RoboPlan ROS Examples

As noted in Design Philosophy, RoboPlan ROS is not intended to provide monolithic solutions that fit all planning applications. The packages in the roboplan_ros_examples folder provide jumping off points for Developers looking to use RoboPlan in ROS 2 environments. Each example is a self-contained application that demonstrates a specific workflow.

The examples use ros2_control mock hardware, so no physical robot is required to run them.

Sample RRT Plan and Execute

This example demonstrates a complete plan-preview-execute loop using RRT motion planning with the Franka FR3 arm.

The example uses an interactive marker in RViz along with ROS Trigger services to:

1. Set a target pose by dragging the interactive marker in the RViz panel.

2. Plan a trajectory by right clicking and pressing “Plan”, or by calling the /plan_and_execute_node/plan service.

3. Preview the planned trajectory by pressing “Preview”, or by calling the /plan_and_execute_node/preview service.

4. Execute the trajectory by pressing “Execute”, or by calling the /plan_and_execute_node/execute service. This wraps a call to the FR3’s JointTrajectoryController.

5. Reset the iMarker by pressing “Reset”, or by calling the /plan_and_execute_node/reset service.

To launch the demo,

ros2 launch roboplan_ros_franka franka_example_planning.launch.yaml

Sample RRT planning and execution with the Franka FR3 arm.

Sample Cartesian Servoing with OInK

This example demonstrates real-time Cartesian servoing using OInK (Optimal Inverse Kinematics) with the Franka FR3 arm.

A background control loop continuously solves a single-step IK optimization, then publishes joint commands directly to track the interactive marker’s pose. The solver uses a prioritized task hierarchy:

• Priority 1: A frame task tracks the end-effector pose set by the interactive marker.

• Priority 2: A configuration task that regularizes toward the starting joint configuration.

Joint position and velocity limits are enforced as QP constraints.

To launch the demo,

ros2 launch roboplan_ros_franka franka_oink.launch.yaml

Sample OInK pose tracking with the Franka FR3 arm.