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RethinkRobotics / sawyer_moveit

MoveIt! configurations and plugins for the Sawyer robot.
http://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial
Apache License 2.0
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motion-planning moveit ros

readme

Sawyer MoveIt

The Sawyer MoveIt repo is intended as an interface to the MoveIt motion planning library for enabling the development of complex 7-DOF trajectory generation.

This repository contains the packages for installation/use of the Sawyer Robot in MoveIt.

Installation

+-----------------+---------------------------------------------------------------------------------+ | Please follow the Getting Started wiki page for instructions on installation of the Intera SDK: | | http://sdk.rethinkrobotics.com/intera/Workstation_Setup | +-----------------+---------------------------------------------------------------------------------+ | Then please follow the MoveIt Tutorial wiki page for instructions on getting started with MoveIt: | | http://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial | +-----------------+---------------------------------------------------------------------------------+

Code & Tickets

+-----------------+-------------------------------------------------------------------------------+ | Documentation | http://sdk.rethinkrobotics.com/intera/ | +-----------------+-------------------------------------------------------------------------------+ | Issues | https://github.com/RethinkRobotics/sawyer_moveit/issues | +-----------------+-------------------------------------------------------------------------------+ | Contributions | https://github.com/RethinkRobotics/sawyer_moveit/blob/master/CONTRIBUTING.md | +-----------------+-------------------------------------------------------------------------------+

Sawyer Repository Overview

::

 .
 |
 +-- sawyer_moveit/             Sawyer MoveIt metapackage containing all Sawyer-specific packages
 |
 +-- sawyer_moveit.rosinstall   rosinstall script containing all required Sawyer dependency repos
 |
 +-- sawyer_moveit_config/      Custom MoveIt pacakge with config, launch, and srdf files for sawyer

Other Sawyer Repositories

+------------------+-----------------------------------------------------+ | intera_sdk | https://github.com/RethinkRobotics/intera_sdk | +------------------+-----------------------------------------------------+ | intera_commom | https://github.com/RethinkRobotics/intera_common | +------------------+-----------------------------------------------------+ | sawyer_robot | https://github.com/RethinkRobotics/sawyer_robot | +------------------+-----------------------------------------------------+

Latest Release Information

http://sdk.rethinkrobotics.com/intera/Release-Changes