The code used in this tutorial is available!

Code can be found at industrial_training repository in doc folder. Use kinetic-devel branch.

Initialize Descartes

This exercise consist of setting up the Descartes Robot Model and Path Planner that our node will use to plan a path from a semi-constrained trajectory of the tool.

Locate Exercise Source File

  • Go to the main application source file located in '''plan_and_run/src/plan_and_run_node.cpp'''.
  • In the main program , locate the function call to '''application.initDescartes()'''.
  • Go to the source file for that function located in the '''plan_and_run/src/tasks/init_descartes.cpp'''. Alternatively, in Eclipse you can click in any part of the function and press "F3" to bring up that file.
  • Comment out the first line containing the //ROS_ERROR_STREAM("Task '"<<__FUNCTION__ <<"' is incomplete. Exiting"); exit(-1); entry so that the function doesn't quit immediately.

Complete Code

  • Invoke the [[descartes_core::RobotModel::initialize()|http://docs.ros.org/indigo/api/descartes_planner/html/classdescartes__planner_1_1DensePlanner.html#af6e9db3c1dec85046fc836136cf7b0fb]] method in order to properly initialize the robot.
  • Similarly, initialize the Descartes planner by passing the ''robot_model_'' variable into the '''descartes_core::!DensePlanner::initialize()''' method.
  • Find comment block that starts with /* Fill Code: and complete as described.
  • Replace every instance of [ COMPLETE HERE ] accordingly.

Build Code and Run

  • cd into your catkin workspace and run catkin build
  • Then run the application launch file:
roslaunch plan_and_run demo_run.launch

Open Source Feedback

See something that needs improvement? Please open a pull request on this GitHub page