REMANI-Planner

REal-time Whole-body Motion Planning for Mobile MANIpulators Using Environment-adaptive Search and Spatial-temporal Optimization

News

• Jan 29, 2024: REMANI-Planner is accepted to ICRA 2024.

Introduction

REMANI-Planner presents a motion planning method capable of generating high-quality, safe, agile and feasible trajectories for mobile manipulators in real time.

Authors: Chengkai Wu*, Ruilin Wang*, Mianzhi Song, Fei Gao, Jie Mei and Boyu Zhou$^{\dagger}$.

Institutions: SYSU STAR Group, HITSZ MAS Lab and ZJU FAST Lab.

Video: YouTube, Bilibili.

Paper: Real-time Whole-body Motion Planning for Mobile Manipulators Using Environment-adaptive Search and Spatial-temporal Optimization, 2024 IEEE International Conference on Robotics and Automation (ICRA).

@INPROCEEDINGS{10610192,
  author={Wu, Chengkai and Wang, Ruilin and Song, Mianzhi and Gao, Fei and Mei, Jie and Zhou, Boyu},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={Real-time Whole-body Motion Planning for Mobile Manipulators Using Environment-adaptive Search and Spatial-temporal Optimization}, 
  year={2024},
  volume={},
  number={},
  pages={1369-1375},
  keywords={Service robots;Dynamics;Transportation;Real-time systems;Planning;Safety;Complexity theory},
  doi={10.1109/ICRA57147.2024.10610192}}

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Setup

Compiling tests passed on Ubuntu 20.04 with ROS installed.

Prerequisites

• ROS (tested with Noetic)

sudo apt install libompl-dev libeigen3-dev
cd /usr/include
sudo ln -sf eigen3/Eigen Eigen
sudo ln -sf eigen3/unsupported unsupported

Compiling and Running

cd ${your catkin workspace}/src
git clone -b master --single-branch https://github.com/SYSU-STAR/REMANI-Planner.git
cd ..
catkin_make -DCMAKE_BUILD_TYPE=Release

1. Navigating in dense cuboids map

source devel/setup.bash
roslaunch remani_planner exp0.launch

You should see the simulation in rviz. You can use the 2D Nav Goal to send a trigger to start navigation.

2. Navigating through a bridge

source devel/setup.bash
roslaunch remani_planner exp1.launch

Customize your own Mobile Manipulator (MM)

1. Make the following adjustments in the remani_planner/mm_config/src/mm_config.cpp file:
   • Modify the getAJointTran function to calculate the homogeneous transformation between different frames of the manipulator.
   • Modify the setLinkPoint function to set the position of collision spheres in the respective frame.
   • Modify the getMMMarkerArray function based on the urdf file to generate the marker array for MM visualization.
2. Adapt the mm_param.yaml file located in the remani_planner/remani_planner/config/ directory to configure parameters specific to your MM.

Note: We have provided an example for the UR5 in our code. To use the UR5, simply follow these steps:

1. Open the mm_param.yaml file located in the remani_planner/plan_manage/config/ directory.
2. Locate the parameter for FastArmer and comment it out by adding a "#" symbol at the beginning of the line.
3. Uncomment the parameter for UR5 by removing the "#" symbol at the beginning of the line.
4. You are now ready to conduct above experiments with a mobile base incorporating the UR5 configuration.

Acknowledgements

We use MINCO as our trajectory representation.

We borrow the framework from AutoTrans.

We would like to thank colleagues at Huawei for their support for this work: Zehui Meng and Changjin Wang.

License

The source code is released under the GPLv3 license.

Maintenance

For any technical issues, please contact Chengkai Wu([email protected]) or Ruilin Wang([email protected]).