ADD: descartes_capabilities_notes

notes/descartes_capability_notes.md

+# Descartes Notes
+
+## descartes_capability package
+
+Alternative to get a solution in the form descartes + moveit, being descartes a pluging, so it is possible to call compute cartesian path using the moveit interface.
+
+* Only works in melodic (Possible portability to noetic, but crash on execution)
+
+## Examples
+
+* iiwa
+* doosan
+* abb
+
+Terminal 1:
+
+```bash
+roslaunch flexbotic_robots_iiwa iiwa_ikfast.launch
+```
+
+Terminal 2:
+
+```bash
+rosrun descartes_examples example_cartesian_manipulator.py
+```
+
+## OPW
+
+selfTest with jointVector = 0.1, -0.1, 0.2, -0.3, 0.5, -0.8
+
+## move_group
+
+iiwa_moveit (official iiwa_stack)
+
+```text
+  <!-- Load MoveGroup -->
+        <include file="$(find iiwa_moveit)/launch/move_group.launch">
+            <arg name="publish_monitored_planning_scene" value="true" />
+            <arg name="hardware_interface" value="$(arg hardware_interface)"/>
+            <arg name="robot_name" value="$(arg robot_name)"/>
+            <arg name="model" value="$(arg model)" />
+        </include>
+```
+
+iiwa7_moveit_config (custom ikfast)
+
+```text
+ <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+   <include file="$(find iiwa7_moveit_config)/launch/move_group.launch">
+     <arg name="allow_trajectory_execution" value="true"/>
+     <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+     <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
+     <arg name="info" value="true"/>
+     <arg name="debug" value="$(arg debug)"/>
+     <arg name="pipeline" value="$(arg pipeline)"/>
+     <arg name="load_robot_description" value="$(arg load_robot_description)"/>
+     <arg name="capabilities" value="descartes_capability/MoveGroupDescartesPathService"/>
+     <arg name="disable_capabilities" value="move_group/MoveGroupCartesianPathService"/>
+   </include>
+```