Documentation - C++ Doxygen - Python Documentation
The EXOTica library is a generic Optimisation Toolset for Robotics platforms, written in C++ with bindings for Python. Its motivation is to provide a more streamlined process for developing algorithms for tasks such as Inverse Kinematics and Trajectory Optimisation. Its design advocates:
The library itself consists of two major specifications, both of which are abstract classes. The first is the Motion Solver which defines the way optimisation should proceed: current implementation include AICO, Jacobian pseudo-inverse IK, and a range of sampling-based solvers from the OMPL library. The other is the Task Definition which describes the task itself by providing two necessary functions to compute the forward map from Configuration space (say joint angles in IK) to Task space (say end-effector positions in IK). The tasks themselves can describe a complete trajectory. Using the library then involves passing in an initial state and requesting a solution to the problem, which may consist of a single configuration or complete trajectory.
catkin_make
is no longer supported)ros-[release]-desktop
is recommended but more minimal versions work in conjunction with rosdep)We retired support for ROS Indigo in September 2018. For using 14.04, a number of manual changes are required:
fcl_catkin
, you need to add a PPA for libccd-dev
.Exotica is available as binaries for ROS Kinetic and Melodic and can be installed via sudo apt install ros-kinetic-exotica
/sudo apt install ros-melodic-exotica
.
src/
subdirectory of the workspace (any subdirectory below src/
will do): git clone git@github.com:ipab-slmc/exotica.git
.cd
into the the cloned directory.sudo rosdep init
rosdep update ; rosdep install --from-paths ./ -iy
catkin build -s
.~/.bashrc
): source path_to_workspace/devel/setup.bash
. You may have to source the config file from your installspace if your workspace is configured for installation.Have a look at examples/exotica_examples
.
If you have sourced the workspace correctly you should be able to run any of the demos:
roslaunch exotica_examples cpp_ik_minimal.launch
roslaunch exotica_examples cpp_core.launch
roslaunch exotica_examples cpp_aico.launch
roslaunch exotica_examples python_ompl.launch
roslaunch exotica_examples python_attach.launch
roslaunch exotica_examples python_collision_distance.launch
roslaunch exotica_examples python_sphere_collision.launch
We have published a Springer book chapter outlining the concept and ideas behind EXOTica and recommend it to new users for getting started in addition to the tutorials and documentation.
Ivan V., Yang Y., Merkt W., Camilleri M.P., Vijayakumar S. (2019) EXOTica: An Extensible Optimization Toolset for Prototyping and Benchmarking Motion Planning and Control. In: Koubaa A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 778. Springer, Cham
If you use EXOTica for academic work, please cite consider citing the relevant book chapter, a preprint of which is available here:
@Inbook{exotica,
author="Ivan, Vladimir and Yang, Yiming and Merkt, Wolfgang and Camilleri, Michael P. and Vijayakumar, Sethu",
editor="Koubaa, Anis",
title="EXOTica: An Extensible Optimization Toolset for Prototyping and Benchmarking Motion Planning and Control",
bookTitle="Robot Operating System (ROS): The Complete Reference (Volume 3)",
year="2019",
publisher="Springer International Publishing",
address="Cham",
pages="211--240",
isbn="978-3-319-91590-6",
doi="10.1007/978-3-319-91590-6_7",
url="https://doi.org/10.1007/978-3-319-91590-6_7"
}
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