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Package Summary
| Tags | No category tags. |
| Version | 0.3.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-05-18 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An automatically generated package with all the configuration and launch files for using the Interbotix XSeries Locobot with the MoveIt! Motion Planning Framework
Additional Links
Maintainers
- Solomon Wiznitzer
Authors
- Solomon Wiznitzer
interbotix_locobot_moveit
Overview
This package contains the necessary config files to get any rover in the Interbotix X-Series LoCoBot Family working with MoveIt. Originally, the MoveIt Setup Assistant wizard was used to generate a MoveIt package for each robot individually. The packages were then all merged into one and the launch files modified so that a few arguments could be passed down to load the right config files (specifically the SRDFs). Additionally, this package makes use of the FollowJointTrajectory interface which seems to work pretty well in both Gazebo and on the physical robot. A ‘master’ launch file was then written to allow a user to choose whether to have MoveIt work with the simulated version, the physical robot hardware, or a MoveIt generated fake robot.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- capabilities [default: ]
- disable_capabilities [default: ]
- robot_model [default: ]
- robot_name [default: ]
- show_lidar [default: ]
- external_srdf_loc [default: ]
- dof [default: ]
- use_camera [default: ]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/moveit_rviz.launch
-
- debug [default: false]
- robot_name [default: ]
- config [default: false]
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- launch/default_warehouse_db.launch
-
- reset [default: false]
- moveit_warehouse_database_path [default: $(find interbotix_xslocobot_moveit)/default_warehouse_mongo_db]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_model [default: ]
- robot_name [default: ]
- show_lidar [default: ]
- external_srdf_loc [default: ]
- dof [default: ]
- robot_description [default: robot_description]
- launch/run_benchmark_ompl.launch
-
- cfg
- robot_name [default: ]
- launch/xslocobot_moveit.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- show_lidar [default: false]
- external_urdf_loc [default: ]
- external_srdf_loc [default: ]
- mode_configs [default: $(find interbotix_xslocobot_moveit)/config/modes_all.yaml]
- use_gazebo [default: false]
- use_actual [default: false]
- use_fake [default: false]
- dof [default: 5]
- use_camera [default: false]
- use_moveit_rviz [default: true]
- world_name [default: $(find interbotix_xslocobot_gazebo)/worlds/xslocobot_gazebo.world]
- launch/setup_assistant.launch
- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/xslocobot_moveit_controller_manager.launch.xml
-
- dof [default: ]
- fake_execution [default: false]
- launch/chomp_planning_pipeline.launch.xml
- launch/sensor_manager.launch.xml
-
- robot_model [default: ]
- robot_name [default: ]
- use_camera [default: ]
- launch/xslocobot_moveit_sensor_manager.launch.xml
-
- robot_model [default: ]
- robot_name [default: ]
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/ompl_planning_pipeline.launch.xml
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- dof [default: ]
- fake_execution [default: false]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged interbotix_xslocobot_moveit at Robotics Stack Exchange
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