@@ -42,12 +42,21 @@ You can see the full explanation in my [blog post](https://erdalpekel.de/?p=55).
![Zone](assets/box.png?raw=true"Safetyzone")
Integrates safetyzones via the SafetyAwarePlanner. start-command: ... roslaunch panda_simulation simulation.launch ...
Integrates safetyzones via the SafetyAwarePlanner.
start-command:
...
roslaunch panda_simulation simulation.launch
...
To see through the boxes one have to set the alpha of the planning an environment (see picture).
#### _MoveIt!_ constraint-aware planning
An example of one can add constraints to the planning and simulate it. start-command: start-command: ... roslaunch panda_simulation simulation_constraint.launch ...
An example of one can add constraints to the planning and simulate it. start-command:
This repository was extended with a ROS node that communicates with the _MoveIt!_ Planning Scene API. It makes sure that the motion planning pipeline avoids collision objects in the environment specified by the user in a separate directory (`~/.panda_simulation`) as _json_ files.
