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Tutorial for multiple robot arms with MoveIt #708

Merged
merged 64 commits into from
Nov 28, 2022
Merged

Tutorial for multiple robot arms with MoveIt #708

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2409942
add pkg config files
Robotawi Apr 15, 2022
9786ff6
include multiple arms tutorial
Robotawi Apr 15, 2022
4b3b1bf
add multiple arms tutorial images
Robotawi Apr 15, 2022
b3da237
include required steps for multiple arms tutorial
Robotawi Apr 15, 2022
1dd4d46
update step one explanation
Robotawi Apr 15, 2022
05553b3
resize intro image
Robotawi Apr 15, 2022
f954be9
update step 2
Robotawi Apr 16, 2022
c46fcef
update step 3
Robotawi Apr 17, 2022
749c30f
fix a typo
Robotawi Apr 17, 2022
323b19e
Include gazebo arg in arms xacro
Robotawi Jun 2, 2022
34fde58
Update after using gazebo-ready xacro
Robotawi Jun 2, 2022
07ef88e
Include arms ready poses fig
Robotawi Jun 2, 2022
324318c
Update joints hw interface and controllers
Robotawi Jun 2, 2022
cf8d966
Add world link and base inertia
Robotawi Jun 10, 2022
f05ee6f
Separate joint state and trajectory controllers
Robotawi Jun 10, 2022
3efd62f
update step three
Robotawi Jun 21, 2022
712f183
embed video
Robotawi Jun 21, 2022
64b10ea
Remove emeding and add a YouTube video link
Robotawi Jun 21, 2022
5944ba0
Remove lengthy xacro file and add a link to it
Robotawi Jun 24, 2022
8542969
Explain xacro loading practice
Robotawi Jun 24, 2022
2331f3c
Format steps to test xacro
Robotawi Jun 24, 2022
c200cba
Update check_urdf output
Robotawi Jun 24, 2022
65e2456
Configure ros controllers and moveit controllers
Robotawi Jun 24, 2022
b33024e
Update the video link and description
Robotawi Jun 24, 2022
ea255b6
Explain the integration components
Robotawi Jun 24, 2022
d9c161c
Start step five to plan motions for arms/hands
Robotawi Jun 24, 2022
6464346
Add the motion planning step
Robotawi Jul 1, 2022
2359e70
Fix typos
Robotawi Jul 1, 2022
eb7c7e1
Minimal fixes for the content
Robotawi Jul 1, 2022
4b43d23
Fix plugin name
Robotawi Jul 1, 2022
c28f147
Fix language errors
Robotawi Nov 2, 2022
4038854
Fix faulty files paths
Robotawi Nov 2, 2022
159c74e
Correct file names
Robotawi Nov 2, 2022
8f41d36
Remove unneeded comments
Robotawi Nov 2, 2022
6fabe91
Correct controllers config files format
Robotawi Nov 4, 2022
2f53166
Explicitly instruct to copy xacro file content
Robotawi Nov 4, 2022
72376d9
Revise step 1
Robotawi Nov 4, 2022
b3774f2
Revise step 1
Robotawi Nov 4, 2022
ef26f2f
Fix robot_description path
Robotawi Nov 4, 2022
fb7d941
Update rviz screenshot to use world frame
Robotawi Nov 4, 2022
f799e0d
Conclude step 1
Robotawi Nov 4, 2022
6759286
Revise step 2
Robotawi Nov 4, 2022
d089349
Reformat step 3
Robotawi Nov 4, 2022
cf2bef4
Revise step 3
Robotawi Nov 4, 2022
5092848
Revise step 4
Robotawi Nov 4, 2022
4d309cc
Explain integration dependencies
Robotawi Nov 4, 2022
cacabd1
Fix ROS and MoveIt abbreviations
Robotawi Nov 4, 2022
8de52eb
Revise step 5
Robotawi Nov 4, 2022
067b371
Fix minimal formatting issues
Robotawi Nov 4, 2022
225d8fe
Fix error due to duplicate hyperlink target
Robotawi Nov 18, 2022
11479df
Proofread and include references
Robotawi Nov 18, 2022
24715fc
Update doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst
Robotawi Nov 25, 2022
8892b8d
Change rgt to right and lft to left
Robotawi Nov 25, 2022
0762687
Merge branch 'master' of https://github.com/Robotawi/moveit_tutorials
Robotawi Nov 25, 2022
f63f214
Update screenshots to show right and left
Robotawi Nov 25, 2022
c6f4a39
Delete unneeded files
Robotawi Nov 25, 2022
447b50a
Shorten the motion planning step
Robotawi Nov 25, 2022
df87d2c
Minimal fix to the target link position
Robotawi Nov 25, 2022
89da6c8
Fix the title of the tutorial
Robotawi Nov 25, 2022
adab679
Remove the word "MoveIt" from the title
Robotawi Nov 25, 2022
9a76dad
Grammar nitpicks
AndyZe Nov 28, 2022
875b5a4
Mention a move_group for both arms
AndyZe Nov 28, 2022
7ba18a5
Update url
Nov 28, 2022
e468548
Formatting
Nov 28, 2022
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535 changes: 535 additions & 0 deletions doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst
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Expand Up @@ -68,6 +68,7 @@ Before attempting to integrate a new robot with MoveIt, check whether your robot
doc/ikfast/ikfast_tutorial
doc/trac_ik/trac_ik_tutorial
doc/opw_kinematics/opw_kinematics_tutorial
doc/multiple_robot_arms/multiple_robot_arms_tutorial

Configuration
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