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Cooperative Manipulation Planning » History » Version 4

Kévin Desormeaux, 2021-06-16 01:15

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h1. Cooperative Manipulation Planning
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!cm2p_laas.png!
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h2. Installation process
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- Install ROS Melodic
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- Install ROS Moveit! and ompl packages. http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/getting_started/getting_started.html
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- Create a ROS catkin workspace for CM2P. Inside you will clone the following repositories:
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- Clone https://redmine.laas.fr/projects/dual_pandas_moveit_config and be on laas_setup branch. 
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- Clone http://wiki.ros.org/manipulation_msgs and http://wiki.ros.org/household_objects_database_msgs. Basically these are kinetic repos that do not exist in melodic. 
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But we can put them in the catkin workspace and it will work fine. It is to avoid compatibility problems with moveit_ompl_planning_interface (if i rememember well) so install them before.
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- Clone moveit_ompl_planning_interface. The original repository and documentation can be found here: https://github.com/KavrakiLab/moveit_ompl_planning_interface
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However you should clone this repo: https://redmine.laas.fr/projects/moveit_ompl_planning_interface
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It is the code compatible with ros melodic, dual_arm_worker melodic branch, dual_arm_planning_api etc. 
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- Clone dual_arm_worker, melodic branch: https://redmine.laas.fr/projects/dual_arm_worker_private/repository  
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Installation tutorial is available here: https://homepages.laas.fr/jcortes/DualArmManipTuto/
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However you should skip the moveit_ompl_planning_interface step described in this tutorial and use the package in the step above. 
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- Finally clone this package, the dual_arm_plannin_api.
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You are encouraged however to build the workspace everytime you add a package.