diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..fd09019559fcdfe3c289ac3ad56cd9fd98dc519d --- /dev/null +++ b/README.md @@ -0,0 +1,20 @@ +# MoveIt Manipulation Package + +Forked juli 2020 and extended with adaption of velocity / acceleration. + +## How to install it: + +* navigate into the src-folder of your workspace +* create a folder with the name "moveit_ros" +* cd into this folder and create another one with the same name +* cd again into the newly created folder +* clone the package into that folder + +## How to modify the velocity: + +You can do this by the configuration of four parameters in the parameter-server of ROS: + +* max_grasp_approach_velocity (max velocity from start-pose to pre-approach pose and starting from pre-place-approach pose) +* max_grasp_approach_acceleration (max acceleration from start-pose to pre-approach pose and starting from pre-place-approach pose) +* max_grasp_transition_velocity (max velocity from post-grasp pose to pre-place-approach pose) +* max_grasp_transition_acceleration (max acceleration from post-grasp pose to pre-place-approach pose)