Run a Robot Path

In this exercise, we will convert our Descartes path into a MoveIt! trajectory and then send it to the robot.

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.runPath().
  • Go to the source file for that function located in the plan_and_run/src/tasks/run_path.cpp.
    • Alternatively, in QTCreator, click on 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

  • Find 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 run catkin build
  • Then run the application launch file:
roslaunch plan_and_run demo_run.launch