Stretch robot and mobile manipulation planning #291
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…kinematics solver programatically
ChamzasKonstantinos
requested changes
Jul 29, 2022
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This implementation depends on a custom version of Moveit, that modifies the PlanarJoint.
We cannot merge it as it is now, since it breaks the code here: https://github.com/KavrakiLab/robowflex/runs/7571963014?check_suite_focus=true#step:3:2993
Maybe, remove the diff-drive feature? or make it dependent on a specific version of Moveit?
| @@ -387,7 +387,7 @@ bool Robot::loadKinematics(const std::string &group_name, bool load_subgroups) | |||
| std::find(groups.begin(), groups.end(), name) == groups.end()) | |||
| { | |||
| RBX_ERROR("No JMG or Kinematics defined for `%s`!", name); | |||
| return false; | |||
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Will this not create a problem?
scchow
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May 5, 2023
- Based on PR: KavrakiLab#291 - Incorporating functions necessary to do mobile base + manipulator planning with robowflex.
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base_manipulator_kinematics_plugin. See here.