In the folder scripts/test_kuka_iiwa example scritps are given on how to deploy motion_planners library. For the example scripts to work, we need joint_control component. The joint_control component will create a robot based on a urdf. To install joint_control in rock, please type:
- amake control/orogen/joint_control
The joint_control library need "gsl". So incase of any error during installation of joint_control. Type
- sudo apt-get install libgsl-dev
Now you go the scripts/test_kuka_iiwa folder and start the following two scripts:
- ruby start_kuka_viz.rb
- ruby planner_controlGUI.rb