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