Descartes Tutorials

Installation

Install the following:

sudo apt-get install ros-kinetic-moveit-simple-controller-manager

Clone the following repos:

git clone https://github.com/ros-industrial-consortium/descartes_tutorials.git
git clone https://github.com/ros-industrial/abb.git

Install dependencies:

rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

Then build.

Tutorial 1

Very basic tutorial. Moves a robot along a straight line by specifying where to put the tool. Note that more extensive documentation can be found in tutorial1.cpp.

roslaunch descartes_tutorials setup.launch

rosrun descartes_tutorials tutorial1

Tutorial 2

A more complex tutorial. The robot is holding a puzzle piece and moves the perimeter around a fixed grinder in the environment.

roslaunch tutorial2_moveit_config planning_execution.launch

rosrun descartes_tutorials tutorial2