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* MoveitCofigsBuilderを使ってmoveit_configの枠を作る * planning_plugins, requesr_adaptorsの設定をompl_planning.yamlの先頭で行う * ompl_planning.yamlにstart_state_max_bounds_errorの設定を追加 * 7/19ここまで * MoveitConfigsBuilderを使うに伴った、yamlファイルの指定の項目追加 * 一通りMoveItConfigsBuilderに対応 * MoveIt Setup Assistantを使って設定ファイルを生成 * urdfの指定を追加 * crane_plus_configのrun_move_group.launchを呼ぶ * Unable to parse SRDFのエラーが解決できない * demo.launchが起動できるようになった * 余計なコメントアウト部分削除 * 余計なコメントアウト削除 * rviz上でMottionPlanningができるようになった * 余計なコメントアウト削除
Collaborator
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Gazeboとmock_components環境ですべてのサンプルの動作を確認済みです。 |
Collaborator
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実機ですべてのサンプルが動作することを確認しました。 |
Contributor
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@YusukeKato サンプル修正いただいたのでこちらと同じ修正をお願いします 🙇 |
Collaborator
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CRANE-X7に合わせてサンプルの実装を修正後、Gazeboとmock_componentsで動作確認できました。 |
Kuwamai
requested changes
May 22, 2026
Collaborator
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再度実機でも動作確認できました。 |
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What does this implement/fix?
moveit_pyサンプルを追加します。
crane_plus_examplesにあるC++サンプルと同様のサンプルをPythonでも作成します。
Does this close any currently open issues?
なし。
How has this been tested?
実機、Gazebo、mock_components環境で動作確認します。
Any other comments?
crane_plus_examples_py/README.mdを crane_x7_ros/crane_x7_examples_py/README.md に合わせて修正しています。
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