Trajectory planning

Basic information

Planning groups:
  • r1_arm
    • Joints in group: r1_joint_s, r1_joint_l, r1_joint_u, r1_joint_r, r1_joint_b, r1_joint_t
    • Tip link: r1_tip_link (place where gripper is connected)
    • Possible goal specification: joint constraints, pose constraints
  • r2_arm
    • Joints in group: r2_joint_s, r2_joint_l, r2_joint_u, r2_joint_r, r2_joint_b, r2_joint_t
    • Tip link: r2_tip_link (place where gripper is connected)
    • Possible goal specification: joint constraints, pose constraints
  • arms
    • Joints in group: r1_joint_s, r1_joint_l, r1_joint_u, r1_joint_r, r1_joint_b, r1_joint_t, r2_joint_s, r2_joint_l, r2_joint_u, r2_joint_r, r2_joint_b, r2_joint_t
    • Tip links: r1_tip_link, r2_tip_link
    • Possible goal specification: joint constraints, pose constraints
  • ext_axis
    • Joints in group: ext_axis
    • Tip link: --
    • Possible goal specification: joint constraints

Planning service name

/clopema_planner/plan

Running tutorials

Source code for all the tutorials presented here can also be found in the clopema_planning_tutorials package.
To try the tutorials, robot must be started (real or virtual). Visit Robot controlling for more information about robot starting.

roslaunch clopema_launch virtual_robot.launch

OR
roslaunch clopema_launch start_robot.launch

Beginner level tutorials

Plan r1_arm joint goal - plan trajectory to the goal specified by the joint constraints

Intermediate level tutorials

All intermediate tutorials uses class ClopemaMove which is defined in clopema_planning_tutorials package. This class is only simple wrapper for often used functions and will be described in following tutorial.

ClopemaMove class description
Move home - go to the home position (probably most used node ever), joint contraints
Cartesian goals - pose constraints

Advanced level tutorials

More points - pose and joint constraints planning through more points