Planning-on-VKC

A motion planning framework for virtual kinematic chain.

Only tested with ROS Noetic for Ubuntu 20.04.

1. Installation

1.1 Preparation

Firstly, following dependencies need to be manually installed and set up.

• ROS Noetic: we use ROS noetic as our basic platform.

After installing the aforementioned dependencies, follow steps below to setup the environment

Before compiling our package, several system dependencies needs to be installed, use following command to install

sudo apt install python3-catkin-tools ros-noetic-octomap-msgs ros-noetic-octomap \
ros-noetic-ompl ros-noetic-octomap-ros ros-noetic-lms1xx ros-noetic-ifopt

1.2 Clone repositories

We recommend to clone the repository instead of downloading files to avoid submodule errors.

Be sure you have added ssh key to github account to clone the submodules.

Cloning the repositories(especially submodules) may take up to hours, depend on your network connection.

cd projects
git clone -b release git@github.com:zyjiao4728/Planning-on-VKC.git --recurse-submodules
cd Planning-on-VKC
git submodule update --init --recursive --progress
rosdep install --from-paths src --ignore-src -r -y
catkin build

where <github-package-url> is the GitHub download URL of our package.

Note: Use --dry-run to list the packages which will be built.

2. Run Examples

2.1 Examples come with tesseract package:

source <path-to-src>/devel/setup.bash
roslaunch tesseract_ros_example <example-name>.launch

2.2 Examples come with vkc package:

2.2.1 Example of using stick to pick ball:

The demo shows how a robot tries to pick an object with a tool and to operate articulated object such as opening the door of a cabinet.

source <path-to-src>/devel/setup.bash
roslaunch vkc_example household_env.launch