frasier_openrave

Installation

Note this instructions are tested on Ubuntu 18.04.

Dependencies:

• ROS Melodic
• HSR Software
• OpenRAVE
• TrajOpt
• Gurobi

HSR Installation

• Follow the the instructions here.
• If you don't have the login information, please ask Tarik Kelestemur.

OpenRAVE Installation
Install dependencies:

• Follow the instructions here.
• Add the following to .bashrc:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$(openrave-config --python-dir)/openravepy/_openravepy_
export PYTHONPATH=$PYTHONPATH:$(openrave-config --python-dir)

TrajOpt Installation
Install dependencies:

sudo apt install libopenscenegraph-dev libeigen3-dev

Trajopt uses Gurobi for the optimization. Install Gurobi by following the instructions here. You can get a free acadamic license if you have .edu email.

1. git clone https://github.com/tkelestemur/trajopt.git
2. cd trajopt && mkdir build && cd build
3. cmake .. -DGUROBI_LIBRARY=/opt/gurobi801/linux64/lib/libgurobi80.so
4. make -j4
5. Add the following to .bashrc:

export TRAJOPT_HOME=/path/to/trajopt/folder

Package Installation
Install dependencies:

sudo apt install ros-melodic-ecl

1. cd catkin_ws/src
2. git clone https://github.com/tkelestemur/frasier_openrave.git
3. catkin build

TODO:

• visualize collison objects in rviz
• redundant ik solver from openrave
• point cloud updater using ROS
• cannot set goal angle for base_t_joint
• fix viewer (change to osg viewer)
• IK using trajopt
• planning using trajopt