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| The best place to start are the electric specific tutorials on the [[arm_navigation/Tutorials | tutorial page]]. For information on using arm_navigation with your robot start with [[arm_navigation/Tutorials/Automatically%20Generating%20Arm%20Navigation%20Configurations/Planning%20Description%20Configuration%20Wizard | this tutorial]]. | The best place to start are the electric specific tutorials on the [[arm_navigation/Tutorials | tutorial page]]. For information on using arm_navigation with your robot start with [[arm_navigation/Tutorials/Automatically Generating Arm Navigation Configurations/Planning Description Configuration Wizard | this tutorial]]. |
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| There will be a more substantial write-up shortly of the new features and system design, but the most important change from a compilation perspective is that the old packages mapping_msgs, geometric_shapes_msgs, move_arm_msgs, motion_planning_msgs, planning_environment_msgs, collision_environment_msgs have been collapsed into a single package called arm_navigation_msgs. If you have code in python or C++ or ROS messages that needs any messages or headers from these packages, you can invoke [[this script]] to make all the necessary changes. | There will be a more substantial write-up shortly of the new features and system design, but the most important change from a compilation perspective is that the old packages mapping_msgs, geometric_shapes_msgs, move_arm_msgs, motion_planning_msgs, planning_environment_msgs, collision_environment_msgs have been collapsed into a single package called arm_navigation_msgs. If you have code in python or C++ or ROS messages that needs any messages or headers from these packages, you can invoke [[attachment:convert_to_arm_navigation_msgs.sh | this script]] from the directory with your package or stack to make all the necessary changes. |
Only released in EOL distros:
Package Summary
This stack contains packages that permit collision-free arm navigation
- Author: E. Gil Jones gjones@willowgarage.com
- License: BSD
- Source: hg https://kforge.ros.org/armnavigation/armnavigation (branch: electric_patches)
Package Summary
This stack contains packages that permit collision-free arm navigation
- Author: E. Gil Jones gjones@willowgarage.com
- License: BSD
- Source: hg https://kforge.ros.org/armnavigation/armnavigation (branch: default)
Package Summary
This stack contains packages that permit collision-free arm navigation
- Author: E. Gil Jones gjones@willowgarage.com
- License: BSD
- Source: hg https://kforge.ros.org/armnavigation/armnavigation (branch: default)
Contents
Overview (E-Turtle)
As of E-Turtle the arm navigation stack has been released at 1.0. This release marks a substantial restructuring of the stack and architecture layout of the system. As of E-Turtle the arm_navigation stack contains a number of package members of the old stacks motion_planning_common, motion_planners, kinematics, trajectory_filters, and the old arm_navigation stack. It also contains useful new tools for auto-generation of arm navigation applications for new robot arms and interactive tools for visualizing the different components provided by arm navigation.
Getting started with arm_navigation
The best place to start are the electric specific tutorials on the tutorial page. For information on using arm_navigation with your robot start with this tutorial.
Migration from Diamondback
There will be a more substantial write-up shortly of the new features and system design, but the most important change from a compilation perspective is that the old packages mapping_msgs, geometric_shapes_msgs, move_arm_msgs, motion_planning_msgs, planning_environment_msgs, collision_environment_msgs have been collapsed into a single package called arm_navigation_msgs. If you have code in python or C++ or ROS messages that needs any messages or headers from these packages, you can invoke this script from the directory with your package or stack to make all the necessary changes.
Overview (Diamondback)
Navigation for robotic arms is implemented using a set of stacks that do everything from motion planning to trajectory filtering. These stacks include the following:
motion_planning_common - This stack contains a common set of components and packages that are useful for motion planning. It contains a set of messages and services that are useful for specifying queries to motion planners, representing plans, etc. It also contains packages for representing geometric shapes and a filter that can remove data corresponding to the body parts of the robot from 3-D sensor data.
collision_environment - This stack contains tools to create a representation of the environment for collision checking. It also contains a package to convert 3-D sensor data in the form of point clouds into collision maps that can be incorporated into the collision space.
motion_planning_environment - This stack contains tools that can be used to check collisions for a given robot state, check trajectories for collision and add/subtract objects from the environment.
motion planners - This stack contains 3 different motion planners for creating motion plans for a robotic arm.
kinematics - This stack contains a set of messages and services for motion planning that allow you to carry out kinematics computation using a kinematics node.
trajectory_filters - This stack contains a set of smoothers that can be used to smooth out trajectories. It also contains smoothers that can be used to create collision-free smooth trajectories for the PR2 robot.
arm_navigation - This stack contains an implementation of an action node that talks to the motion planners, the planning environment and the controllers to create a complete motion planning and control implementation. It also implements monitoring of executed trajectories and will preempt them if they are heading into collision with the environment.
motion_planning_visualization contains plugins to the rviz visualizer that let you visualize motion plans and collision maps.
In addition there are a bunch of PR2 specific stacks that contain specific implementations of different components for the PR2 robot. These include:
pr2_kinematics - This is a specific implementation of kinematics for the PR2 robot.
pr2_kinematics_with_constraints - This stack contains a node to provide collision free ik solutions for the PR2.
pr2_arm_navigation - This stack contains launch files for running the arm navigation components on the PR2 robot.
pr2_arm_navigation_apps - This stack contains launch files for launching a complete motion planning and control framework for the PR2 robot arms.
Tutorials/Examples
There is an extensive set of tutorials/example on the tutorials page. The tutorials will show you everything from checking collisions to sending motion plans to the PR2 robot in simulation.
Updates/News
Check out the News/Updates page for the latest updates.
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