Modeling and planning through DART (Dynamic Animation and Robotics Toolkit). Robots (robowflex::darts::Robot) and scene geometry (robowflex::darts::Structure) are added to a world (robowflex::darts::World), which is then used as the base for planning. An OMPL state space is provided for worlds (robowflex::darts::StateSpace) which can control any joint in the world, for multiple robots. Constraints and inverse kinematics are given through a Task Space Region specification (robowflex::darts::TSR). For convenience, a helper class (robowflex::darts::PlanBuilder) makes it easy to specify motion planning queries.

Scripts

There are a few example scripts to demonstrate the module, in the scripts directory.

fetch_plan.cpp: Plan for 1 to 4 Fetch robots. Demonstrates how to do multi-robot planning by cloning robots (robowflex::darts::Robot::clone()) and adding more groups to the planning group.
fetch_robowflex_plan.cpp: Constrained planning for a Fetch robot, where that Fetch robot is loaded via robowflex_library as a MoveIt robot.

Installation Instructions

DART can either be installed via a PPA or be added as a catkin package in your local workspace. See DART's own installation instructions for more details.

PPA Installation

To install DART via PPA, simply do the following:

sudo apt-add-repository ppa:dartsim/ppa

sudo apt-get update # not necessary since Bionic

After the PPA is installed, then get DART:

sudo apt-get install libdart6-all-dev

Source Installation

Install DART's dependencies:

sudo apt-get install \
  libeigen3-dev \
  libassimp-dev \
  libccd-dev \
  libfcl-dev \
  libboost-regex-dev \
  libboost-system-dev \
  libopenscenegraph-dev \
  libnlopt-dev \
  coinor-libipopt-dev \
  libbullet-dev \
  libode-dev \
  liboctomap-dev \
  libflann-dev \
  libtinyxml2-dev \
  liburdfdom-dev \
  libxi-dev \
  libxmu-dev \
  freeglut3-dev \
  libopenscenegraph-dev

Then, add DART to your local catkin workspace:

git clone -b v6.10.0 git://github.com/dartsim/dart.git

OMPL Installation

The DART module relies on recent versions of OMPL (> 1.4.0). If you are using an old OMPL (e.g., on Kinetic), either download the source into your local catkin workspace:

wget -O - https://github.com/ompl/ompl/archive/1.5.0.tar.gz | tar zxf -

Or clone from the repository:

git clone git:://github.com/ompl/ompl.git