Hello dear community,
General information:
- I am using ROS hydro
- new to ROS (using it for 6 months)
I am a student and for my master thesis i have to program a robot using ROS and MoveIT! for a pick and place implementation.
I am having some problems with path planning in MoveIT!. I have successfully loaded in an octomap (.bt) (a box with stuff in) in Rviz using the Marker Array tool and subscribing to the /occupied_cells_vis_array topic. The octomap is posted on this topic using octomap_server:
*code:*
rosrun octomap_server build/devel/lib/octomap_server/octomap_server_node SOLMeasurePolygon.binvox.bt
I also made my own Epson robot for visualisation in Rviz. I am able to show the octomap and the robot in Rviz and i can do pathplanning using the OMPL library. Now i have some questions:
1) How can i change the position of the octomap in Rviz, after the simulations i'm going to use this on a real robot and the relative position of the box is always the same in regard to the robot. Therefore i would like to put the octomap at the exact location X Y Z to the robot.
2) I am using the motion planner for path planning but i can't seem to click on the robot and drag it to a position i would like it to go (to set it as a goal state), i can only set a new goal state using the "random" button
3) Is it possible to make planning scene objects from parts op the octomap? I want to take one thing out of the box and place it somewhere else.
4) How hard is the transition from the simulation in Rviz to self-excecuting pathplanning on a real robot?
At the moment i made use of existing code since i have no knowledge of c++ but have to manually start up everything every time.
I have read allot about the things i need but i just can't understand it all because most explanations are "add this line of code" but they don't specify where. Also because i lack knowledge of c++ this is extra difficult.
Octomap and robot in Rviz:
Close-up of the octomap:
Kind regards
Joris Beuls
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