nao_moveit_config

This is a MoveIt! config package generated by the MoveIt! wizard. It requires a NAO model which you can get from here:

https://github.com/ros-naoqi/nao_robot/tree/master/nao_description or from the binary package : ros-indigo-nao-description

The moveit package must be run on a remote computer and not directly on your robot.

URDF and Textures used

This moveit package is based on a textured nao: https://github.com/ros-naoqi/nao_meshes

The urdf used for the generation of the configuration files is at: https://github.com/ros-naoqi/nao_robot

1. Compile the packages

nao_moveit_config package doesn't need any compilation so running rospack profile should be enough

For the dcm and gazebo packages you need to compile the C++ nodes. In order to compile nao_dcm packages, you need to set the environment variable AL_DIR to the path to naoqiSDK-c++ on your computer.

Then you can run the usual

catkin_make

And your ready to play with your nao

2. Run MoveIt

Without a robot

You can run this moveit package either unconnected to any robot or attached to a robot (real or simulated): For a standalone execution :

roslaunch nao_moveit_config demo.launch

Once launching the demo, you should see the robot in MoveIt! GUI like this:

On a real robot

To launch it on a real nao you need:

• nao_dcm_bringup (https://github.com/ros-aldebaran/nao_dcm_robot)
• nao_control (https://github.com/ros-aldebaran/nao_virtual)

First, set NAO_IP environment variable to your robot's IP address:

export NAO_IP=<YOUR_ROBOT_IP>

Launch the DCM bringup:

roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch

Wait until it is ready, then run:

roslaunch nao_moveit_config moveit_planner.launch

On a simulated robot (in Gazebo)

To use MoveIt! with Gazebo simulation, you need:

• nao_dcm_bringup (https://github.com/ros-aldebaran/nao_dcm_robot)
• nao_control (https://github.com/ros-aldebaran/nao_virtual)
• nao_gazebo_plugin (https://github.com/ros-aldebaran/nao_virtual)

Launch Gazebo, like this:

roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch

Wait until it is ready, then click on the Play button in Gazebo.

Finally, start MoveIt!:

roslaunch nao_moveit_config moveit_planner.launch

This is based on the work of Konstantinos Chatzilygeroudis: https://github.com/costashatz/nao_dcm.

3 Use Moveit:

RVIZ has been open: you can see that a MotionPlanning plugin has been launched. First check the box "Allow approximate IK Solutions" on the bottom of the left control panel. Then, go to the Planning tab.

Select which part of the robot you want to move: In the plugin list on the upper part of the left column, you can select a group under MotionPlanning/Planning Request/Planning Group

Now you can define your motion by drag and dropping the interactive markers. You can compute a trajectory by clicking the 'planning' button Once the motion is satisfying you can try it on your real robot using 'execute' or 'plan and execute'.

NOTE: The start state is not updated automatically, you have to go to 'Select Start State' select 'Current' and click 'Update'.