README.md

iiwa_moveit_demo Package

Demonstrations

Demo 1

Plan trajectories with collision objects.
source code

Run demo using:

roslaunch iiwa_moveit_demo moveit_demo_1.launch 

then press the Next button in the RvizVisualToolGui

Demo 2

Build upon Demo 1, and plan the trajectories with constraints (Ref)
source code

Run demo using:

roslaunch iiwa_moveit_demo moveit_demo_2.launch 

Demo 3

Build upon Demo 2, add end effector orientation constraints. call the following function in the source code

addPathConstraints(move_group_interface);

Run demo using:

roslaunch iiwa_moveit_demo moveit_demo_3.launch 

Demo 4

Plan trajectories with collision objects, using Planning Pipeline.
source code

Run demo using:

roslaunch iiwa_moveit_demo moveit_demo_4.launch 

Deprecated Method

Using planning_interface::PlanningContext

This method is not able to avoid obstacles
source code

Dependencies

• iiwa_moveit_cam