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ros-industrial-attic / reuleaux

GSoC Project for robot reachability
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[Q] How to specify the target robot (model file) upon creating the reachability map? #43

Closed 130s closed 7 years ago

130s commented 7 years ago

As per title. I followed http://wiki.ros.org/reuleaux but I haven't got a map.

(The robot package I'm thinking of already has OpenRave package so I skipped chapter 3.)

geoffreychiou commented 7 years ago

I think you copy your robot_ikfast.cpp file into map_creator/include/ and modify https://github.com/ros-industrial-consortium/reuleaux/blob/master/map_creator/include/map_creator/kinematics.h by commenting out 

#include "mh5_ikfast.cpp"

and replacing it with your new file.

jontromanab commented 7 years ago

@130s Can you let me know which robot you are thinking of? I have repository of various robots ikfast files. May be I can send you the one you need.

Lets' go through your problem step-by-step:

Have you completed this step? 3.3 Setting up Kinematics for the robot Here you have move .cpp file to the map_creator/included/map_creator folder and update the kinematics.h file by putting #include "your_robot_ikfast.cpp" and commenting #include "mh5_ikfast.cpp"

Please have a look at the other open pull request of mine. Where UR5, ABB and other robots are incorporated. Or here

https://github.com/jontromanab/reuleaux/tree/robot_visualization/map_creator/include/map_creator

By the way, did your package built a map? (it should have built one for mh5 robot if you have not changed anything) It can be visualized easily. ==> Mentioned in the ros wiki Please let me know. Hope I can resolve your problem.

130s commented 7 years ago

Ok, at least my question in the subject line is answered, thanks.