DDPM Trajectory plan

preview

moveit

source install moveit2

sudo apt install -y \
  build-essential \
  cmake \
  git \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget


sudo apt update
sudo apt dist-upgrade
rosdep update

source /opt/ros/$ROS_DISTRO/setup.bash

sudo apt remove ros-$ROS_DISTRO-moveit*

export COLCON_WS=~/ws_moveit2/
mkdir -p $COLCON_WS/src
cd $COLCON_WS/src

git clone https://github.com/moveit/moveit2.git -b $ROS_DISTRO
for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

cd $COLCON_WS
colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release

doosan robotics m0609 manipulator moveit2

ros2 launch m0609_moveit demo.launch.py

real robot controller

port 127.0.0.1:8080~8083 is used

ros2 launch m0609_controller m0609_controller.launch.py

hello moveit pkg

# if you want to simulate on moveit use
ros2 launch m0609_moveit demo.launch.py

# if you want use real robot
ros2 launch m0609_controller m0609_controller.launch.py

get end effector pose

ros2 run hello_moveit get_eef_pos

key controller

ros2 run hello_moveit key_controll

diffusion env setting

sudo pip3 install torch==1.13.1 torchvision==0.14.1 diffusers==0.18.2 \
scikit-image==0.19.3 scikit-video==1.1.11 zarr==2.12.0 numcodecs==0.10.2 \
pygame==2.1.2 pymunk==6.2.1 gym==0.26.2 shapely==1.8.4

push t