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## title = Perform Path Planning in Simulation Using Arm Warehouse Viewer
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## description = Gives instructions for launching the arm warehouse viewer for the motoman sia10D robot.
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Tutorial based on IROS 2011 [[arm_navigation/Tutorials/IROS2011|arm navigation tutorial]].  Clarification on the steps within this tutorial can be found there.

== Overview ==
This tutorial demonstrates some early capabilities of the ROS-Industrial software.  The steps in the tutorial walk you through bringing up and using some simple features of the arm navigation warehouse for an actual robot or a simulated one.  The arm warehouse allows you to plan motion in a simulated environment.

== References ==
It is recommended that you be familiar with the following arm navigation tutorials.
  * [[http://www.ros.org/wiki/arm_navigation/Tutorials/IROS2011|IROS 2011 Tutorial on Motion Planning for Real Robots]]
  * [[http://www.ros.org/wiki/arm_navigation/Tutorials|All ROS-Electric arm navigation tutorials]]
  
== Arm Navigation Warehouse ==
The arm navigation warehouse is used to demonstrate and test arm motion planning.  For a detailed tutorial on the warehouse see this [[http://www.ros.org/wiki/arm_navigation/Tutorials/tools/Warehouse%20Viewer|tutorial]]
  1. Bring up a terminal window
  1. Launch the warehouse viewer for the sia10d Motoman robot: {{{roslaunch sia10d_mesh_arm_navigation planning_scene_warehouse_viewer_sia10d_mesh.launch}}}
  1. The launch file will bring up the nodes and GUI required to run the warehouse viewer.  Select the warehouse window (this window may be behind the main rviz window): 

     <<BR>>{{attachment:select_planning_window.png}}<<BR>>

  1. Accept the default setup of the arm navigation viewer: 

    <<BR>>{{attachment:accept_default_pllanning_config.png}}<<BR>>

  1. Play around with the arm warehouse.  Added virtual collision object in the robot workspace and plan trajectories around them.