README.md

COMPAS II: ROS & MoveIt in the design environment

Introduction to ROS, topics, services, actions.

Basic inter-process communication via ROS nodes. Reproducible ROS environments with Docker.

Robot planning: forward and inverse kinematic functions, cartesian and kinematic planning. MoveIt integration in the parametric design environment.

👉 Slides 📜 Assignment 03

Examples

• ROS Basics

  • Verify connection
  • Interconnected nodes: Listener
  • Interconnected nodes: Talker
  • Interconnected nodes: Talker in GH

• ROS & MoveIt planning

  • Load robot
  • Load robot: visualization
  • Forward Kinematics
  • Inverse Kinematics
  • Cartesian motion planning
  • Cartesian motion planning: visualization
  • Free space motion planning
  • Free space motion planning: visualization
  • Constraints

• Planning scene in MoveIt

  • Planning scene preview in GH
  • Add objects to the scene
  • Append nested objects to the scene
  • Remove objects from the scene