descartes_capability

PickNik Robotics and Carbon Robotics are excited to be releasing a standalone move_group capability for planning semi-constrained Cartesian Paths with Descartes. This capability is a drop-in replacement for move_group's MoveGroupCartesianPathService.

Developed by Mike Lautman at PickNik Consulting

Install

Ubuntu Debian

NOTE: this package has not been released yet

sudo apt-get install ros-melodic-descartes_capability

Build from Source

These instructions assume you are running ROS Melodic on Ubuntu 18.04:

1. Install ROS Melodic and the following build tools.

    sudo apt-get install python-wstool python-catkin-tools
   

2. Re-use or create a catkin workspace:

    export CATKIN_WS=~/ws_catkin/
    mkdir -p $CATKIN_WS
    cd $CATKIN_WS
   

3. Download the required repositories and install any dependencies:

    git clone git@github.com:PickNikRobotics/descartes_capability.git
    wstool init src
    wstool merge -t src descartes_capability/descartes_capability.rosinstall
    wstool update -t src
    rosdep install --from-paths src --ignore-src --rosdistro melodic
   

4. Configure and build the workspace:

    catkin config --extend /opt/ros/melodic --cmake-args -DCMAKE_BUILD_TYPE=Release
    catkin build
   

5. Source the workspace.

    source devel/setup.bash
   

Developers: Quick update code repositories

To make sure you have the latest repos:

cd $CATKIN_WS/src/descartes_capability
git checkout master
git pull origin master
cd ..
wstool merge descartes_capability/descartes_capability.rosinstall
wstool update
rosdep install --from-paths . --ignore-src --rosdistro melodic

Run

To use the Descartes path service capability in place of the move_group Cartesian path planning service, you must add move_group/MoveGroupCartesianPathService and descartes_capability/MoveGroupDescartesPathService to the move_group/disable_capabilities parameter. One way to do this would be to load ./config/setup.yaml to the parameter server. You can also set these parameters explicitly in your robot's move_group.launch file.

move_group:
  disable_capabilities: move_group/MoveGroupCartesianPathService
  capabilities: descartes_capability/MoveGroupDescartesPathService

With your ROS parameters set, you can now run your favorite <robot>_moveit_config demo.launch.

eg:

roslaunch panda_moveit_config demo.launch

If you set up your environment correctly, you should see these lines output to your console:

********************************************************
* MoveGroup using:
*     - DescartesPathService
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

You can now use your shiny new DescartesPathService just like you used to use the CartesianPathService.

Visualize an example plan by running:

rosrun descartes_capability example_cartesian_command.py

Run in Docker

Prerequisite

You must have a private rsa key ~/.ssh/id_rsa that is not password protected and is attached to your Github and Bitbucket accounts. You must also have a working installation of docker.

1. Navigate to $CATKIN_WS/src/descartes_capability/.docker. You should see the Dockerfile recipe in the directory.

2. Build the docker image

    cd $CATKIN_WS/src/descartes_capability/.docker
    cp ~/.ssh/id_rsa id_rsa && docker build -t descartes_capability:melodic-source .; rm id_rsa
   

3. Run the docker image

   • Without the gui

       docker run -it --rm descartes_capability:melodic-source /bin/bash
     

   • With the gui (tested with Ubuntu native and a Ubuntu VM)

       . ./gui-docker -it --rm descartes_capability:melodic-source /bin/bash
     

Testing and Linting

To run roslint, use the following command with catkin-tools.

catkin build --no-status --no-deps --this --make-args roslint

To run catkin lint, use the following command with catkin-tools.

catkin lint -W2 --rosdistro melodic

Use the following command with catkin-tools to run tests.

catkin run_tests --no-deps --this -i