moveit_sim_controller package from moveit_sim_controller repo

moveit_sim_controller

Package Summary

Tags No category tags.
Version 0.0.5
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/davetcoleman/moveit_sim_controller.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2016-04-21
Dev Status DEVELOPED
Released UNRELEASED

Package Description

A simulation interface for a hardware interface for ros_control, and loads default joint values from SRDF

Additional Links

Maintainers

  • Dave Coleman

Authors

  • Dave Coleman
README

MoveIt Simulator Controller

A simulation interface for a hardware interface for ros_control, and loads default joint values from SRDF

Intended to replace moveit_fake_controller_manager - this supports simulated trajectory following and loading an inital position

Developed by Dave Coleman at the University of Colorado Boulder

Status:

  • Build Status Travis CI
  • Devel Job Status Devel Job Status
  • Build Status AMD64 Debian Job Status

Install

Ubuntu Debian

sudo apt-get install ros-indigo-moveit-sim-controller

Code API

See Class Reference

Usage

To set your robot's initial simulated position, create a planning group in your SRDF using the MoveIt Setup Assistant named something like whole_body or arm that contains all of your robot's joints. Then, create a pose for the planning group that is your start position, and name it something like home.

Then load this node with the following ROS params (yaml is suggested use):

# MoveIt-specific simulation settings:
moveit_sim_hw_interface:
  joint_model_group: arm
  joint_model_group_pose: home

See ros_control_boilerplate for more detailed instructions about using ros_control to visualize your robot - this package simply inherits from that package and adds some MoveIt! dependencies that can parse SRDFs for your initial state.

Testing and Linting

To run roslint, use the following command with catkin-tools:

catkin build --no-status --no-deps --this --make-args roslint

To run catkin lint, use the following command with catkin-tools:

catkin lint -W2

There are currently no unit or integration tests for this package. If there were you would use the following command with catkin-tools:

catkin run_tests --no-deps --this -i

Contribute

Please send PRs for new helper functions, fixes, etc!

CHANGELOG

Changelog for package moveit_sim_controller

0.0.5 (2016-01-13)

  • Fixed deprecated API for rosparam_shortcuts
  • Contributors: Dave Coleman

0.0.4 (2015-12-27)

  • Improved rosparam_shortcuts api
  • Fixed initialization of default joint positions
  • Fix travis
  • Contributors: Dave Coleman

0.0.3 (2015-12-10)

  • Fix missing dep
  • Contributors: Dave Coleman

0.0.2 (2015-12-10)

  • Initial release
  • Contributors: Dave Coleman

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

moveit_sim_controller package from moveit_sim_controller repo

moveit_sim_controller

Package Summary

Tags No category tags.
Version 0.0.5
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/davetcoleman/moveit_sim_controller.git
VCS Type git
VCS Version jade-devel
Last Updated 2016-04-21
Dev Status DEVELOPED
Released RELEASED

Package Description

A simulation interface for a hardware interface for ros_control, and loads default joint values from SRDF

Additional Links

Maintainers

  • Dave Coleman

Authors

  • Dave Coleman
README

MoveIt Simulator Controller

A simulation interface for a hardware interface for ros_control, and loads default joint values from SRDF

Intended to replace moveit_fake_controller_manager - this supports simulated trajectory following and loading an inital position

Developed by Dave Coleman at the University of Colorado Boulder

Status:

  • Build Status Travis CI
  • Devel Job Status Devel Job Status
  • Build Status AMD64 Debian Job Status

Install

Ubuntu Debian

sudo apt-get install ros-indigo-moveit-sim-controller

Code API

See Class Reference

Usage

To set your robot's initial simulated position, create a planning group in your SRDF using the MoveIt Setup Assistant named something like whole_body or arm that contains all of your robot's joints. Then, create a pose for the planning group that is your start position, and name it something like home.

Then load this node with the following ROS params (yaml is suggested use):

# MoveIt-specific simulation settings:
moveit_sim_hw_interface:
  joint_model_group: arm
  joint_model_group_pose: home

See ros_control_boilerplate for more detailed instructions about using ros_control to visualize your robot - this package simply inherits from that package and adds some MoveIt! dependencies that can parse SRDFs for your initial state.

Testing and Linting

To run roslint, use the following command with catkin-tools:

catkin build --no-status --no-deps --this --make-args roslint

To run catkin lint, use the following command with catkin-tools:

catkin lint -W2

There are currently no unit or integration tests for this package. If there were you would use the following command with catkin-tools:

catkin run_tests --no-deps --this -i

Contribute

Please send PRs for new helper functions, fixes, etc!

CHANGELOG

Changelog for package moveit_sim_controller

0.0.5 (2016-01-13)

  • Fixed deprecated API for rosparam_shortcuts
  • Contributors: Dave Coleman

0.0.4 (2015-12-27)

  • Improved rosparam_shortcuts api
  • Fixed initialization of default joint positions
  • Fix travis
  • Contributors: Dave Coleman

0.0.3 (2015-12-10)

  • Fix missing dep
  • Contributors: Dave Coleman

0.0.2 (2015-12-10)

  • Initial release
  • Contributors: Dave Coleman

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

moveit_sim_controller package from moveit_sim_controller repo

moveit_sim_controller

Package Summary

Tags No category tags.
Version 0.0.5
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/davetcoleman/moveit_sim_controller.git
VCS Type git
VCS Version indigo-devel
Last Updated 2016-01-13
Dev Status DEVELOPED
Released RELEASED

Package Description

A simulation interface for a hardware interface for ros_control, and loads default joint values from SRDF

Additional Links

Maintainers

  • Dave Coleman

Authors

  • Dave Coleman
README

MoveIt Simulator Controller

A simulation interface for a hardware interface for ros_control, and loads default joint values from SRDF

Intended to replace moveit_fake_controller_manager - this supports simulated trajectory following and loading an inital position

Developed by Dave Coleman at the University of Colorado Boulder

Status:

  • Build Status Travis CI
  • Devel Job Status Devel Job Status
  • Build Status AMD64 Debian Job Status

Install

Ubuntu Debian

sudo apt-get install ros-indigo-moveit-sim-controller

Code API

See Class Reference

Usage

To set your robot's initial simulated position, create a planning group in your SRDF using the MoveIt Setup Assistant named something like whole_body or arm that contains all of your robot's joints. Then, create a pose for the planning group that is your start position, and name it something like home.

Then load this node with the following ROS params (yaml is suggested use):

# MoveIt-specific simulation settings:
moveit_sim_hw_interface:
  joint_model_group: arm
  joint_model_group_pose: home

See ros_control_boilerplate for more detailed instructions about using ros_control to visualize your robot - this package simply inherits from that package and adds some MoveIt! dependencies that can parse SRDFs for your initial state.

Testing and Linting

To run roslint, use the following command with catkin-tools:

catkin build --no-status --no-deps --this --make-args roslint

To run catkin lint, use the following command with catkin-tools:

catkin lint -W2

There are currently no unit or integration tests for this package. If there were you would use the following command with catkin-tools:

catkin run_tests --no-deps --this -i

Contribute

Please send PRs for new helper functions, fixes, etc!

CHANGELOG

Changelog for package moveit_sim_controller

0.0.5 (2016-01-13)

  • Fixed deprecated API for rosparam_shortcuts
  • Contributors: Dave Coleman

0.0.4 (2015-12-27)

  • Improved rosparam_shortcuts api
  • Fixed initialization of default joint positions
  • Fix travis
  • Contributors: Dave Coleman

0.0.3 (2015-12-10)

  • Fix missing dep
  • Contributors: Dave Coleman

0.0.2 (2015-12-10)

  • Initial release
  • Contributors: Dave Coleman

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.