deoxys_ros

ExecuteTrajectoryAction server/client for executing MoveIt trajectories with deoxys_control

Installation

1. Make a ros workspace, cd src
2. git clone git@github.com:UT-Austin-RobIn/deoxys_ros.git
3. git clone git@github.com:UT-Austin-RobIn/panda_moveit_config.git
4. ...
5. create a new conda environement (rosrpl) from environment.yaml and activate it
6. in the deoxys_ros folder run catkin_make, and source devel/setup.bash
7. Follow the instructions at https://github.com/UT-Austin-RPL/deoxys_control to install Deoxys
8. After deoxys is installed cd ~/deoxys_control/deoxys and pip install -e . to make deoxys available to python (make sure you are in the rosrpl environment while doing this)

Setup

1. The Franka Panda must be on and connected (blue/green light)
2. The NUC should be running Deoxys
3. FCI should be enabled
4. roslaunch launch/deoxys_ros.launch

Confirm Setup

Executing rostopic list should give you a sizeable number of topics
Executing rostopic echo /joint_states should give nothing

Planning in your own scripts

With the rosrpl environment activated and dexos_ros.launch launched there should be an action server for you to interface with.
The interactive_client.py file demonstrates an example of how to use the provided commander.py file as a python interface.

Todo

[X] Add environment.yaml for rosrpl
[X] Add a guide for enabling uniform sampling on the motion planner
[X] Remove the walls from the planning scene
[ ] Have someone test setting it up from scratch
[ ] Cleanup commander.py and deoxys_server.py