abb_staubli_planning.world File Reference

Detailed Description

This is an example to show that we can easily mix different robots and solve path planning problems without changing our algorithms. In particular here we extend the abb_planning.world problem and use two robots, an ABB and a Staubli robot, to manipulate a bar that has to be inserted into a hole. To solve this path planning problem execute

• bin/cuikatlasrrt examples/ROSIndustrial/abb_staubli_planning

and visualize the solution path with

• scripts/cuikplayer examples/ROSIndustrial/abb_staubli_planning examples/ROSIndustrial/abb_staubli_planning_path.sol

This path can be smoothed executing

• bin/cuiksmoothpath examples/ROSIndustrial/abb_staubli_planning

and the smoothed path can be visualized with

• scripts/cuikplayer examples/ROSIndustrial/abb_staubli_planning examples/ROSIndustrial/abb_staubli_planning_spath.sol

Definition in file abb_staubli_planning.world.