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Code for "Perception-Constrained Robot Manipulator Planning for Satellite Servicing," by Tariq Zahroof, Andrew Bylard, Hesham Shageer, and Marco Pavone.

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Perception Constrained Robot Manipulator Planning

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):

  1. The modified moveit package with perception constraints
  2. 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
  • Follow the instructions in "Restore_L_MoveIt_Documentation.pdf" to set up moveit and anxilliary packages.

  • 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

  • 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

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Code for "Perception-Constrained Robot Manipulator Planning for Satellite Servicing," by Tariq Zahroof, Andrew Bylard, Hesham Shageer, and Marco Pavone.

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