Scripts

A list of provided example scripts that demonstrate some of the functionality of Robowflex.

robowflex_library

There are many example scripts of how to do motion planning, benchmarking, input / output, and others using the core library.

UR5 Tests

• ur5_test.cpp A basic test with the UR5 that shows a simple pose-based motion plan with the default motion planner and a motion planner without simplification.
• ur5_benchmark.cpp Default benchmarking with the UR5.
• ur5_pool.cpp Using robowflex::PoolPlanner for asynchronous motion planning.
• ur5_visualization.cpp Demonstration of robowflex::IO::RVIZHelper to display planning in RViz with robowflex.
• ur5_cylinder.cpp A demonstration of robowflex::MotionRequestBuilder::addCylinderSideGrasp(), also visualized with robowflex::IO::RVIZHelper.
• ur5_io.cpp Basic IO testing using the UR5. Shows robowflex::IO::Bag and other IO functions.

Fetch Tests

• fetch_test.cpp Demonstration of motion planning using the Fetch along with its unique functions.
• fetch_benchmark.cpp Default benchmarking with the Fetch.
• fetch_visualization.cpp Demonstration of robowflex::IO::RVIZHelper to display planning in RViz with robowflex.

Robonaut 2 Tests

• r2_test.cpp Demonstration of motion planning from a YAML file and using a robowflex::MotionRequestBuilder for Robonaut 2. Additionally, shows how to dump a single robot state to an animation file. By default the motion request builder example is commented out.
• r2_hdf5.cpp Using robowflex::R2Robot::loadSMTData to load experiment data for Robonaut 2.

WAM7 Tests

• wam7_benchmark.cpp Basic benchmarking with the WAM7 arm.
• wam7_test.cpp Basic motion planning with the WAM7 arm.

Others

• hdf5_io.cpp Demonstrating robowflex::IO::HDF5File loading of files.
• plugin_io.cpp Demonstrating robowflex::IO::PluginManager loading a plugin.

robowflex_ompl

• ur5_ompl_interface.cpp A basic example of motion planning for the UR5 using the more bare-metal robowflex::OMPL::OMPLInterfacePlanner.

robowflex_tesseract

• tesseract_benchmark.cpp An example of benchmarking using the tesseract-based motion planner robowflex::hypercube::OMPLChainPlanner.
• ur5_tesseract.cpp An example of motion planning using the tesseract-based motion planner robowflex::hypercube::OMPLChainPlanner.

robowflex_movegroup

• tapedeck.cpp A utility script that saves all motion plan requests that go to a move_group instance to YAML files. Demonstrates the robowflex::movegroup::MoveGroupHelper class.
• mixtape.cpp A utility script that reads motion plan requests from tapedeck.