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z7uRocI(P4wdi={(!JI`r7W#(~(O14_J5>BEMGe!8@7g_YMUjyJ^NEjX>itD_aUGAk zIa5@gUf`Jf_cw7X-RAXq*WIyM2C4k%OqNq^ymn43MR+bwV5n)cx*z zpY|#RJO6uL$%MVVpO^RE#Jjp{&+--1OpP!H&=B+!BTzVE2=uaz%Yj z69REu_#^O<(1-|nW85`tE2j=KQ%~N@Ke!;*=j6hQy`!8l3Y?W_i$(34UH%Po^zoj1 zuuUW(&j^>zXvj*K`bq#mlyKqRZgGz_tQ-UK3&S?1)xt?n;@!wbiZ_fe$=iO})_;?u v8nC6QO1?!#CeoVBGJ}Fq($Y&`_ -To run the demo you'll need the `moveit_resources `_ package. +Getting Started +--------------- +If you haven't already done so, make sure you've completed the steps in `Getting Started <../getting_started/getting_started.html>`_. -Once you have this package simply run:: +You should also have gone through the steps in `Visualization with MoveIt! RViz Plugin <../visualization/visualization_tutorial.html>`_ - roslaunch moveit_resources demo_chomp.launch +Prerequisites +-------------- + 1. You must have the latest version of MoveIt! installed. On ROS Kinetic you will need to build MoveIt! from source. We will go through the steps for doing this below. + 2. To use CHOMP with your robot you must already have a MoveIt! configuration package for your robot already. For example, if you have a Panda robot, it's probably called ``panda_moveit_config``. This is typically built using the `MoveIt! Setup Assistant <../setup_assistant/setup_assistant_tutorial.html>`_. -Assumptions: ------------- +Installing MoveIt! from Source +------------------------------ +As you add and remove packages from your workspace you will need to clean your workspace and re-run the command to install new missing dependencies. Clean your workspace to remove references to the system wide installation of MoveIt!: :: - 1. You have the latest version of MoveIt! installed. On ROS kinetic you may need to build it from source. - 2. You have a MoveIt! configuration package for your robot already. For example, if you have a Kinova Jaco arm, it's probably called "jaco_moveit_config". This is typically built using the MoveIt! Setup Assistant. - 3. Lets assume that you are using the **Jaco** manipulator. And hence, the MoveIt! config package is *jaco_moveit_config*. + cd ~/ws_moveit/src + catkin clean +Now follow the instructions on the MoveIt! homepage for `installing MoveIt! Kinetic from source `_. Note that you can skip the **Prerequisites** section since you should already have a Catkin workspace. -Using CHOMP with your own robot -------------------------------- +Re-source the setup files: :: -1. Simply download `chomp_planning_pipeline.launch.xml `_ file into the launch directory of your MoveIt! config package. So into the *jaco_moveit_config/launch* directory. -2. Adjust the line to -3. Download `chomp_planning.yaml `_ file into the config directory of your MoveIt! config package. So into the *jaco_moveit_config/config* directory. -4. Copy the *demo.launch* file to *demo_chomp.launch*. Note that this file is also in the launch directory of the *jaco_moveit_config* package. -5. Find the lines where *move_group.launch* is included and change it to: :: + source ~/ws_moveit/devel/setup.bash - +Using CHOMP with Your Robot +--------------------------- +**Note:** if you are following this demo using the ``panda_moveit_config`` from the `PickNikRobotics/panda_moveit_config `_ repository, these steps are already done for you and you can skip this section. + +#. Simply download `chomp_planning_pipeline.launch.xml `_ file into the launch directory of your MoveIt! config package. In our case, we will save this file in the ``panda_moveit_config/launch`` directory. +#. Adjust the line ```` to ```` replacing ```` with the name of your MoveIt! configuration package. +#. Download `chomp_planning.yaml `_ file into the config directory of your MoveIt! config package. In our case, we will save this file in the ``panda_moveit_config/config`` directory. +#. Open ``chomp_planning.yaml`` in your favorite editor and change ``animate_endeffector_segment: "panda_rightfinger"`` to the appropriate link for your robot. +#. Copy the ``demo.launch`` file to ``demo_chomp.launch``. Note that this file is also in the launch directory of your MoveIt! config package. In our case, the ``panda_moveit_config/launch`` directory. +#. Find the lines where ``move_group.launch`` is included and change it to: :: + + + @@ -37,8 +50,8 @@ Using CHOMP with your own robot -You probably only need to change the planner arg to chomp. - -6. Run the demo:: +Running the Demo +---------------- +If you have the ``panda_moveit_config`` from the `PickNikRobotics/panda_moveit_config `_ repository you should be able to simply run the demo: :: - roslaunch jaco_moveit_config demo_chomp.launch + roslaunch panda_moveit_config demo_chomp.launch \ No newline at end of file

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