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doc:motion_constraints [2014/05/22 08:19] – created admindoc:motion_constraints [2014/08/18 19:32] (current) – [Controller setups] admin
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 ====== Modeling and generating constraint-based movement descriptions ====== ====== Modeling and generating constraint-based movement descriptions ======
  
-This page contains supplemental material for the paper "Knowledge-based Specification of Robot Motions" at ECAI 2014.+This page contains supplemental material for the paper "{{:bib:tenorth14motiontemplates.pdf|Knowledge-based Specification of Robot Motions}}" at ECAI 2014.
  
  
-===== Video ===== 
  
 +<html><div align="center"><iframe src="//player.vimeo.com/video/96580961?color=fff" width="890" height="498" frameborder="0" webkitallowfullscreen mozallowfullscreen allowfullscreen></iframe></div></html>
 ===== Software components ===== ===== Software components =====
  
 +The setup of the system consists of three main components: the KnowRob knowledge base, the CRAM plan-based executive, and the controllers for performing the motions. Here, we will give instructions how these components can be installed and set up correctly.
  
-===== Usage instructions =====+==== KnowRob setup ====
  
 +You will need the "Developer setup" of KnowRob as described in the [[/installation|installation guide]]. In addition to the steps explained here, you will need to compile the package containing the models and code for the constraint-based motion descriptions by calling
 +  rosmake knowrob_motion_constraints
 +
 +After the installation, try out the [[/doc/knowrob_basics|KnowRob Basics tutorial]] to make sure that the system is operational.
 +
 +
 +
 +==== CRAM setup ====
 +General install instructions for CRAM can be found at [[http://cram-system.org/installation]]. You will additionally need the following CRAM repositories:
 +  https://github.com/cram-code/cram_demo  (package: cram_pr2_fccl_demo)
 +  https://github.com/cram-code/cram_bridge  (package: cram_fccl)
 +  
 +More instructions to come. For the time being, please contact us via e-mail for further details. Please excuse the incomplete state of instructions.
 +==== Controller setups ====
 +Source code for the constraint controller can be found here:
 +  https://github.com/airballking/fccl
 +  
 +More instructions to come. For the time being, please contact us via e-mail for further details. Please excuse the incomplete state of instructions.
 +===== Usage instructions =====
  
 +To come.