motion_planning

Motion planning for aerial robot and other robot

dependency

• aeiral_robot:
  • url: https://github.com/tongtybj/aerial_robot
  • version: 1.3.1

packages:

aerial_manipulation

Manipulation planning for aerial robot.

• aerial_transportation: whole-body grasping to pick up object and carry to a desired position

aerial_motion

methods

• sampling based search
• differential kinematics

application

• aerial transformation
• gap passing
• object manipulation

how to compile

source ~/ros/jsk_aerial_robot_ws/devel/setup.bash # Please make sure the path to repository of jsk_aerial_robot
mkdir -p ~/ros/motion_planning_ws
cd ~/ros/motion_planning_ws
wstool init src
wstool set -u -t src motion_planning http://github.com/tongtybj/motion_planning --git
wstool merge -t src src/motion_planning/${ROS_DISTRO}.rosinstall
wstool update -t src
rosdep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
catkin build