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Hi Fei,
i just wanted to tell you that we (Martin and I) just pushed the latest version of our katana_driver stack, which now supports constraint aware motion planning for our arm.
The set up is the following:
with this set up we are now able to use OMPL within our for our arm navigation. I hope looking through our files will help you setting up your arm. We also included some code for testing within the katana_openrave_test package.
Please feel free to e-mail me if you could need more detailed support or in cases you find some bugs or other ideas for improvement.
Greetings from Osnabrück, Henning