers initialize will set robot description before a call to getPlanningContext.

Some helper commands

To just rebuild moveit_drake

rm -rf build/moveit_drake install/moveit_drake
colcon build --packages-select moveit_drake