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ktmpb package from mobile-manipulator-planning repo

ktmpb hpp-doc path_modification ramp ramp_control ramp_debug ramp_launch ramp_msgs ramp_planner ramp_sensing trajectory_evaluation trajectory_generator trajectory_visualisation moveit_tmp_capabilities moveit_tmp moveit_tmp_msgs base_placement_plugin map_creator reuleaux workspace_visualization bt_kuka erl_rnt kuka_kmr_description kuka_kmr_iiwa_config kuka_kmr_iiwa_description kuka_kmr_iiwa_lbr_arm_ikfast_plugin kuka_kmr_iiwa_tasks kuka_kmr_nav kuka_lbr_arm_config kuka_lbr_arm_description kuka_msgs amcl base_local_planner carrot_planner clear_costmap_recovery costmap_2d dwa_local_planner fake_localization global_planner map_server move_base move_slow_and_clear nav_core navfn navigation rotate_recovery voxel_grid object_tracking realsense2_description robots_models rsd simulation environmental_model ros_tms tms_db_manager tms_db_state_publisher corridor_viewer tms_msg_db tms_msg_rc tms_msg_rp tms_msg_rs tms_msg_sa tms_msg_sd tms_msg_ss tms_msg_ts tms_msg_ur tms_nw_api tms_nw_rp tms_nw_svr tms_rc_bed tms_rc_bot tms_rc_double tms_rc_katana tms_rc_kobuki_control kobuki_navigation kobuki_slam kobuki_tf tms_rc_kobuki_virtual_control tms_rc_kxp_virtual_control tms_rc_mimamorukun_control tms_rc_ninebot tms_rc_pot tms_rc_rtkbot tms_rc_smartpal_action tms_rc_smartpal_control tms_rc_smartpal_control_test tms_rc_smartpal_tagreader tms_rc_smartpal_tts tms_rc_smartpal_virtual_control tms_rc_turtlebot_control tms_rc_turtlebot3 rostms_bringup rostms_description rostms_gazebo rostms_moveit_config skeleton_description smartpal5_arm_navigation smartpal5_description smartpal5_gazebo smartpal5_moveit_config tms_rp_path_planning tms_rp_voronoi_map tms_rs_action tms_rs_greeting_demo tms_rs_refrigerator tms_ss_ibs tms_ss_kinect_v2 tms_ss_nfbed tms_ss_ninebot_pozyx tms_ss_pot tms_ss_pozyx tms_ss_ps_manager tms_ss_tracker tms_ss_vicon tms_ss_vs tms_ss_watch tms_ss_whs1 tms_ss_xtion tms_ts_smach tms_ts_subtask tms_ts_ts tms_ur_gaze_server tms_ur_listener tms_ur_slack tms_ur_speaker

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Package Summary

Tags No category tags.
Version 1.0.0
License GPLv2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description Collection of resorces avaiable for mobile manipulator planning
Checkout URI https://github.com/sandakalum/mobile-manipulator-planning.git
VCS Type git
VCS Version main
Last Updated 2023-01-16
Dev Status UNKNOWN
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

ktmpb: interface between FF task planner and kautham motion planner

Additional Links

Maintainers

  • Institute of Industrial and Control Engineering (IOC-UPC)

Authors

No additional authors.
Flexibly_configuring_task_and_motion_planning_problems_for_mobile_manipulators/ktmpb-python-branch/README.md

ROS client for Flexibly configuring task and motion planning problems

A planning framework for both levels of planning that includes an easy way to configure their interconnection. Motion planning is done using The Kautham Project, which is equipped with the Open Motion Planning Library suite of sampling-based motion planners,and task planning is done using the Fast Forward task planner. Both planning levels are acessible through Robotic Operating System interfaces using services. A client program then uses these task and motion planning services and an XML configuration file that defines the linkage between symbolic actions and geometric values, to compute the sequence of feasible robot motions that allow to successfully execute a manipulation task.

Requirements

  • ROS Melodic with Python 3
  • The Kautham Project (tamp branch)
  • FF Planner
  • GraspIt

Installing

ROS Melodic Python 3

Guide to install ROS Melodic can be found here

Installing the basic libraries for Python 3

Run the following commands in a terminal window Installing Python 3 files:

$ sudo apt install -y python3 python3-dev python3-pip build-essential python3-yaml
$ sudo install rosdep rospkg rosinstall_generator rosinstall wstool vcstools catkin_tools catkin_pkg

Initializing it

$ sudo rosdep init
$ rosdep update

Setting up workspace for ROS

Create workspcace

$ sudo mkdir <workspace-name>
$ cd <workspace-name>
$ sudo mkdir src

The Kautham Project

Clone the tamp branch of The Kautham Project in the src directory of your workspace

$ git clone --single-branch --branch=tamp https://gitioc.upc.edu/kautham/kautham.git

Build Kautham

$ mkdir build
$ cd build
$ cmake ..
$ make

Task and motion planning repository

Clone the meta respository in the src directory of your workspace

$ git clone https://gitioc.upc.edu/rostutorials/task_and_motion_planning.git
$ cd task_and_motion_planning
$ git checkout python-branch
$ git submodule init
$ git submodule update
$ git submodule status

Tiago arm kinematics

Clone the respository in the src directory of your workspace

git clone -single-branch --branch=python-branch https://gitioc.upc.edu/robots/kinenik.git

Intalling GraspIt-Ros

Dependencies

$ sudo apt-get install libqt4-dev
$ sudo apt-get install libqt4-opengl-dev
$ sudo apt-get install libqt4-sql-psql
$ sudo apt-get install libcoin80-dev
$ sudo apt-get install libsoqt4-dev
$ sudo apt-get install libblas-dev
$ sudo apt-get install liblapack-dev
$ sudo apt-get install libqhull-dev
$ sudo apt-get install libeigen3-dev

Graspit Installation

$ git clone git@github.com:graspit-simulator/graspit.git
$ cd graspit
$ export GRASPIT=$PWD
$ mkdir build
$ cd build
$ cmake ..
$ make -j5
$ sudo make install

Setting Up Environment Variable Graspit environment variable is added to the bashrc file using the following command

echo "export GRASPIT=<directory that contains model and world folder>" >> ~/.bashrc    
source ~/.bashrc

It will permanently setup the graspit environment variable. And needs to be set according to the example being used.

Compiling the Graspit_ros Node

mkdir -p graspit_ws/src
cd graspit_ws
catkin_make
source devel/setup.bash
cd src
git clone https://github.com/Muhayyuddin/GraspIt-RosNode.git
cd ..
catkin_make

Build workspace

$ catkin build
$ source devel/setup.bash

Running the example

Tiago-kitchen example with robot configuration

To run the Tiago-Kitchen example

$ roslaunch ktmpb tiago_kitchen.launch
Making changes to the task and motion planning problem

Thetampconfig.xml file can be modified for creating different instances of the maniulation tasks.

Tiago-Kitchen example with Position of the the object

Tiago arm kinamatics package needs to be installed Make changes in thetampconfig.xml file accordingly:

  • Comment or remove the Graspcontrols tags
  • Uncomment the Pose tag to use obstacle position to Pick the object
  • Uncomment the Poseregion tag to set a region to Place the object

To run the Tiago-Kitchen example with position

$ roslaunch ktmpb tiago_kitchen.launch

Verify with Kautham GUI

To run the Kautham GUI and verify the solution

$ roslaunch ktmpb kautham_gui.launch
  • Open the tiago_mobile_counterA_counterB.xml problem in the Kautham GUI
  • Load the taskfile taskfile_tampconfig.xml
  • Click on start move

Alt text

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

Deps Name
roscpp
std_msgs
message_generation
ff
kautham
catkin
kautham_py

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged ktmpb at Robotics Stack Exchange

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