Adds stomp planner #29
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There appears to be a problem using the stomp planner with the current noetic-devel-update branch (see GIF below):
This problem is explained in this upstream issue. |
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This was done since the `moveit_setup_assistant` currently doesn't propagate `xacro` arguments you supply to the `urdf.xacro` file (see [this issue](moveit/moveit#1691)). We need to manually add a way to enable or disable the gripper. This can be done by creating a `panda.srdf.xacro` file.
This argument is needed for the [quickstart_in_rviz_tutorial](https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html).
As Franka changed the collision geometries from meshes to coarse shapes (matching the collision model of the internal controller) we now observe various self-collisions in some default poses. This commit disables collision checks between link8 and links 5+6.
This file can be used to control a real Panda using MoveIt.
This commit adds the files needed for running the trajopt planner example that is found in the [moveit_tutorials](https://ros-planning.github.io/moveit_tutorials/doc/trajopt_planner/trajopt_planner_tutorial.html). This planner is not included into `move_group.launch` by default but can be invoked via the `pipeline` argument. This was done since it is not yet officially released (see moveit/moveit#1467).
This commit adds all the scripts needed to run the STOMP planner example in the [stomp_planner_tutorial](https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html).
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This pull request adds all the scripts needed to run the STOMP planner example in the stomp_planner_tutorial.