CLIK MoveIt! Setup

Create the Pipeline Launch File

First, you must already have a moveit_config package that was generated with the MoveIt! Setup Assistant . Once this package is available you can tell the move_group node to load CLIK Planners by creating a clik_planning_pipeline.launch.xml file as follows:

<launch>

  <!-- CLIK Plugin for MoveIt! -->
  <arg name="planning_plugin" value="constrained_ik/CLIKPlanner" />

  <!-- The request adapters (plugins) ORDER MATTERS -->
  <arg name="planning_adapters" value="default_planner_request_adapters/FixWorkspaceBounds
                                       default_planner_request_adapters/FixStartStateBounds
                                       default_planner_request_adapters/FixStartStateCollision
                                       default_planner_request_adapters/FixStartStatePathConstraints" />

  <arg name="start_state_max_bounds_error" value="0.1" />

  <param name="planning_plugin" value="$(arg planning_plugin)" />
  <param name="request_adapters" value="$(arg planning_adapters)" />
  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
  <rosparam command="load" file="$(find test_moveit_config)/config/clik_planning.yaml"/>

</launch>

• Take notice of how the pluginlib parameters is set to constrained_ik/CLIKPlanner in order to tell the move_group node to load CLIK into MoveIt!
• The CLIK planners are then configured from the yaml file as shown in the line below:

   <rosparam command="load" file="$(find test_moveit_config)/config/clik_planning.yaml"/>
  

Modify the move_group.launch file

Open the move_group.launch file of your moveit_config package and change the pipeline parameter to "clik" as shown below:

 .
 .
 .
 <!-- Planning Functionality -->
 <include ns="move_group" file="$(test_moveit_config)/launch/planning_pipeline.launch.xml">
  <arg name="pipeline" value="clik" />
 </include>
 .
 .
 .