Mingrui's moveit.

从源码安装 MoveIt

参考 MoveIt Document Getting Started:

# 准备工作
rosdep update
sudo apt update
sudo apt dist-upgrade

sudo apt install ros-noetic-catkin python3-catkin-tools python3-osrf-pycommon
sudo apt install python3-wstool

# 工作空间
cd <WORKSPACE>/src

mkdir moveit_all
cd moveit_all

# 下载全部 moveit 其他没有修改的包
wstool init .
wstool merge -t . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall
wstool remove moveit_tutorials
wstool remove moveit
wstool remove panda_moveit_config
wstool update -t .

安装修改后的 moveit 系列包：

cd <WORKSPACE>/src/moveit_all

# 下载 moveit
git clone https://github.com/THU-DA-Robotics/moveit.git -b mingrui-noetic

安装其他依赖：

cd <WORK_PACE>/src
rosdep install -y --from-paths . --ignore-src --rosdistro noetic

编译：

cd <WORK_PACE>
catkin_make -j8

Note

关于 distance_field 的 resolution

在 moveit_core/collision_distance_field/collision_env_distance_field.h 中定义了默认的 resolution（0.02）和 size，目前这些参数不太方便从外面传入。如需修改，还是直接在源文件里改吧。

Change Log

2022.08.08

Problem: 当环境障碍物形式为octomap时，原代码没有正确地将octree转换为points，添加进planning_scene维护的distance_field里面。导致使用distance_field得到的距离障碍物的distance和gradient都是错误的。

Modification:

• 主要修改了 moveit_core/collision_distance_field/collision_env_distance_field.cpp中的updateDistanceObject()中将octree转为points的方式。
• 涉及到的文件包括：
  • moveit_core/collision_distance_field
    • collision_distance_field_types.h (cpp)
    • collision_env_distance_field.h (cpp)
  • moveit_core/distance_field
    • distance_field.h (cpp)

---

The MoveIt Motion Planning Framework for ROS. For the ROS 2 repository see MoveIt 2.

Easy-to-use open source robotics manipulation platform for developing commercial applications, prototyping designs, and benchmarking algorithms.

• Overview of MoveIt
• Installation Instructions
• Documentation
• Get Involved

Branches Policy

• We develop latest features on master.
• The *-devel branches correspond to released and stable versions of MoveIt for specific distributions of ROS. noetic-devel is synced to master currently.
• Bug fixes occasionally get backported to these released versions of MoveIt.

MoveIt Status

Continuous Integration

service	Melodic	Master
GitHub
CodeCov
build farm

Licenses

ROS Buildfarm

MoveIt Package	Melodic Source	Melodic Debian	Noetic Source	Noetic Debian
moveit
moveit_core
moveit_kinematics
moveit_planners
moveit_planners_ompl
moveit_planners_chomp
chomp_motion_planner
moveit_chomp_optimizer_adapter
pilz_industrial_motion_planner
pilz_industrial_motion_planner_testutils
moveit_plugins
moveit_fake_controller_manager
moveit_simple_controller_manager
moveit_ros_control_interface
moveit_ros
moveit_ros_planning
moveit_ros_move_group
moveit_ros_planning_interface
moveit_ros_benchmarks
moveit_ros_perception
moveit_ros_occupancy_map_monitor
moveit_ros_manipulation
moveit_ros_robot_interaction
moveit_ros_visualization
moveit_ros_warehouse
moveit_servo
moveit_runtime
moveit_commander
moveit_setup_assistant
moveit_msgs
geometric_shapes
srdfdom
moveit_visual_tools
moveit_tutorials

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