Suhan Robot Model Tools2

Robot model tools for motion planning on ROS2

Features

• Collision checker (MoveIt planning scene)
• IK solver (TRAC IK)
• Motion planning (RRT Connect)
• Constraint functions for orientaiton and kinematic constraints
• Visual simulation (OpenGL)
• Python API

Installation guide

Install dependencies

sudo apt install ros-$ROS_DISTRO-moveit
sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
sudo apt install libnlopt-dev libnlopt-cxx-dev libglfw3-dev

pip install tqdm matplotlib

Install step and running code example

cd ~/ros2_ws/src/
git clone https://github.com/JunHeonYoon/trac_ik.git
git clone https://github.com/JunHeonYoon/gl_depth_sim
git clone -b humble https://github.com/JunHeonYoon/suhan_robot_model_tools.git

cd ..
colcon build
source install/setup.bash