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  • openrave_robot_control provides a controller that you can plugin to the rest of your system. it is meant for people writing robot drivers to get their robot working.

  • openrave_actionlib is meant to offer the actionlib controllers to openrave.

  • openraveros allows openrave to be controlled through the ROS network, but in reality this is rarely necessary for beginners. Most likely, you will create the openrave core environment, load your scene, and process ROS services or send ROS topics.

The orrosplanning planning has recently got 3 new scripts that connect it to the ROS world and offer planning services: armplanning_openrave.py, graspplanning_openrave.py, and ik_openrave.py. There are test files in the orrosplanning/test folder for each service.

Basically think of openrave as node that can process ROS services like motion planning.