Elir Motion Planning

Elir motion planning functionality based on MoveIt! framework.

Requirements

• Ubuntu 16.04 LTS (Xenial)
• ROS Kinetic Kame
• ROS Workspace
• MoveIt!

Installation

ALl the elir dependecies are installed through the elir_simulation installation shell script.

$ cd ~/catkin_ws/src/elir_simulation/install

Run the insall.sh file

$ ./install.sh

Remember to compile you do a catkin_make in your workspace.

Go to the catkin_ws:

$ cd ~/catkin_ws

Run:

$ catkin_make

Case ROS doesn't find the package, remember to source your setup.bash file

$ source ~/catkin_ws/devel/setup.bash

Dependencies

These are the ros packages needed for the motion planning integration

• MoveIt!
• joint_state_publisher
• robot_state_publisher
• geometry_msgs
• std_msgs
• std_srvs

Included Packages and features

• elir_moveit - Package generated by MoveIt! Setup Assistant tool, it contains all the configuration relative to MoveIt!, and some customs scripts already integrated with ELIR robot;
• elir_move_group - Custom move_group node, using the specific planar arm inverse kinematics solution thourgh a custom service;
• elir_inverse_kinematics - Package containing the elir inverse kinematics solver;

Avaiable Applications

Robot Control with MoveIt!:

$ roslaunch elir_moveit elir_planning_execution.launch

Custom Move group Simulation:

$ roslaunch elir_move_group custom_move_group.launch

Contributions

• Cleber Couto - clebercoutof
• Davi Oliveira - daviccoliveira
• Icaro Nascimento - icaronascimento31
• Carlos Alberto Pereira -carlospereira179

Academic Contribution

The robot academic related work is indexed to the repository in the file Graduation_Thesis_ELIR-_PT-BR.pdf.

Credits

• Marco Reis - mhar-vell