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Using the Planning Comptonents Visualizer to Control the hardware

asked 2011-09-22 08:43:45 -0600

John Hoare gravatar image

Is it possible to use the Planning Components Visualizer to directly control the arm?

Or is there something else that exists with similar functionality?

I want to be able to move around the physical arm rather than just the visualization of one.

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answered 2011-09-22 12:31:09 -0600

egiljones gravatar image

The arm navigation warehouse viewer does exactly this and a lot more. The tutorial on it is a little out of date, but still should largely work: .

Make sure to update your debs as we just released the arm_navigation_experimental stack with some important bug fixes.

Look particularly at Section 4.2.3 . This script now creates a planning_scene_warehouse_viewer_<your_robot_name>.launch file in your auto-generated arm navigation application directory which you can run directly. Running alongside a running system should just involve filling out topics for your controllers and selecting the "Use Robot Data" flag.

We'll be updating the tutorial soon.

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I'm looking forward for updated tutorial... :-)
ZdenekM gravatar image ZdenekM  ( 2011-11-29 20:45:27 -0600 )edit

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Asked: 2011-09-22 08:43:45 -0600

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Last updated: Sep 22 '11