CDRM

ROS packages for Contact Dynamic Roadmaps (CDRM). This repository contains the following packages:

• cdrm - an implementation of the CDRM data structure.
• cdrm_legged - legged planning using CDRMs.
• cdrm_msgs - messages for the cdrm package.
• cdrm_welding - a welding tool path planner using CDRMs.
• cdrm_welding_msgs - messages for the cdrm_welding package.
• cdrm_welding_tutorial - an example work cell which uses cdrm_welding to plan welds.
• example_quadruped_description - a basic quadruped URDF.
• example_quadruped_leg_kinematics - an IKFast generated solver for an individual leg.
• example_quadruped_moveit_config - a MoveIt configuration for the quadruped.

Requirements

• ROS Melodic

License

• MIT

Author

• Andrew Short (University of Wollongong) andrewjshort@gmail.com

Usage

Legged Planning

Run the RViz demo with:

roslaunch example_quadruped_moveit_config demo.launch

Before beginning planning, you must generate a CDRM:

rosrun example_quadruped_moveit_config generate_leg_cdrm.py

You can then use the MoveIt RViz motion planning GUI to plan motions. The rough_terrain.stl mesh is provided as an example environment.

Weld Planning

To run the weld planning example, first generate the CDRM for the work cell:

$ roslaunch cdrm_welding_tutorial test_m10ia_on_gantry.launch
$ rosrun cdrm_welding cdrm_welding_node
$ rosrun cdrm_welding_tutorial generate_welding_cdrm.py

Then run the plan weld script and view it in RViz:

$ roslaunch cdrm_welding_tutorial test_m10ia_on_gantry.launch
$ rosrun cdrm_welding cdrm_welding_node
$ rosrun cdrm_welding_tutorial plan_weld.py