Acknowledgement

This development is supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.

The ROSIN project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 732287.

Install & Build

The Volga packages have been developed and tested under ROS Melodic. Portabilty to other versions of ROS is not guaranteed so far.

The Volga packages require two external libraries that must be installed by hand: Ibex and OpenMesh.

This section is only for installing and building the core package. See below for usage with Moveit.

Ibex

• Download Ibex from www.ibex-lib.org.

  The current version is compatible with Release 2.8 and subsequent.

• Follow the installation instructions.

  Ibex must be installed as a dynamic library. To this end, use the enable-shared option. A typical way to install ibex is therefore:

  ~/ibex$ ./waf configure --prefix=~/ibex --lp-lib=soplex --enable-shared

  ~/ibex$ ./waf install

OpenMesh

• Download OpenMesh from www.openmesh.org.

  The current version has been tested with Release 8.1 of OpenMesh.

• Follow the installation instructions.

Volga

• Create a new workspace, e.g., volga_ws:

  ~$ mkdir -p volga_ws/src

• Install the root folder volga of the Volga project under volga_ws/src. You must obtain the following folder hierarchy:

  ~/volga_ws/src/volga/volga_core
~/volga_ws/src/volga/volga_examples
~/volga_ws/src/volga/volga_moveit

• Set the pkgconfig path of the external libraries Ibex and OpenMesh:

  ~$ export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:[path-to-ibex]/share/pkgconfig:[path-to-openmesh]/libdata/pkgconfig/

• Build and install the volga_core and volga_examples in volga_ws/src/

  ~$ cd volga_ws

  ~/volga_ws$ catkin config --install

  ~/volga_ws$ catkin build volga_core volga_examples

  ~/volga_ws$ source install/setup.bash

• Add the path of the external libraries Ibex and OpenMesh:

  ~/volga_ws$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:[path-to-ibex]/lib:[path-to-openmesh]/lib

Examples

You can now try the following launch files and node:

• Rigid body path validation

  ~$ roslaunch volga_examples rigid_body_path.launch

• Kinematic path validation:

  Note: this example requires the universal_robot package (UR10 model).

  ~$ roslaunch volga_examples kinematic_path.launch

• Validated inverse kinematics example:

  ~$ rosrun volga_examples ik_test

Integration in Moveit

This section assumes you have successfully followed the steps above for installing the core packages volga_core and volga_examples.

It explains how to build and install the volga_moveit package, which contains a plugin for Moveit.

Install & Build

The volga_moveit package requires a recent release of Moveit than the one distributed with ROS Melodic.

It has been developed and tested with moveit 1.1.0.

• Install the last version of Moveit by following the instructions here: https://ros-planning.github.io/moveit_tutorials/doc/getting_started/getting_started.html

  This should result in several packages installed in a separate workspace, say moveit_ws.

  The volga_moveit package has been tested with the following package configuration:

  | geometric_shapes --------- 0.7.0
  | moveit ------------------- 1.1.0
  | moveit_msgs -------------- 0.10.0
  | moveit_tutorials --------- 0.1.0
  | moveit_visual_tools ------ 3.5.2
  | panda_moveit_config ------ 0.7.4
  | rviz_visual_tool --------- 3.7.0

  Note that you may need to also install dependencies such as:

  • ros-melodic-rosparam-shortcuts
  • ros-melodic-joint-state-publisher-gui
  • ros-melodic-ros-pytest

• Source the Moveit workspace:

  ~$ source moveit_ws/devel/setup.bash

• Move to the Volga workspace:

  ~$ cd volga_ws

• Build the package:

  ~/volga_ws$ catkin build volga_moveit

• Re-source:

  ~/volga_ws$ source install/setup.bash

• Check that the volga plugin has been added:

  $ rospack plugins --attrib=plugin moveit_core | grep volga

Running

• Launch the demo:

  $ roslaunch panda_moveit_config demo.launch pipeline:=volga

• In the Panels menu, select Motion Planning

• In the Scene Objects tab of the MotionPlanning window, click on Import From Text

• Choose the file volga_ws/src/volga_moveit/scene/triangle.scene

• Move the robot goal state so that it has to avoid the triangle pane

• Click on Publish Scene

• Under the Planning tab, click on ``plan''