Minimal example of frankie planning pipeline using moveit
This repo consider the required moveit2 library including the ros dependencies, inside the src folder we have the different ros packages including:
- frankie_description -> Robot description
- frankie_moveit_config -> Planning configuration, considering the non-holonomic constraints of the robot
- frankie_planner -> launch files and scene descriptions
- stretch_kinematics_plugin -> Modified version of the stretch kinematics plugin to sample ik solutions
The modifications for the ik plugin consider in a nutshell that we always start with a random seed to avoid re using a position of the base previously computed
Just run the following:
First clone this repo and the submodules
git clone git@github.com:nmarticorena/frankie_planner.git
cd frankie_planner
git submodule update --init --recursive
Only first time
pixi run build
Then on one terminal to launch the visualization, controllers and moveit configs
pixi run rviz
Finally to run the planning pipeling using moveit_py
pixi run python scripts/load_rmmi.py