moveit_ros_visualization

This is a Waypoints planning RViz plugin for MoveIt. I decided to create a tab page within "MotionPlanning" plugin rather than to create a separate panel because the latter solution will take further more space in RViz's window. Moreover, as a tab page, its implementation can take advantage of reusing the existing facilities.

With this tab, user can provide a set of points to plan a go-through trajectory with the Cartesian Space.

Refactor and Implementation

File	Plugin	Class	Comment
motion_planning_display.h motion_planning_display.cpp	motion_planning	refactor	added visualize function for waypoints
motion_planning_frame.h motion_planning_frame.cpp	motion_planning	refactor	forward declaration of tab waypoints added signal callback of tab waypoints overridden computeCartesianPlan
motion_planning_frame_planning.cpp	motion_planning	refactor	override computeCartesianPlan
CMakeLists.txt	motion_planning	refactor	new file's manifest
motion_planning_frame_waypoints.h motion_planning_frame_waypoints.cpp	motion_planning	new	properties and behaviors of widgets of tab waypoints ux logic
motion_planning_rviz_plugin_frame_waypoints.ui	motion_planning	new	ui from QT Designer
whi_logo.png	motion_planning	new	logo image

Build

MoveIt installed from source

In this case, just clone this repository, replace the "visualization, " and then build.

MoveIt installed from binary

First, neutralize the installed libs: "libmoveit_motion_planning_rviz_plugin.so" and "libmoveit_motion_planning_rviz_plugin_core.so"

sudo mv /opt/ros/melodic/lib/libmoveit_motion_planning_rviz_plugin.so /opt/ros/melodic/lib/libmoveit_motion_planning_rviz_plugin.so.bk
sudo mv /opt/ros/melodic/lib/libmoveit_motion_planning_rviz_plugin_core.so /opt/ros/melodic/lib/libmoveit_motion_planning_rviz_plugin_core.so.bk

Then, clone the branch "melodic" of this repository to the src folder of your workspace

cd <your_workspace>/src
git clone https://github.com/xinjuezou-whi/moveit_ros_visualization.git

and build

cd ..
catkin build

or

catkin_make

depends on your environment. And do not forget to source your workspace

source <your_workspace>/devel/setup.bash

NOTE: please refer to ruckig for its installation if MoveIt source is based on version 1.1.11 which depends on ruckig

Usage

Once the build is finished, the tab "Waypoints" will be loaded following the "Planning" while running the MoveIt launch file. Let's take the panda_moveit_config as an example:

cd <your_workspace>
roslaunch panda_moveit_config demo.launch

Loop execution

For a real-world arm, given the plan operation is succeed, check the "Loop Execution" and then execute, the arm will repeat the planned trajectory.

Point from the current goal state

There are two ways to add a point from the current goal state of eef. One is to check the "current" before clicking the "Add" or "Insert" button. And the other is to right-click the added point in the waypoints list, then click "current" on pop-up menu.

Size for interactive markers

The Interactive Marker Size property in the category Waypoints can be used to adjust the marker size of waypoint, if it is too small to be selected:

Further refinement

1. save waypoints to the file, and load them from the saved file
2. ...