Arm Planning



ROS Diamondback
Arm Navigation
ROS Electric
Arm Navigation
ROS Fuerte
Arm Navigation
(install documentation below)
MoveIt! (only compatible with June 2012)
ROS Groovy
Coming soon!

How to get started (ROS Fuerte):

Download & Compile:

0) Install prerequisites:
sudo apt-get install ros-fuerte-pr2-kinematics ros-fuerte-arm-navigation ros-fuerte-arm-navigation-experimental
1) Get the Arm Planner:
2) Get the SBPL:
3) Build the SBPL. Follow the directions here:
4) Build the Arm Planner:
rosmake sbpl_arm_planner_node
5) Build the test package (for testing the planner):
rosmake simple_arm_utils

Run Demo:

Make sure you added this to your bashrc: export ROBOT=sim
Terminal 1 - Bring up Gazebo & Right Arm Navigation Stack
roslaunch simple_arm_control gazebo_with_right_arm_nav.launch
Terminal 2 - Bring up RViz (add display for visualization markers)
rosrun rviz rviz
Terminal 3 - Launch the planner for the right arm
roslaunch sbpl_arm_planner_node sbpl_planning_right_arm.launch
Terminal 4 - Request a motion plan
roslaunch simple_arm_control goal1.launch