COMPAS FAB
  • COMPAS FAB
  • 0.14.0

3. Backends: ROS

  • 3.1. Using ROS
    • 3.1.1. First step
    • 3.1.2. Hello World
  • 3.2. Robots in ROS
    • 3.2.1. Load model from ROS
    • 3.2.2. Load model from URDF
  • 3.3. Forward and inverse kinematics
    • 3.3.1. Forward kinematics
    • 3.3.2. Inverse kinematics
  • 3.4. Planning scene and collision objects
    • 3.4.1. Collision meshes
    • 3.4.2. Attach a collision mesh to a robot’s end-effector
    • 3.4.3. Plan motion with an attached collision mesh
  • 3.5. Plan motion
    • 3.5.1. Plan cartesian motion
    • 3.5.2. Plan motion
  • 3.6. ROS in Grasshopper
    • 3.6.1. Grasshopper playground
  • 3.7. Creating a URDF with an UR5 robot and a custom end-effector
    • 3.7.1. Export your meshes
    • 3.7.2. Prepare your catkin workspace
    • 3.7.3. Create xacros and generate urdf
    • 3.7.4. View urdf
    • 3.7.5. Add path to search paths
    • 3.7.6. Further links
  • 3.8. Creating a MoveIt! package from the custom created URDF
    • 3.8.1. Start the MoveIt! Setup Assistant
    • 3.8.2. Generate Self-Collision Matrix
    • 3.8.3. Add Virtual Joints
    • 3.8.4. Add Planning Groups
    • 3.8.5. Add Robot Poses
    • 3.8.6. Label End-Effectors
    • 3.8.7. Add Passive Joints
    • 3.8.8. Add Author Information
    • 3.8.9. Generate Configuration Files
    • 3.8.10. Start the newly generated MoveIt! Configuration
    • 3.8.11. Further links
  • 3.9. Creating a URDF of the UR10 on two linear axes
    • 3.9.1. Export meshes
    • 3.9.2. Prepare your catkin workspace
    • 3.9.3. Create xacros and generate urdf
    • 3.9.4. View urdf
    • 3.9.5. Further links
  • Overview
  • Getting started
  • Working with backends
  • Examples
    • 1. Fundamentals
    • 2. Description Models
    • 3. Backends: ROS
      • 3.1. Using ROS
      • 3.2. Robots in ROS
      • 3.3. Forward and inverse kinematics
      • 3.4. Planning scene and collision objects
      • 3.5. Plan motion
      • 3.6. ROS in Grasshopper
      • 3.7. Creating a URDF with an UR5 robot and a custom end-effector
      • 3.8. Creating a MoveIt! package from the custom created URDF
      • 3.9. Creating a URDF of the UR10 on two linear axes
    • 4. Backends: V-REP
    • 5. Backends: PyBullet
  • API Reference
  • Contributor’s Guide
  • Citing
  • Changelog
  • License
  • 3. Backends: ROS

COMPAS

A computational framework for collaboration and research in Architecture, Engineering, Fabrication, and Construction.

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