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Create KinematicReachability Database

Introduction

cd /path/to/workspace
git clone https://github.com/jsk-ros-pkg/jsk_common.git jsk-ros-pkg/jsk_common
git clone https://github.com/jsk-ros-pkg/openrave_planning.git jsk-ros-pkg/openrave_planning

config file

sample_robot_openrave.xml

 <robot file="/path/to/sample_robot.dae">
 <manipulator name="larm" >
  <base>CHEST_LINK3</base>
  <effector>LARM_LINK7</effector>
  <Translation>0 0 0</Translation>
  <rotationaxis>0 0 0 0</rotationaxis>
  </manipulator>
  </robot>

single thread

rosdep install openrave
rosmake openrave
export PATH=`rospack find openrave`/bin:$PATH
export PYTHONPATH=`openrave-config --python-dir`:$PYTHONPATH
export OPENRAVE_HOME=/path/to/workspace/sample_robot
cd /path/to/worksace
rosrun openrave openrave.py --database kinematicreachability --robot=sample_robot_openrave.xml --manipname=larm --xyzdelta=0.8 --quatdelta=0.8

show

rosrun openrave openrave.py --database kinematicreachability --robot=sample_robot_openrave.xml --manipname=larm --show

multi thread

Before running the following commands, do not forget to run roscore.

export PATH=`rospack find openrave`/bin:$PATH
export PYTHONPATH=`openrave-config --python-dir`:$PYTHONPATH:$(rospack find openrave_database)
export OPENRAVE_HOME=/path/to/workspace/sample_robot

rosdep intall paralle_util
rosmake parallel_util

cd /path/to/workspace
rosrun parallel_util workmanagerlauncher.py --module=kinematicreachability_ros --launchservice='60*localhost' --args="--robot=/path/to/sample_robot_openrave.xml --manipname=larm --xyzdelta=0.08 --quatdelta=0.8"

NOTICE: /path/to/sample_robot_openrave.xml should be abolute.