From 989d4788e7cfde7202348cc57dd369fea90ab338 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Fri, 27 Mar 2020 12:47:36 +0100
Subject: [PATCH] updated README
---
README.md | 13 +++++++++++--
1 file changed, 11 insertions(+), 2 deletions(-)
diff --git a/README.md b/README.md
index 0bfd3e1..23cff5c 100644
--- a/README.md
+++ b/README.md
@@ -42,12 +42,21 @@ You can see the full explanation in my [blog post](https://erdalpekel.de/?p=55).
- 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:
+ start-command:
+ ...
+ roslaunch panda_simulation simulation_constraint.launch
+ ...
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.
--
GitLab