robocare_motion_planner

How do I get set up?

franka robot setup

sudo apt install ros-kinetic-franka-description

• Copy 'panda_arm_RRT.xacro' and 'panda_arm_RRT.urdf.xacro' files to your ${franka_description/robots} folder

trac-ik

sudo apt-get install ros-kinetic-trac-ik-lib

trajectory lib

git clone https://github.com/ggory15/trajectory_smoothing --recursive
cd trajectory_smoothing
mkdir build && cd build
cmake ..
make
sudo make install

rbdl

wget https://bitbucket.org/rbdl/rbdl/get/849d2aee8f4c.zip
unzip 849d2aee8f4c.zip
cd rbdl-rbdl-849d2aee8f4c
mkdir build
cd build
cmake -D RBDL_BUILD_ADDON_URDFREADER=ON ..
make all
sudo make install

• If an error occurs, open rbdl-rbdl-[commit]/addons/urdfreader/urdfreader.cc and remove this line

#include <ros.h>

How do I run the simulation?

• Launch V-Rep after roscore
• Open .ttt
• roslaunch

roslaunch robocare_motion_planner demo.launch