iris_sami is a wrapper of several motion planning features provided by MoveIt in order to control robotic manipulators.
It was developed and tested with a Univernal Robots UR10e but can be extended for other robotic manipulators.
It is currenlty divided in 4 groups of features:
- sami - Group of classes that wrap and simplify MoveIt functions
- Example of use can be found in scripts/test.py
- server - Server that exposes all the funcitonalities provided by sami as a group of ROS Services
- Info about each service can be obtained with rosservice info /iris_sami/*
- bt - Integration of the previous functionalities wiht the BehavioralTree.cpp library for GUI programming of the manipulator
- Detailed documentation can be found in docs/control_behavior_ur10e.pdf
- rqt_sami - GUI implemented using the rqt library to easily call the ROS services exposed by the server
- Needs the server to be active and can be run with rqt --standalone rqt_sami
roslaunch iris_sami iris_sami.launch