@@ -42,12 +42,21 @@ You can see the full explanation in my [blog post](https://erdalpekel.de/?p=55).
...
@@ -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")
![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).
To see through the boxes one have to set the alpha of the planning an environment (see picture).
#### _MoveIt!_ constraint-aware planning
#### _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.
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.
