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Suhan Robot Model Tools

Robot model tools for motion planning

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-$ROS_DISTRO-combined-robot-hw ros-$ROS_DISTRO-trac-ik ros-noetic-moveit ros-$ROS_DISTRO-nlopt
sudo apt install libnlopt-dev libnlopt-cxx-dev libglfw3-dev

pip install tqdm matplotlib

Install step and running code example

cd ~/catkin_ws/src/

git clone https://github.com/psh117/gl_depth_sim
git clone https://github.com/psh117/suhan_robot_model_tools.git

catkin build

source ../devel/setup.bash