nsomani/constraint-controller-library

A library for task level robot control using non-linear inequality constraints

constraint-controller-library's Issues

jsoncpp problem and demo problem

Hi,

I was just trying to build and run the project when I ran into this build error: json/json.h: No such file or directory which was fixed it by changing the includes to:
#include <jsoncpp/json/json.h>

However, the demo's still don't work. I see the visualization coming up, and when I run
./run_demo models/json/cup_grasping_side_collision_constraint.json the robot first jumps to what looks like an initial pose, and then it jumps into a self collision and stays there. Console output:

robot_name comau
workcell_model_id 0
set joints for comau
set joints for comau
runtime: 20874
runtime: 51274
Move failed
runtime: 51267
Move failed
runtime: 1416
Move failed

after a while:

runtime: 1673
runtime: 1598
runtime: 1603
runtime: 1636

The other demo's show similar behavior and output. Not sure if this is related to jsoncpp (I would doubt it) so perhaps this is a separate issue.

MoveIt integration discussion?

Hello, I just attended your presentation at IROS and I would like to discuss your interest and steps required to integrate this into the MoveIt/ROS framework.