RoboJackets / urc-software

Primary codebase for the RoboNav team's URC rover.

https://robojackets.org/teams/robonav/

MIT License

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Feat/movegroups #123

Closed MKerner3 closed 1 year ago

MKerner3 commented 1 year ago

Description

This PR does the following:

Adds move group planning to the arm for trajectory execution
Adds a demo file to test path planning and execution within rviz
Allows the robot to be configured with the move group c++ interface

Fixes #111

Testing Steps

Test Case 1

cd to your rover colcon
colcon build
. install/setup.bash
ros2 launch urc_arm_moveit_config demo.launch.py

Expectation: The robot arm loaded in rviz, with the ability to move it around and execute path plans.

Design Doc

Link to Design Doc

Self Checklist

[x] I have formatted my code using ament_uncrustify --reformat
[x] I have tested that the new behavior works