Only released in EOL distros:   electric fuerte groovy

Details

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:

1. 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.

2. 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.

3. 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.

4. motion planners - This stack contains 3 different motion planners for creating motion plans for a robotic arm.

5. 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.

6. 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.

7. 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.

8. 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:

1. pr2_kinematics - This is a specific implementation of kinematics for the PR2 robot.

2. pr2_kinematics_with_constraints - This stack contains a node to provide collision free ik solutions for the PR2.

3. pr2_arm_navigation - This stack contains launch files for running the arm navigation components on the PR2 robot.

4. pr2_arm_navigation_apps - This stack contains launch files for launching a complete motion planning and control framework for the PR2 robot arms.

Installation

• Install on top of Box Turtle:

   ~/rosinstall -o ~/arm_navigation http://www.ros.org/rosinstalls/extensions/arm_navigation_boxturtle.rosinstall
   . ~/arm_navigation/setup.sh

  For developers wanting to use trunk

   ~/rosinstall -o ~/arm_navigation http://www.ros.org/rosinstalls/extensions/arm_navigation_dev.rosinstall
   . ~/arm_navigation/setup.sh

These instructions will put the checkout in ~/arm_navigation. You will probably want to permanently add

 . ~/arm_navigation/setup.sh

to your .bashrc if you plan on keeping arm_navigation as part of your environment by default.

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.

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