ROS-Industrial Community Meeting - Kojcev

1. Introducing the Cartesian path
planner plug-in for MoveIt!
Risto Kojcev
September, 2014

2. Self Introduction
•Double Engineering Degree
–Computer Science
–Electrical Engineering
•Master Studies in Biomedical Computing at
TUM
•Working experience
–More 1 year at Sheikh Zayed Institute for Pediatric
Surgical Innovation @CNMC, Washington D.C, U.S.A.
–1 year as research assistant @ University of Bern,
Switzerland
–Now: joint PhD student @ Biorobotics Institute(
SSSUP) and CMBR(IIT)

3. Motivation
•Robots in Industrial Processes
–Painting, welding, grinding, etc.
–Most of them Require collision free Cartesian path
–Current practices for defining Cartesian path
requires great user effort
•MoveIt!
–Focused on point-to-point collision free planning

4. Project Goals
•Develop user friendly Cartesian Path Planner
Plug-in
•Develop a simple GUI for User Interaction
–User defines the Way-Points
•Cartesian path execution from Way-Points
•Utilize ROS Visualization tools
•Utilize MoveIt! features
•Reduce user effort
•Simple to use

5. Project Features 1/2
Qt Widget RViz

6. Project Features 2/2
http://youtu.be/jQc3z7FQwHw

7. Conclusion
•Usability
–Wide range of users
•Application in real industrial scenarios
•Testing new planners
•Base for development of other applications

8. Project Links
•Blog Post
•http://rosindustrial.org/news/2014/9/5/cart
esian-path-planner-plug-in-for-moveit
•GitHub
•https://github.com/ros-industrial-consortium/
fermi
•Overview Video
•https://www.youtube.com/watch?v=jQc3z7F
QwHw

9. Contact Information
Risto Kojcev
PhD Student
Italian Institute of Technology
Center for MicroBio Robotics
Viale Rinaldo Piaggio, 34
56025 Pontedera (PI)
Email: rkojcev@gmail.com
it.linkedin.com/in/ristokojcev/
https://github.com/rkojcev