diff --git a/notes/descartes_capability_notes.md b/notes/descartes_capability_notes.md new file mode 100644 index 0000000000000000000000000000000000000000..e599ceedccbd623831c06ebd4c9399cb02db267c --- /dev/null +++ b/notes/descartes_capability_notes.md @@ -0,0 +1,60 @@ +# 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> +```