moveit_neural_collision

Build

You must have the nvidia tololkit installed to compile the cuda libraries. You can test your installation by running nvcc --version.

mkdir -p ros_ws/src
cd ros_ws/src
git clone https://github.com/pac48/moveit-neural-collision.git  
vcs import < moveit-neural-collision/external.repos.yaml
cd ..
sudo apt update
rosdep install --from-paths src --ignore-src -y
colcon build --allow-overriding moveit_configs_utils common_interfaces diagnostic_msgs geometry_msgs moveit_common moveit_msgs moveit_resources_panda_moveit_config nav_msgs sensor_msgs sensor_msgs_py shape_msgs std_msgs std_srvs trajectory_msgs visualization_msgs --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Release

Run

Start by launch MoveIt with a robot configuration setup.

ros2 launch sawyer_moveit_config moveit.launch.py

Create training data for mesh object.

ros2 run collision dist

Finally, train the neural network and publish to ROS as a point cloud.

ros2 run collision main