Sample applications for ROS combined with a (simulated) Franka Emika Panda robots

⚠️ This repository must be checked out in a catkin workspace containing the franka_description, panda_moveit_config, and panda_simulation ROS packages provided here. For more information and installation instructions, please consult the main project.

Contains different examples for the planning and execution of robotic motions with MoveIt in ROS.

Example Applications

Please note that all examples must be run in a built catkin workspace from within a shell with all ROS paths properly set up (i.e., after running source devel/setup.sh).

Minimal "Hello World" Example

This example of an execution of a simple motion.

• Command: roslaunch sample_applications sample_minimal_simulation.launch
• Expected results:
  • A Gazebo window opens in which the executed robot motion can be observed.
  • The motion starts immediately after the the system has loaded.

Execution of a Simple Motion with Tooling

This is the same example as the first one, but this time, additional tooling is loaded.

• Command: roslaunch sample_applications sample_simple_simulation.launch
• Expected results:
  • A Gazebo window to observe the executed robot motion opens
  • An rqt window to show log messages opens
  • An RViz window to see the plan and trigger the motion open.
  • The motion does not start automatically, instead it must be triggered by pressing next in the RvizVisualToolsGUI within RViz

Execution of a Simple Motion Costrained by a Blocking Object

In this example, an object can be observed in the RViz planning window. This object constrains the motion of the robot, such that the robot moves around it.

• Command: roslaunch sample_applications sample_constraint_simulation.launch
• Expected results:
  • A Gazebo window to observe the executed robot motion opens
  • An rqt window to show log messages opens
  • An RViz window to see the plan and trigger the motion open.
  • The motion does not start automatically, instead it must be triggered by pressing next in the RvizVisualToolsGUI within RViz

Execution of a Velocity Constraint Cartesian Trajectory

• Command: roslaunch sample_applications timed_cartesian_simulation.launch
• Expected results:
  • A Gazebo window to observe the executed robot motion opens
  • An rqt window to show log messages opens
  • An RViz window to see the plan and trigger the motion open.
  • The motion does not start automatically, instead it must be triggered by pressing next in the RvizVisualToolsGUI within RViz

Planning and Simulation based on RViz

This is an example to use RViz and Gazebo interactively. Motions can be planned and executed from the RViz GUI.

• Command: roslaunch sample_applications simulation.launch
• Expected results:
  • RViz window to control the robot
  • Gazebo window to observe the executed robot motion
  • rqt to show log messages
  • The robot does not move automatically, but can be controlled with RViz (cf. the tutorial)