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
In the main program, locate the function call to
Go to the source file for that function located in the
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.
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 the
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¶
cdinto your catkin workspace and run
Then run the application launch file:
roslaunch plan_and_run demo_run.launch