Stretch robot and mobile manipulation planning #291
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added 5 commits
June 28, 2022 16:02
…kinematics solver programatically
ChamzasKonstantinos
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Jul 29, 2022
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This implementation depends on a custom version of Moveit, that modifies the PlanarJoint.
We cannot merge it as it is now, since it breaks the code here: https://github.com/KavrakiLab/robowflex/runs/7571963014?check_suite_focus=true#step:3:2993
Maybe, remove the diff-drive feature? or make it dependent on a specific version of Moveit?
| std::find(groups.begin(), groups.end(), name) == groups.end()) | ||
| { | ||
| RBX_ERROR("No JMG or Kinematics defined for `%s`!", name); | ||
| return false; |
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Will this not create a problem?
scchow
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May 5, 2023
- Based on PR: KavrakiLab#291 - Incorporating functions necessary to do mobile base + manipulator planning with robowflex.
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base_manipulator_kinematics_plugin. See here.