Skip to content

Learning from a Demonstration

To initiate the LfD process, use the following command:

roslaunch lfd_interface program_bundle.launch robot_group:=fr3

This command launches several components, including the IK solver server, the MoveIt utility node, and the DMP server, to perform the LfD process.

Available Topics and Actions

The launched system exposes the following topics and actions:

  • fr3/lfd_pipeline Action Server: Allows training on a specific demonstration and planning an LfD for a new goal configuration with a defined duration scale. It also provides options to visualize the resulting plan in RViz or directly execute it on the robot.

  • fr3/plan_joint and fr3/plan_pose Action Servers: These servers use MoveIt's internal motion planning to plan and execute trajectories to reach a specified joint configuration or end-effector pose. The fr3/plan_pose server also requires an initial joint configuration for IK, considering null space in the case of redundant manipulators.

  • fr3/pose_state Topic: Publishes the pose of the end-effector, similar to how the joint_states topic publishes joint positions.

The topics and actions provided allow for flexibility in LfD, including planning, visualization, and real-time execution, facilitating effective robot programming through demonstrations.

Logo