Python scripts for Comps to plan valve turning tasks and ROS interface to the planner

The robot models used by the planner are provided by

• drchubo : Models of DRC Hubo for simulation

For planning it relies on

• comps : the Constrained Manipulation Planning Suite, an openrave plugin

For testing with RViz GUI the following packages are needed

• hubo_ros_core : ros suite that defines messages and provides a ROS interface to hubo
• localization_tools : frontend localization tools using interactive markers and backend tools using ICP

All ROS packages should be placed in a catkin workspace simply run the following

catkin_make

The GUI testing pipline should be launched with the following command

roslaunch valve_planner complete_valve_task_sim.launch

Or separate launch

roslaunch valve_planner complete_valve_task_ui.launch
roslaunch valve_planner valve_planner_sim.launch