moveit!

最新推荐文章于 2025-06-19 11:14:58 发布

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本文详细介绍了如何在ROS Hydro环境中安装MoveIt!及其相关组件，包括必要的依赖项、配置文件和启动文件。此外还提到了MoveIt!的核心功能，如运动规划、碰撞检测等。

11.8 Installing MoveIt!
To install MoveIt!, first make sure you have the latest updates:
$ sudo apt-get update
Then install the packages:
$ sudo apt-get install ros-hydro-moveit-full
We will also need the IK Fast module:
$ sudo apt-get install ros-hydro-moveit-ikfast

cd ~/catkin_ws/src
git clone https://github.com/ros-planning/moveit_ros.git
git clone https://github.com/ros-planning/moveit_core.git
git clone https://github.com/ros-planning/moveit_setup_assistant.git
cd ~/catkin_ws
catkin_make

sudo apt-get install ros-hydro-moveit-full-pr2

git clone https://github.com/ros-planning/moveit_setup_assistant.git

the planning scene pipeline including collision checking and an occupancy
grid using an Octomap
◦ motion planning using OMPL (Open Motion Planning Library)
◦ the move_group node that provides topics, services and actions used for
kinematics, planning and execution, pick and place, state validation and
planning scene queries and updates
◦ a joint trajectory controller manager for launching the appropriate trajectory
controllers for the given robot

Two key items not created by the MoveIt! Setup Assistant are the configuration files and
launch files for your robot's particular joint controller.