moveit_simple
所属分类：机器人/智能制造
开发工具：C++
文件大小：6714KB
下载次数：0
上传日期：2020-01-29 03:29:24
上 传 者：
sh-1993
说明： MoveIt的包装器，支持更传统的工业机器人编程。
(A wrapper around MoveIt that enables more traditional industrial robot programming.)
文件列表:
moveit_simple-kinetic-devel (0, 2020-01-29)
moveit_simple-kinetic-devel\.travis.rosinstall (373, 2020-01-29)
moveit_simple-kinetic-devel\.travis.yml (390, 2020-01-29)
moveit_simple-kinetic-devel\LICENSE (11356, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple (0, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\CHANGELOG.rst (1827, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\CMakeLists.txt (2572, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\cfg (0, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\cfg\moveit_simple_dynamic_reconfigure_.params (555, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\include (0, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\include\moveit_simple (0, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\include\moveit_simple\exceptions.h (2867, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\include\moveit_simple\joint_lock_options.h (1230, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\include\moveit_simple\joint_locker.h (1175, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\include\moveit_simple\moveit_simple.h (875, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\include\moveit_simple\online_robot.h (4577, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\include\moveit_simple\point_types.h (6051, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\include\moveit_simple\prettyprint.hpp (16850, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\include\moveit_simple\prettyprint_LICENSE (1337, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\include\moveit_simple\robot.h (28025, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\package.xml (2372, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\src (0, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\src\joint_lock_options.cpp (1097, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\src\joint_locker.cpp (1569, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\src\online_robot.cpp (9258, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\src\point_types.cpp (6442, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\src\robot.cpp (58332, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\test (0, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\test\config (0, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\test\config\test_display.rviz (7282, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\test\joint_lock_options.cpp (3468, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\test\joint_locker.cpp (7581, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\test\kuka_kr210.cpp (37213, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\test\kuka_kr210_utest.cpp (1036, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\test\launch (0, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\test\launch\kuka_kr210.launch (2395, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\test\launch\kuka_kr210_utest.launch (1103, 2020-01-29)
moveit_simple-kinetic-devel\moveit_simple\test\launch\motoman_mh5.launch (2173, 2020-01-29)
... ...
# Moveit Simple
## Installation
1. Clone repository into workspace [It doesn't have to be called moveit_simple_ws]
```
mkdir moveit_simple_ws && cd moveit_simple_ws
mkdir src && cd src
catkin_init_workspace
git clone -b kinetic-devel https://github.com/plusone-robotics/moveit_simple.git
```
2. Source Dependencies
```
wstool init . moveit_simple/.travis.rosinstall
cd ..
```
3. Package Dependencies
```
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
```
4. Build
```
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Debug
or
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release
source devel/setup.bash
```
## Running Tests with Rviz Visualization
```
roslaunch moveit_simple test_display.launch
rostest moveit_simple _utest.launch -r
Example:
rostest moveit_simple motoman_mh5_utest.launch -r
```
Refresh the RobotModel by un-checking and re-checking the checkbox.
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