Даниил Грабарь
79d88db930
- Created a new document for the Station interface, detailing its menu structure, process data, safety functions, frames, and smartPAD function buttons. - Added a document for RobotPowerControl, explaining its purpose for safely shutting down or restarting the KUKA Sunrise Cabinet controller. - Introduced ServerFriRos2 documentation, outlining its role in establishing an FRI connection between the KUKA LBR iiwa and a ROS 2 computer. - Documented the TeachKuka application, which allows manual teaching of the KUKA LBR iiwa, including position capturing and trajectory recording. - Added an overview of Sunrise Workbench, including installation instructions for Windows and Linux. - Created a section on installing a Windows compatibility tool (PortProton) on Linux. - Documented the installation process for SunriseWorkbench on Linux using PortProton. - Added installation instructions for SunriseWorkbench on Windows. - Created troubleshooting documentation for configuration errors and SSL errors during installation. - Implemented a hook to generate the shared PDF only during the default-language build.
24 lines
1.0 KiB
Markdown
24 lines
1.0 KiB
Markdown
# Motion planning
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!!! info "Work in progress"
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A detailed description of motion planning is being prepared.
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LWC uses **MoveIt 2**, the standard motion-planning framework for ROS 2.
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## Key concepts
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- **Planning group** (`iiwa_arm`) — the set of joints for which a plan is generated. Defined in SRDF.
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- **Planner** — the trajectory-generation algorithm. Available planners:
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- `ompl` — general-purpose probabilistic planner (default)
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- `pilz_industrial_motion_planner` — deterministic PTP, LIN, and CIRC trajectories
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- **TCP (Tool Center Point)** — the tool point for which the target pose is specified. Set in `cobot-setting.yaml` → `planning.pose_link`.
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- **Reference frame** — the coordinate system for targets. Default: `base_link`.
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## `cobot-setting.yaml` settings
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| Parameter | Description |
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|---|---|
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| `planning.default_planner` | Default planner: `ompl` or `pilz_industrial_motion_planner` |
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| `planning.planning_attempts` | Number of attempts after a planning failure |
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| `planning.pose_link` | TCP link for Cartesian targets |
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