Code for "Perception-Constrained Robot Manipulator Planning for Satellite Servicing," by Tariq Zahroof, Andrew Bylard, Hesham Shageer, and Marco Pavone.
This repository contains references to two packages (git submodules):
- The modified moveit package with perception constraints
- The motoman package with robot examples
- Download the submodules linked in this repository by typing the following within this repository
$ git submodule init
$ git submodule update
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Follow the instructions in "Restore_L_MoveIt_Documentation.pdf" to set up moveit and anxilliary packages.
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Then, move both packages from this repository to your catkin workspace directory. Don't forget to replace the native moveit package with this build's custom package
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The motoman_sia20d_moveit_updated package features the code from the paper. Type the following to execute:
$ roslaunch motoman_sia20d_moveit_updated camera_navigation.launch
- Additionally, code for a trajectory optimizer (with robot singularities) was included. Type to launch:
$ roslaunch motoman_sia20d_moveit_updated trajectory_viewer.launch