cccccccc
/
stretch_tutorials
mirror of https://github.com/hello-robot/stretch_tutorials.git
1
0
Fork 0
Code Issues 0 Projects 0 Releases 0 Wiki Activity
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
451 Commits
6 Branches
641 MiB
 
Branch: master
Branches Tags
${ item.name }
Create branch ${ searchTerm }
from 'master'
${ noResults }
stretch_tutorials/ros1/moveit_basics.md

3.0 KiB
Raw Permalink Blame History

MoveIt! Basics

MoveIt! Without Hardware

To begin running MoveIt! on stretch, run the demo launch file. This doesn't require any simulator or robot to run.

roslaunch stretch_moveit_config demo.launch

This will bring up an RViz instance where you can move the robot around using interactive markers and create plans between poses. You can reference the bottom gif as a guide to plan and execute motion.

Additionally, the demo allows a user to select from the three groups, stretch_arm, stretch_gripper, stretch_head to move. A few notes to be kept in mind:

  • Pre-defined start and goal states can be specified in Start State and Goal State drop-downs in the Planning tab of the Motion Planning RViz plugin.

  • stretch_gripper group does not show markers and is intended to be controlled via the joints tab that is located on the very right of the Motion Planning Rviz plugin.

  • When planning with stretch_head group make sure you select Approx IK Solutions in the Planning tab of the Motion Planning RViz plugin.

Running Gazebo with MoveIt! and Stretch

To run in Gazebo, execute:

roslaunch stretch_gazebo gazebo.launch

Then, in a new terminal, execute:

roslaunch stretch_core teleop_twist.launch twist_topic:=/stretch_diff_drive_controller/cmd_vel linear:=1.0 angular:=2.0 teleop_type:=keyboard

In a separate terminal, launch:

roslaunch stretch_moveit_config demo_gazebo.launch

This will launch a Rviz instance that visualizes the joints with markers and an empty world in Gazebo with Stretch and load all the controllers. There are pre-defined positions for each joint group for demonstration purposes. There are three joint groups, namely stretch_arm, stretch_gripper and stretch_head that can be controlled individually via the Motion Planning Rviz plugin. Start and goal positions for joints can be selected similarly to this moveit tutorial.