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Hi,

We are currently developing a more comprehensive tool for interacting with Planning Scenes (the stuff that your robot is trying to not run into) - this tool allows you to create planning scenes, save to and load from a database, create different motion plan requests, generate, save, and visualize trajectories, and send those trajectories to controllers and record the results. It should be a really neat and powerful tool. We have a working prototype for the PR2 - we haven't yet made this robot agnostic, but that's a near term goal.

This tool will be released with Electric, but not in the arm_navigation stack - we're not ready to label this a 1.0 tool yet. Once we've got a release out we'll be adding a tutorial.

And if you have any feedback on tools like the Planning Components Visualizer or the tutorials, we'd love to hear them!