This is a ROS wrapper for implementing fabrics
The list of packages:
- fabrics_bridge: provides a one-way bridge to enable ROS to use fabrics planner for robot motion planning
- fabrics_msgs: contains custom messages used in fabrics_ros
- fabrics_processing: processes output from fabrics planner, and publishes velocity commands to a robot
mkdir -p ~/fabrics_ros_ws/src && cd ~/fabrics_ros_ws/src
git clone git@github.com:maxspahn/fabrics_ros.git
rosdep install --from-paths src --ignore-src -y
catkin build Since there are some python packages not mapped to ROS dependencies, i.g.
python3-pykalman, non-ROS Python packages will be installed using pip3. See
rosdep/python.yaml
for the entire list.
cd ~/fabric_ros_ws/src/fabrics_ros
pip3 install -r requirements.txtTo start an Albert simulation environment using velocity control mode:
roslaunch albert_gazebo albert_gazebo_navigation.launch panda_control_mode:=velocityIf you don't have a real goal and obstacles published/detected, run:
roslaunch fabrics_bridge fabrics_interactive_marker.launchIf you have a module which can publish data to /planning_goal and /planning_obs, run:
roslaunch fabrics_bridge fabrics_panda_node.launchAn example client node that can publish /planning_goal and /planning_obs:
rosrun fabrics_bridge client_nodeThen, to process output from fabrics, and publish velocity commands to /panda_joint_velocity_controller/command, run:
roslaunch fabrics_processing fabrics_processing.launchSame steps as in the simulation section except the part launching albert_gazebo_navigation.launch