cschindlbeck / five_dof_ws

Testing moveit pp with a 5 DOF robot for testing set_goal_orientation

Five DOF

Minimal files to test set_goal_orientation with moveit commander

Install

On ROS noetic installed on Ubuntu 20.04 do

sudo apt update
sudo apt install -y python3-catkin-tools
rosdep install --from-paths src --ignore-src -r -y
catkin build

Docker

From ws directory, build image via

docker build -f .docker/Dockerfile -t moveittest .

Run container via

docker run --mount type=bind,source=$(pwd)/src,target=/minimal_ws/src -it moveittest /bin/bash
source devel/setup.bash

Usage

roslaunch five_dof run.launch set_goal_orientation:=false

Set

roslaunch five_dof run.launch set_goal_orientation:=true

to reproduce the bug