how to use your orientation_constrained method？

[getupcurry]

Hi, man.
I am new to MoveIt. After watching your so many improvements in MoveIt, I admire you very much. And I have some confusion. 1. You have made a lot of improvements in joint orientation constraint, if I use your method, can I just use the latest version of MoveIt?
2. I have installed MoveIt from binary. If I install from source, do I need to uninstall the previous installation？
3. Could you show me a demo on how to write the code with your joint orientation constraint method?
Thank you!

[JeroenDM]

Hi, welcome!

Unfortunately I did not manage to finish and merge this into MoveIt in time during the GSoC project :(
Some answers to your questions below. Feel free to post error messages here if something doesn't work when you launch or run nodes from this package.

1) Constrained planning in MoveIt without this package

The latest binary installation of MoveIt 1 unfortunately does not have this feature yet. (If you're really adventures, you could try and build the open pull request branch from source, but that's not really beginner friendly to do I think :) )

MoveIt 2 should have OMPL constrained planning in the binary installation I think, maybe, but only for position constraints at the moment.

2) With this package

To use this package, I don't think the current binary installed version of MoveIt 1 will work.
This package was developed on ros-melodic (Ubuntu 18), so I suspect it will only work when you build MoveIt from source, specifically using the melodic branch of the MoveIt 1 repo.

3) A demo?

I think, if you installed moveit on ros melodic from source, the instructions from the readme should pretty much still work. (I did not test it now.)

Aka, first launch Rviz and the MoveIt planning interface for the robot you want to plan for:

roslaunch elion_examples panda_example.launch 

and then launch one of the examples from a json config file, for example panda_1.json:

rosrun elion_examples elion_run_example panda_1.json

(Look in this list for an example you want to test and the corresponding robot you should launch in Rviz (in the last column). AA stands for Angle Axis constraints = orientation constraints.

Good luck!

[rbtchun3]

Hey,

I came across your works and they are awesome!

I am playing around with Moveit and just wondering if constraint planning for the path(keeping end-effector level) is available on some branches.

Thank you

[JeroenDM]

I'm not keeping track anymore but maybe @gautz 's branch ompl-constrained-orientation-rebase still works? Or he has a more recent one maybe?

[rbtchun3]

Thanks for letting me know!
I'll try that!