Experienced-Based Hybrid Cartesian/Feespace Sparse Roadmap Planner
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bolt_2d
bolt_core
bolt_hilgendorf
bolt_moveit
bolt_ur5
docker
moveit_ompl
.travis.before_script
.travis.yml
README.md
bolt.rosinstall
files.sh
open.sh

README.md

BOLT

The project consists of two major components

  • The Bolt planner for efficiently pre-computing sparse roadmap spanners for experience-based planning
  • An multi-modal underconstrained Cartesian planner for dual arms similar to Descartes

Developed by Dave Coleman at the University of Colorado Boulder in collaboration with ROS Industrial, Southwest Research Institute, and the National Institute of Standards and Technology.

Status:

  • Travis Build Status Travis - Continuous Integration

See video

Build from Source

Runs on ROS Kinetic. To build this package, create a catkin workspace.

sudo apt-get install python-wstool python-catkin-tools wmctrl
wstool init .
wstool merge https://raw.githubusercontent.com/davetcoleman/bolt/kinetic-devel/bolt.rosinstall
wstool update
wget https://raw.githubusercontent.com/ros-gbp/ompl-release/debian/kinetic/xenial/ompl/package.xml -O ompl/package.xml
sudo apt-get remove ros-${ROS_DISTRO}-ompl
rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO}
cd ..
catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

Run in Docker

Run with just terminal:

docker run -it davetcoleman/bolt:bolt-jade-build

Layout

  • bolt_core: The core algorithm for sparse roadmap creation and multi-model task planning is locate
  • bolt_2d: A simple 2d/3d toy problem for testing bolt in a low dimensional space using Rviz
  • bolt_moveit: A MoveIt!-based configuration space for running with Baxter
  • moveit_ompl: based on moveit_planners_ompl, a simplified common interface for moveit and ompl that I've heavily customized
  • docker: just contains recipies for auto building docker images on Dockerhub

Usage

There are currently two main applications for using bolt - 2d and moveit. See the respective folders on how to use them.

Testing and Linting

To run roslint, use the following command with catkin-tools:

catkin build --no-status --no-deps --this --make-args roslint

To run catkin lint, use the following command with catkin-tools:

catkin lint -W2

There are currently no unit or integration tests for this package. If there were you would use the following command with catkin-tools:

catkin run_tests --no-deps --this -i