It is recommended that you uninstall any ros moveit packages on your system. Better yet, uninstall ros and install it from scratch.
git clone --recurse-submodules git@github.com:nataliya-dev/action_ws.git
cd action_ws
./install-ws-ubuntu.sh -i
./install-ws-ubuntu.sh -b
Setup your environment -- you can do this every time you work with this particular source install of the code, or you can add this to your shell.
source ~/action_ws/devel/setup.bash # or .zsh, depending on your shell
roslaunch tacbot panda.launch
roslaunch tacbot generate_contact_plan.launch
If you are developing the tacbot package, you may notice that building can take time. To build the package and ignore other packages use:
catkin build --start-with tacbot
otherwise:
catkin build
| library | origin | upstream |
|---|---|---|
| libfranka | nataliya-dev | frankaemika |
| franka_ros | nataliya-dev | frankaemika |
| omplapp | nataliya-dev | ompl |
| ompl | nataliya-dev | ompl |
| boost_sml | PickNikRobotics | n/a |
| moveit_tutorials | ros-planning | n/a |
| panda_moveit_config | ros-planning | n/a |
| moveit | nataliya-dev | ros-planning |
| ruckig | pantor | n/a |
@INPROCEEDINGS{nechyporenko2023catrrt,
author={Nechyporenko, Nataliya and Escobedo, Caleb and Kadekodi, Shreyas and Roncone, Alessandro},
booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={CAT-RRT: Motion Planning that Admits Contact One Linke at a Time}}