PlannerGAN

PlannerGAN

Commands

Outside of Docker Setup

mkdir -p PlannerGAN_ws/src
cd PlannerGAN_ws/src
git clone https://github.com/jasonjabbour/iiwa_ros2.git
git clone https://github.com/jasonjabbour/PlannerGAN.git
cd PlannerGAN
code .

Inside of Docker Each Time you Start Docker

# Go back to the root of your workspace
cd /tmp/PlannerGAN_ws 

sudo apt-get update
vcs import src < src/iiwa_ros2/iiwa_ros2.repos
rosdep install --ignore-src --from-paths . -y -r

Inside of Docker Each Time Before you Run a Script

cd /tmp/PlannerGAN_ws 

# Run this twice if you see errors (usually only happes the first time)
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install

source install/setup.bash

source /usr/share/gazebo/setup.sh
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/tmp/PlannerGAN_ws/src/iiwa_ros2

Launch Files to Choose from:

# Run the simulation and planning
ros2 launch plannergan_iiwa iiwa_pg.launch.py use_sim:="true" use_planning:="true"

# Run the simulation, planning, and convert a set of trajectories to end effector positions
ros2 launch plannergan_iiwa iiwa_pg.launch.py use_sim:="true" use_planning:="true" convert_traj:="true"