This package provides "simple" interfaces for using HPP with ROS robots, aswell as some examples.
The library prl_hpp provides mainly two classes :
- Planner : Formulate and solve some classic path planning problems (using HPP) and return the plans.
- Commander : a class that allows to send commands to the robot for following a hpp plans. (It is built on top of the prl_pinocchio Commander)
It also provides some files to instantiate all the above class for the prl robots setup :
And some examples with launchfiles.
Dependencies:
- rospy : http://wiki.ros.org/ROS/Installation
- hpp-manipulation-corba, hpp-gepetto-viewer : https://humanoid-path-planner.github.io/hpp-doc/download.html
- prl_pinocchio : link
(optionnal)
- prl_ur5_robot : https://github.com/inria-paris-robotics-lab/prl_ur5_robot
roslaunch prl_hpp sim.launch
rosrun prl_hpp example.py