CHOMP Interface¶

Run Generic Demo for Fanuc M-10iA¶

To run the demo you’ll need the moveit_resources package.

Once you have this package simply run:

roslaunch moveit_resources demo_chomp.launch

Assumptions:¶

1. You have the latest version of moveit installed. On ROS kinetic you may need to build it from source.
2. You have a moveit configuration package for your robot already. For example, if you have a Kinova Jaco arm, it’s probably called “jaco_moveit_config”. This is typically built using the Moveit Setup Assistant.
3. Lets assume that you are using the jaco manipulator. And hence, the moveit config package is jaco_moveit_config.

Using CHOMP with your own robot¶

1. Simply download chomp_planning_pipeline.launch.xml file into the launch directory of your moveit config package. So into the jaco_moveit_config/launch directory.

2. Copy the demo.launch file to demo_chomp.launch. Note that this file is also in the launch directory of the jaco_moveit_config package.

3. Find the lines where move_group.launch is included and change it to:

   <include file="$(find jaco_moveit_config)/launch/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="fake_execution" value="true"/>
     <arg name="info" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
     <arg name="planner" value="chomp" />
   </include>
   

You probably only need to change the planner arg to chomp.

4. Run the demo:

   roslaunch jaco_moveit_config demo_chomp.launch