Episode 05: ROSCON 2016 - Plan to Win with MoveIt! - Lessons learnt from the Amazon Picking Challenge 2016
2016 November 12 ⋅ Download
ROSCon 2016 Presentation by Mukunda Bharatheesha (Delft University of Technology), Ruben Burger (Delft University of Technology), Maarten De Vries (Delft Robotics BV), Gijs van der Hoorn (Delft University of Technology), Martijn Wisse (Delft University of Technology)
This presentation will focus on some of the key MoveIt! practices that we (motion planning team of Team Delft) followed for the Amazon Picking Challenge 2016. Particularly, the following points will be highlighted: 1) making appropriate MoveIt! API choices from a large set of options; 2) difficulties faced such as I/O synchronization with trajectories and collision checking with Octomaps and the corresponding solutions; 3) unsolved problems (mostly with robot driver) while planning around the joint limits of the robot; and 4) general recommendations for OMPL planner configurations with MoveIt!.