https://github.com/um-arm-lab/gpu_voxel_planning
Brad's library for PhD research on CHS, BTP, and other voxel-based planning approaches using ARMLabs Victor robot
https://github.com/um-arm-lab/gpu_voxel_planning
Last synced: 11 months ago
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Brad's library for PhD research on CHS, BTP, and other voxel-based planning approaches using ARMLabs Victor robot
- Host: GitHub
- URL: https://github.com/um-arm-lab/gpu_voxel_planning
- Owner: UM-ARM-Lab
- Created: 2018-01-01T20:39:50.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2021-06-17T20:15:08.000Z (almost 5 years ago)
- Last Synced: 2025-01-03T12:14:38.716Z (over 1 year ago)
- Language: C++
- Homepage:
- Size: 97.5 MB
- Stars: 3
- Watchers: 8
- Forks: 1
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
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README
# gpu_voxel_planning
## Installation
1. Install [gpu-voxels](http://www.gpu-voxels.org/documentation/)
* Install Cuda Drivers (Works with Cuda 9.1, has failed with Cuda 8.0 and Cuda 10.0)
* Install [required libraries](http://www.gpu-voxels.org/documentation/prerequisites/)
* Patch the GLM visualizer (still needed as of 01/01/18)
* Follow the [Usage as a library](http://www.gpu-voxels.org/documentation/usage-as-a-library/) instructions and update CMAKE_PREFIX_PATH in your .bashrc file
`export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:~/gvl`
2. Install armlab dependencies:
* arc_utilities
* [unknown_graph_planner](https://github.com/UM-ARM-Lab/unknown_graph_planner)
* [arm_pointcloud_utilities](https://github.com/UM-ARM-Lab/arm_pointcloud_utilities)
## Running live demo
In different terminals run
1. `roscore`
2. `rviz`. Load the `.rviz` config file here
3. Startup Real Victor
1. `ssh realtime`
2. `rcblizzard` (or source the appropriate computer for ros master),
3. `roslaunch gpu_voxel_models dual_arm_lcm_bridge.launch`. NOTE! This is not the standard `roslauch victor_hardware_interface dual_arm_lcm_bridge.launch`. Also note, `victor_hardware_interface/dual_arm_lcm_bridge.launch` may change. `master` of Jan 2020 works.
4. `roslaunch gpu_voxel_planning real_victor_setup.launch`
5. `rosrun gpu_voxel_planning live_demo`