Initialize Descartes¶
This exercise consists in setting up the Descartes Robot Model and Path Planner that our node will use to plan a path from a semi-constrained trajectory of the tool.
Locate Exercise Source File¶
Go to the main application source file located in
plan_and_run/src/plan_and_run_node.cpp
.In the main program, locate the function call to
application.initDescartes()
.Go to the source file for that function located in the
plan_and_run/src/tasks/init_descartes.cpp
.Alternatively, in QTCreator, you can click in any part of the function and press “F2” to bring up that file.
Comment out the first line containing the
ROS_ERROR_STREAM( ...
entry so that the function does not quit immediately.
Complete Code¶
Invoke the descartes_core::RobotModel::initialize() method in order to initialize the robot properly.
Similarly, initialize the Descartes planner by passing the
robot_model_
variable into thedescartes_core::!DensePlanner::initialize()
method.Find the comment block that starts with
/* Fill Code:
and complete as per described.Replace every instance of
[ COMPLETE HERE ]
accordingly.
Build Code and Run¶
cd
into your catkin workspace and runcatkin build
Then run the application launch file:
roslaunch plan_and_run demo_run.launch