Objective

Most industrial robot manipulators supported in ROS come with a MoveIt! configuration. The MotionPlanning plugin for RViz allows simple and visualized planning and execution of free-space motion. Planning and obstacle avoidance work mostly out-of-the-box. In this FTP we address Cartesian motion: existing libraries for Cartesian trajectory generation lacked a user-friendly interface.

The FTP implements a trajectory generator with a MoveIt!-interface for easy planning and execution of Cartesian standard-paths (LIN, PTP, CIRC). In addition, the blending of multiple sequential motion commands is realized.

Results of trajectory generation

Results are publicly available; the third and final milestone was finished in february 2019.

ROS-Wiki including Tutorials: pilz_industrial_motion

Code at Github: pilz_industrial_motion