davetcoleman/bolt repository overview

⁠BOLT

A new planner based on SPARS2.

Developed by Dave Coleman⁠ at the University of Colorado Boulder in collaboration with ROS Industrial, Southwest Research Institute, and the National Institute of Standards and Technology.

Status:

• Travis - Continuous Integration

⁠Build from Source

Currently tested for ROS Jade, also works with Kinetic but MoveIt! is not released yet so it takes some magic. Should also work fine with Indigo but I stopped testing for that and a new rosinstall would need to be made. To build this package, create a catkin workspace⁠.

sudo apt-get install python-wstool python-catkin-tools wmctrl
wstool init .
wstool merge https://raw.githubusercontent.com/davetcoleman/bolt/${ROS_DISTRO}-devel/bolt.${ROS_DISTRO}.rosinstall
wstool update
wget https://raw.githubusercontent.com/ros-gbp/ompl-release/debian/kinetic/xenial/ompl/package.xml -O ompl/package.xml
sudo apt-get remove ros-${ROS_DISTRO}-ompl
touch robotiq/robotiq_action_server/CATKIN_IGNORE
touch robotiq/robotiq_c_model_control/CATKIN_IGNORE
touch robotiq/robotiq_ethercat/CATKIN_IGNORE
touch robotiq/robotiq_s_model_control/CATKIN_IGNORE
touch robotiq/robotiq_joint_state_publisher/CATKIN_IGNORE
touch universal_robot/ur_gazebo/CATKIN_IGNORE
rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO}
cd ..
catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

⁠Run in Docker

Run with just terminal:

docker run -it davetcoleman/bolt:bolt-jade-build

Run with GUI:

# This is not the safest way however, as you then compromise the access control to X server on your host
xhost +local:root # for the lazy and reckless
docker run -it --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" davetcoleman/bolt:bolt-jade-build
export containerId=$(docker ps -l -q)
# Close security hole:
xhost -local:root

⁠Layout

• bolt_core: The core algorithm for sparse roadmap creation and multi-model task planning is locate
• bolt_2d: A simple 2d/3d toy problem for testing bolt in a low dimensional space using Rviz
• bolt_hilgendorf: A MoveIt!-based configuration space for single and dual arm motion planning using Bolt
• bolt_ur5: a temporary package leftover from roscon_demo15 for Descartes. Should be merged into bolt_hilgendorf or removed entirely
• moveit_ompl: based on moveit_planners_ompl, a simplified common interface for moveit and ompl that I've heavily customized
• docker: just contains recipies for auto building docker images on Dockerhub

⁠Usage

There are currently two main applications for using bolt - 2d and hilgendorf. See the respective folders on how to use them.

⁠Testing and Linting

To run roslint⁠, use the following command with catkin-tools⁠:

catkin build --no-status --no-deps --this --make-args roslint

To run catkin lint⁠, use the following command with catkin-tools⁠:

catkin lint -W2

There are currently no unit or integration tests for this package. If there were you would use the following command with catkin-tools⁠:

catkin run_tests --no-deps --this -i