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Remove chomp dependency as its not released as debian yet
changing trajectory topic to match tutorials
* added STOMP related planning files * removed CHOMP stuff
added 3 new CHOMP parameters in chomp_planning.yaml file
Merge with panda_moveit_config from franka_ros
Rename camera to match perception tutorial: moveit/moveit_tutorials#178.
As of moveit/moveit#1251, CHOMP uses automatically the hybrid collision detector.
* add default_planner_request_adapters/ResolveConstraintFrames * chomp pipeline: define default planning adapters
* added new files for emptyplan * edited demo.launch to accept planner arg * Added emptyplan_planning.yaml so it can be used for new planners. It is an empty file. Added rosparam in emptyplan_planning_pipeline.launch.xml to load its yaml file * from empty to trajopt * modified some comment * renamed and edited the context of files from empty to trajopt * removed move_group_trajop.launch, we do not need this file * applied Dave's comments * restored setup_assistant * added trajopt params in yaml file removed extra planner arg in demo.launch * addressed the comments * corrected pipeline in move_group
* added new files for emptyplan * edited demo.launch to accept planner arg * Added emptyplan_planning.yaml so it can be used for new planners. It is an empty file. Added rosparam in emptyplan_planning_pipeline.launch.xml to load its yaml file * added necessary files for LERP * chaged the virtual joint to fixed * added yaml file * addressed the comments * revet back to floating for virtual joint and revert moveit.rviz
Define 'extended' state for 'panda_arm' group.
* demo_chomp.launch: reuse demo.launch * new planning pipeline ompl-chomp
Co-authored-by: Libor Wagner <[email protected]>
As explained in moveit/moveit#2053 AddTimeParameterization should be at the begining of the list.
franka_description got updated with a more coarse collision model [1] matching the internal self-collision detection, so the SRDF needs to be adapted. Disable collision checking between panda_link6 and panda_link8 which collide in the default pose. Tested with example controllers. Closes moveit#18. Resolves moveit/moveit#1210, resolves frankaemika/franka_ros#39. [1] frankaemika/franka_ros@e52c03a
This commit adds the 'demo_stomp.launch' file that is referenced in https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html. Fixes moveit#44.
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See disucussion here: frankaemika/franka_ros#186 (comment)