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Merge pull request #141 from elephantrobotics/myhand_force_gripper

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Myhand force gripper
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wangWking 2025-01-08 13:40:06 +08:00 • committed by GitHub
commit 26400b5c74
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93 changed files with 2010 additions and 692 deletions
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16
mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600.urdf
View file

@ -143,12 +143,12 @@
<joint name="joint3_to_joint2" type="revolute"> <joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 -1"/> <axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
<!-- <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> --> <limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<!-- <origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/> --> <origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/>
<origin xyz= "0 0 0" rpy = "1.5708 0 0"/> <!-- <origin xyz= "0 0 0" rpy = "1.5708 0 0"/> -->
</joint> </joint>
@ -162,12 +162,12 @@
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 -1"/> <axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> <!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
<!-- <limit effort = "1000.0" lower = "-2.96" upper = "2.97" velocity = "0"/> --> <limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/> --> <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/>
<origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/> <!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/> -->
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">

183
mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf Executable file
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@ -0,0 +1,183 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
<xacro:property name="width" value=".2" />
<link name="base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 0.04 " rpy = " 0 0 1.5708"/>
<geometry>
<cylinder length="0.06" radius="0.038"/>
</geometry>
</collision>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link1.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = "0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.0 0.0 -0.02 " rpy = " 0 0 1.5708"/>
<geometry>
<cylinder length="0.05" radius="0.03"/>
</geometry>
</collision>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link2.dae"/>
</geometry>
<origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.128 0 -0.125 " rpy = " 0 1.5708 0"/>
<geometry>
<cylinder length="0.28" radius="0.024"/>
</geometry>
</collision>
</link>
<link name="link3">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link3.dae"/>
</geometry>
<origin xyz = "0 0 -0.0855 " rpy = " 3.1415926 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.128 0.0 -0.003 " rpy = "0 1.5708 0"/>
<geometry>
<cylinder length="0.24" radius="0.024"/>
</geometry>
</collision>
</link>
<link name="link4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link4.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
</visual>
<collision>
<origin xyz = "0.0 -0.01 0.007" rpy = " 1.5708 1.5708 0"/>
<geometry>
<cylinder length="0.05" radius="0.024"/>
</geometry>
</collision>
</link>
<link name="link5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link5.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 1.5707"/>
</visual>
<collision>
<origin xyz = "0.0 0.0 -0.015 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.05" radius="0.028"/>
</geometry>
</collision>
</link>
<link name="link6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link6.dae"/>
</geometry>
<material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "0.03 0 0" rpy = " 0 -1.5707 0"/>
</visual>
<collision>
<origin xyz = "0.006 0.0 -0.0 " rpy = " 0 1.5708 0"/>
<geometry>
<cylinder length="0.006" radius="0.026"/>
</geometry>
</collision>
</link>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.19934" rpy = "0 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 -1"/>
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
<limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/>
<!-- <origin xyz= "0 0 0" rpy = "1.5708 0 0"/> -->
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.25 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 -1"/>
<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
<limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/>
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/> -->
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.108 0" rpy = "1.57080 -1.57080 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="-1 0 0"/>
<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "-0.07586 0 0" rpy = "-1.57080 0 0 "/>
</joint>
</robot>

10
mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630.urdf
View file

@ -131,10 +131,11 @@
<joint name="joint2_to_joint1" type="revolute"> <joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 -1"/> <axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/> <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/> -->
<limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 0 0" rpy = "1.5707 0 0"/> <origin xyz= "0 0 0" rpy = "1.5707 -1.5708 0"/>
</joint> </joint>
@ -148,10 +149,11 @@
<joint name="joint4_to_joint3" type="revolute"> <joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1"/> <axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> <!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
<limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz= "0.267 0 -0.0745" rpy = "0 0 0"/> <origin xyz= "0.267 0 -0.0745" rpy = "0 0 1.5708"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">

175
mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630_moveit.urdf Executable file
View file

@ -0,0 +1,175 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
<xacro:property name="width" value=".2" />
<link name="base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/>
</visual>
<collision>
<origin xyz = "0 0 0.04 " rpy = " 0 0 1.5708"/>
<geometry>
<cylinder length="0.08" radius="0.06"/>
</geometry>
</collision>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link1.dae"/>
</geometry>
<origin xyz = "0 0 -0.06 " rpy = "0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.0 0.0 -0.02 " rpy = " 0 0 1.5708"/>
<geometry>
<cylinder length="0.06" radius="0.03"/>
</geometry>
</collision>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link2.dae"/>
</geometry>
<origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/>
</visual>
<collision>
<origin xyz = "0.14 0 -0.08 " rpy = " 0 1.5708 0"/>
<geometry>
<cylinder length="0.28" radius="0.028"/>
</geometry>
</collision>
</link>
<link name="link3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae"/>
</geometry>
<origin xyz = "0 0 -0.0444 " rpy = " 0 1.5707 -1.5707"/>
</visual>
<collision>
<origin xyz = "0.13 0.0 0.02 " rpy = "0 1.5708 0"/>
<geometry>
<cylinder length="0.28" radius="0.024"/>
</geometry>
</collision>
</link>
<link name="link4">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link4.dae"/>
</geometry>
<origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/>
</visual>
<collision>
<origin xyz = "0.0 -0.01 0.007" rpy = " 1.5708 1.5708 0"/>
<geometry>
<cylinder length="0.05" radius="0.024"/>
</geometry>
</collision>
</link>
<link name="link5">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link5.dae"/>
</geometry>
<origin xyz = "-0.043 0 0 " rpy = " 0 -1.5707 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.0 0.0 -0.015 " rpy = " 0 0 -1.5708"/>
<geometry>
<cylinder length="0.05" radius="0.028"/>
</geometry>
</collision>
</link>
<link name="link6">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link6.dae"/>
</geometry>
<!-- <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material> -->
<origin xyz = "0.01 0 0" rpy = " 0 1.5707 0"/>
</visual>
<collision>
<origin xyz = "0.006 0.0 -0.0 " rpy = " 0 1.5708 0"/>
<geometry>
<cylinder length="0.006" radius="0.026"/>
</geometry>
</collision>
</link>
<joint name="joint1_to_base" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.22934" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 -1"/>
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/> -->
<limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "1.5707 -1.5708 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.27 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1"/>
<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
<limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.267 0 -0.0745" rpy = "0 0 1.5708"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.095 0.002" rpy = "1.5707 -1.5707 0"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="-1 0 0"/>
<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "-0.054 0 0" rpy = "-1.5707 0 0 "/>
</joint>
</robot>

47
mycobot_pro/mycobot_600/config/mycobot_600.rviz
View file

@ -9,7 +9,7 @@ Panels:
- /RobotModel1 - /RobotModel1
- /TF1 - /TF1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 775 Tree Height: 609
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@ -18,17 +18,18 @@ Panels:
- /2D Nav Goal1 - /2D Nav Goal1
- /Publish Point1 - /Publish Point1
Name: Tool Properties Name: Tool Properties
Splitter Ratio: 0.588679016 Splitter Ratio: 0.5886790156364441
- Class: rviz/Views - Class: rviz/Views
Expanded: Expanded:
- /Current View1 - /Current View1
Name: Views Name: Views
Splitter Ratio: 0.5 Splitter Ratio: 0.5
- Class: rviz/Time - Class: rviz/Time
Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: "" SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
@ -40,7 +41,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
@ -105,6 +106,8 @@ Visualization Manager:
Visual Enabled: true Visual Enabled: true
- Class: rviz/TF - Class: rviz/TF
Enabled: true Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15 Frame Timeout: 15
Frames: Frames:
All Enabled: true All Enabled: true
@ -122,7 +125,8 @@ Visualization Manager:
Value: true Value: true
link6: link6:
Value: true Value: true
Marker Scale: 0.300000012 Marker Alpha: 1
Marker Scale: 0.20000000298023224
Name: TF Name: TF
Show Arrows: true Show Arrows: true
Show Axes: true Show Axes: true
@ -153,7 +157,10 @@ Visualization Manager:
- Class: rviz/FocusCamera - Class: rviz/FocusCamera
- Class: rviz/Measure - Class: rviz/Measure
- Class: rviz/SetInitialPose - Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal - Class: rviz/SetGoal
Topic: /move_base_simple/goal Topic: /move_base_simple/goal
- Class: rviz/PublishPoint - Class: rviz/PublishPoint
@ -163,33 +170,33 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 2.0593462 Distance: 2.0004639625549316
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: -0.0706475973 X: -0.07064759731292725
Y: -0.0814988762 Y: -0.0814988762140274
Z: 0.107583851 Z: 0.10758385062217712
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: 0.660398126 Pitch: 0.45539799332618713
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz) Yaw: 2.6153931617736816
Yaw: 3.10539246
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 1056 Height: 906
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000393000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@ -198,6 +205,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 1855 Width: 1848
X: 65 X: 72
Y: 24 Y: 27

3
mycobot_pro/mycobot_600/scripts/slider_600.py
View file

@ -22,6 +22,9 @@ def callback(data):
radians_to_angles = round(math.degrees(value), 2) radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles) data_list.append(radians_to_angles)
data_list[1] = data_list[1] - 90
data_list[3] = data_list[3] - 90
rospy.loginfo(rospy.get_caller_id() + "%s", data_list) rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.write_angles(data_list, 1000) mc.write_angles(data_list, 1000)

4
mycobot_pro/mycobot_600_moveit/.setup_assistant
View file

@ -1,11 +1,11 @@
moveit_setup_assistant_config: moveit_setup_assistant_config:
URDF: URDF:
package: mycobot_description package: mycobot_description
relative_path: urdf/mycobot_pro_600/mycobot_pro_600.urdf relative_path: urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf
xacro_args: "--inorder " xacro_args: "--inorder "
SRDF: SRDF:
relative_path: config/firefighter.srdf relative_path: config/firefighter.srdf
CONFIG: CONFIG:
author_name: wangweijian author_name: wangweijian
author_email: weijian.wang@elephantrobotics.com author_email: weijian.wang@elephantrobotics.com
generated_timestamp: 1652406964 generated_timestamp: 1736245598

15
mycobot_pro/mycobot_600_moveit/CMakeLists.txt
View file

@ -1,21 +1,10 @@
cmake_minimum_required(VERSION 2.8.3) cmake_minimum_required(VERSION 3.1.3)
project(mycobot_600_moveit) project(mycobot_600_moveit)
find_package(catkin REQUIRED find_package(catkin REQUIRED)
rospy
std_msgs
moveit_msgs
)
catkin_package() catkin_package()
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
scripts/sync_plan.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE) PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

5
mycobot_pro/mycobot_600_moveit/config/cartesian_limits.yaml Normal file
View file

@ -0,0 +1,5 @@
cartesian_limits:
max_trans_vel: 1
max_trans_acc: 2.25
max_trans_dec: -5
max_rot_vel: 1.57

6
mycobot_pro/mycobot_600_moveit/config/chomp_planning.yaml
View file

@ -7,12 +7,12 @@ learning_rate: 0.01
smoothness_cost_velocity: 0.0 smoothness_cost_velocity: 0.0
smoothness_cost_acceleration: 1.0 smoothness_cost_acceleration: 1.0
smoothness_cost_jerk: 0.0 smoothness_cost_jerk: 0.0
ridge_factor: 0.01 ridge_factor: 0.0
use_pseudo_inverse: false use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4 pseudo_inverse_ridge_factor: 1e-4
joint_update_limit: 0.1 joint_update_limit: 0.1
collision_clearence: 0.2 collision_clearance: 0.2
collision_threshold: 0.07 collision_threshold: 0.07
use_stochastic_descent: true use_stochastic_descent: true
enable_failure_recovery: true enable_failure_recovery: false
max_recovery_attempts: 5 max_recovery_attempts: 5

4
mycobot_pro/mycobot_600_moveit/config/fake_controllers.yaml
View file

@ -1,5 +1,6 @@
controller_list: controller_list:
- name: fake_arm_group_controller - name: fake_arm_group_controller
type: $(arg fake_execution_type)
joints: joints:
- joint2_to_joint1 - joint2_to_joint1
- joint3_to_joint2 - joint3_to_joint2
@ -7,3 +8,6 @@ controller_list:
- joint5_to_joint4 - joint5_to_joint4
- joint6_to_joint5 - joint6_to_joint5
- joint6output_to_joint6 - joint6output_to_joint6
initial: # Define initial robot poses per group
- group: arm_group
pose: init_pose

13
mycobot_pro/mycobot_600_moveit/config/firefighter.srdf
View file

@ -1,4 +1,4 @@
<?xml version="1.0" ?> <?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF. <!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure. This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
@ -20,24 +20,19 @@
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'--> <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="init_pose" group="arm_group"> <group_state name="init_pose" group="arm_group">
<joint name="joint2_to_joint1" value="0"/> <joint name="joint2_to_joint1" value="0"/>
<joint name="joint3_to_joint2" value="-1.5708" /> <joint name="joint3_to_joint2" value="0"/>
<joint name="joint4_to_joint3" value="0"/> <joint name="joint4_to_joint3" value="0"/>
<joint name="joint5_to_joint4" value="-1.5708" /> <joint name="joint5_to_joint4" value="0"/>
<joint name="joint6_to_joint5" value="0"/> <joint name="joint6_to_joint5" value="0"/>
<joint name="joint6output_to_joint6" value="0"/> <joint name="joint6output_to_joint6" value="0"/>
</group_state> </group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)--> <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<!-- <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" /> -->
<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base"/> <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. --> <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base" link2="link1" reason="Adjacent"/> <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
<disable_collisions link1="base" link2="link2" reason="Never"/> <disable_collisions link1="base" link2="link2" reason="Never"/>
<disable_collisions link1="base" link2="link3" reason="Never" />
<disable_collisions link1="base" link2="link4" reason="Never"/> <disable_collisions link1="base" link2="link4" reason="Never"/>
<disable_collisions link1="base" link2="link5" reason="Never"/> <disable_collisions link1="base" link2="link5" reason="Never"/>
<disable_collisions link1="base" link2="link6" reason="Never" />
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/> <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link3" reason="Never"/> <disable_collisions link1="link1" link2="link3" reason="Never"/>
<disable_collisions link1="link1" link2="link4" reason="Never"/> <disable_collisions link1="link1" link2="link4" reason="Never"/>
@ -45,8 +40,6 @@
<disable_collisions link1="link1" link2="link6" reason="Never"/> <disable_collisions link1="link1" link2="link6" reason="Never"/>
<disable_collisions link1="link2" link2="link3" reason="Adjacent"/> <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
<disable_collisions link1="link2" link2="link4" reason="Never"/> <disable_collisions link1="link2" link2="link4" reason="Never"/>
<disable_collisions link1="link2" link2="link5" reason="Never" />
<disable_collisions link1="link2" link2="link6" reason="Never" />
<disable_collisions link1="link3" link2="link4" reason="Adjacent"/> <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
<disable_collisions link1="link3" link2="link5" reason="Never"/> <disable_collisions link1="link3" link2="link5" reason="Never"/>
<disable_collisions link1="link3" link2="link6" reason="Never"/> <disable_collisions link1="link3" link2="link6" reason="Never"/>

4
mycobot_pro/mycobot_600_moveit/config/gazebo_controllers.yaml Normal file
View file

@ -0,0 +1,4 @@
# Publish joint_states
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

257
mycobot_pro/mycobot_600_moveit/config/gazebo_firefighter.urdf Normal file
View file

@ -0,0 +1,257 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
<xacro:property name="width" value=".2" />
<link name="base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/base.dae" />
</geometry>
<origin xyz="0 0 0 " rpy=" 0 0 0" />
</visual>
<collision>
<origin xyz="0 0 0.04 " rpy=" 0 0 1.5708" />
<geometry>
<cylinder length="0.06" radius="0.038" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link1.dae" />
</geometry>
<origin xyz="0 0 0 " rpy="0 0 3.1415926" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.02 " rpy=" 0 0 1.5708" />
<geometry>
<cylinder length="0.05" radius="0.03" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link2.dae" />
</geometry>
<origin xyz="0 0 -0.080 " rpy=" 3.1415926 0 3.1415926" />
</visual>
<collision>
<origin xyz="0.128 0 -0.125 " rpy=" 0 1.5708 0" />
<geometry>
<cylinder length="0.28" radius="0.024" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link3">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link3.dae" />
</geometry>
<origin xyz="0 0 -0.0855 " rpy=" 3.1415926 0 3.1415926" />
</visual>
<collision>
<origin xyz="0.128 0.0 -0.003 " rpy="0 1.5708 0" />
<geometry>
<cylinder length="0.24" radius="0.024" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link4.dae" />
</geometry>
<origin xyz="0 0 0 " rpy=" 0 3.1415926 0" />
</visual>
<collision>
<origin xyz="0.0 -0.01 0.007" rpy=" 1.5708 1.5708 0" />
<geometry>
<cylinder length="0.05" radius="0.024" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link5.dae" />
</geometry>
<origin xyz="0 0 0 " rpy=" 0 0 1.5707" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.015 " rpy=" 0 0 -1.5708" />
<geometry>
<cylinder length="0.05" radius="0.028" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link6.dae" />
</geometry>
<material name="grey">
<color rgba="0.5 0.5 0.5 1" />
</material>
<origin xyz="0.03 0 0" rpy=" 0 -1.5707 0" />
</visual>
<collision>
<origin xyz="0.006 0.0 -0.0 " rpy=" 0 1.5708 0" />
<geometry>
<cylinder length="0.006" radius="0.026" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
<parent link="base" />
<child link="link1" />
<origin xyz="0 0 0.19934" rpy="0 0 0" />
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 -1" />
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
<limit effort="1000.0" lower="-3.14159" upper="3.14159" velocity="0" />
<parent link="link1" />
<child link="link2" />
<origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
<!-- <origin xyz= "0 0 0" rpy = "1.5708 0 0"/> -->
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1" />
<limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" />
<parent link="link2" />
<child link="link3" />
<origin xyz="0.25 0 0 " rpy="0 0 0" />
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 -1" />
<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
<limit effort="1000.0" lower="-2.9670" upper="2.9670" velocity="0" />
<parent link="link3" />
<child link="link4" />
<origin xyz="0.25 0 -0.1091" rpy="0 0 1.5708" />
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/> -->
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.93" upper="2.9321" velocity="0" />
<parent link="link4" />
<child link="link5" />
<origin xyz="0 -0.108 0" rpy="1.57080 -1.57080 0" />
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="-1 0 0" />
<limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
<parent link="link5" />
<child link="link6" />
<origin xyz="-0.07586 0 0" rpy="-1.57080 0 0 " />
</joint>
<transmission name="trans_joint2_to_joint1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2_to_joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint2_to_joint1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint3_to_joint2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3_to_joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint3_to_joint2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint4_to_joint3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4_to_joint3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint4_to_joint3_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint5_to_joint4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5_to_joint4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint5_to_joint4_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6_to_joint5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6_to_joint5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint6_to_joint5_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6output_to_joint6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6output_to_joint6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint6output_to_joint6_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
</robot>

42
mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml
View file

@ -1,34 +1,40 @@
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits: joint_limits:
joint2_to_joint1: joint2_to_joint1:
has_velocity_limits: true has_velocity_limits: false
max_velocity: 3.14 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 0
joint3_to_joint2: joint3_to_joint2:
has_velocity_limits: true has_velocity_limits: false
max_velocity: 3.14 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 0
joint4_to_joint3: joint4_to_joint3:
has_velocity_limits: true has_velocity_limits: false
max_velocity: 3.14 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 0
joint5_to_joint4: joint5_to_joint4:
has_velocity_limits: true has_velocity_limits: false
max_velocity: 3.14 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 0
joint6_to_joint5: joint6_to_joint5:
has_velocity_limits: true has_velocity_limits: false
max_velocity: 3.14 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 0
joint6output_to_joint6: joint6output_to_joint6:
has_velocity_limits: true has_velocity_limits: false
max_velocity: 3.14 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 0

4
mycobot_pro/mycobot_600_moveit/config/kinematics.yaml
View file

@ -2,4 +2,6 @@ arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005 kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005 kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3 goal_joint_tolerance: 0.0001
goal_position_tolerance: 0.0001
goal_orientation_tolerance: 0.001

56
mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml
View file

@ -1,4 +1,11 @@
planner_configs: planner_configs:
AnytimePathShortening:
type: geometric::AnytimePathShortening
shortcut: true # Attempt to shortcut all new solution paths
hybridize: true # Compute hybrid solution trajectories
max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
num_planners: 4 # The number of default planners to use for planning
planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
SBL: SBL:
type: geometric::SBL type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
@ -44,8 +51,8 @@ planner_configs:
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
init_temperature: 10e-6 # initial temperature. default: 10e-6 init_temperature: 10e-6 # initial temperature. default: 10e-6
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() frontier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 frontier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
PRM: PRM:
type: geometric::PRM type: geometric::PRM
@ -88,8 +95,8 @@ planner_configs:
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
init_temperature: 100 # initial temperature. default: 100 init_temperature: 100 # initial temperature. default: 100
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() frontier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 frontier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
LBTRRT: LBTRRT:
type: geometric::LBTRRT type: geometric::LBTRRT
@ -120,9 +127,47 @@ planner_configs:
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000 max_failures: 5000 # maximum consecutive failure limit. default: 5000
AITstar:
type: geometric::AITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
set_max_num_goals: 1 # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1
ABITstar:
type: geometric::ABITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0
use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
initial_inflation_factor: 1000000 # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000
inflation_scaling_parameter: 10 # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
truncation_scaling_parameter: 5.0 # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
BITstar:
type: geometric::BITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0
use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
arm_group: arm_group:
default_planner_config: RRTConnect default_planner_config: RRTConnect
planner_configs: planner_configs:
- AnytimePathShortening
- SBL - SBL
- EST - EST
- LBKPIECE - LBKPIECE
@ -146,5 +191,8 @@ arm_group:
- LazyPRMstar - LazyPRMstar
- SPARS - SPARS
- SPARStwo - SPARStwo
- AITstar
- ABITstar
- BITstar
projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2) projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
longest_valid_segment_fraction: 0.005 longest_valid_segment_fraction: 0.005

52
mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml
View file

@ -1,26 +1,40 @@
# Simulation settings for using moveit_sim_controllers arm_group_controller:
moveit_sim_hw_interface: type: effort_controllers/JointTrajectoryController
joint_model_group: arm_group
joint_model_group_pose: init_pose
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
loop_hz: 300
cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
joints: joints:
- vitual_joint
- joint2_to_joint1 - joint2_to_joint1
- joint3_to_joint2 - joint3_to_joint2
- joint4_to_joint3 - joint4_to_joint3
- joint5_to_joint4 - joint5_to_joint4
- joint6_to_joint5 - joint6_to_joint5
- joint6output_to_joint6 - joint6output_to_joint6
sim_control_mode: 1 # 0: position, 1: velocity gains:
# Publish all joint states joint2_to_joint1:
# Creates the /joint_states topic necessary in ROS p: 100
joint_state_controller: d: 1
type: joint_state_controller/JointStateController i: 1
publish_rate: 50 i_clamp: 1
controller_list: joint3_to_joint2:
[] p: 100
d: 1
i: 1
i_clamp: 1
joint4_to_joint3:
p: 100
d: 1
i: 1
i_clamp: 1
joint5_to_joint4:
p: 100
d: 1
i: 1
i_clamp: 1
joint6_to_joint5:
p: 100
d: 1
i: 1
i_clamp: 1
joint6output_to_joint6:
p: 100
d: 1
i: 1
i_clamp: 1

1
mycobot_pro/mycobot_600_moveit/config/sensors_3d.yaml
View file

@ -1,4 +1,3 @@
# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
sensors: sensors:
- filtered_cloud_topic: filtered_cloud - filtered_cloud_topic: filtered_cloud
max_range: 5.0 max_range: 5.0

12
mycobot_pro/mycobot_600_moveit/config/simple_moveit_controllers.yaml Normal file
View file

@ -0,0 +1,12 @@
controller_list:
- name: arm_group_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
- joint6output_to_joint6

39
mycobot_pro/mycobot_600_moveit/config/stomp_planning.yaml Normal file
View file

@ -0,0 +1,39 @@
stomp/arm_group:
group_name: arm_group
optimization:
num_timesteps: 60
num_iterations: 40
num_iterations_after_valid: 0
num_rollouts: 30
max_rollouts: 30
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
control_cost_weight: 0.0
task:
noise_generator:
- class: stomp_moveit/NormalDistributionSampling
stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
cost_functions:
- class: stomp_moveit/CollisionCheck
collision_penalty: 1.0
cost_weight: 1.0
kernel_window_percentage: 0.2
longest_valid_joint_move: 0.05
noisy_filters:
- class: stomp_moveit/JointLimits
lock_start: True
lock_goal: True
- class: stomp_moveit/MultiTrajectoryVisualization
line_width: 0.02
rgb: [255, 255, 0]
marker_array_topic: stomp_trajectories
marker_namespace: noisy
update_filters:
- class: stomp_moveit/PolynomialSmoother
poly_order: 6
- class: stomp_moveit/TrajectoryVisualization
line_width: 0.05
rgb: [0, 191, 255]
error_rgb: [255, 0, 0]
publish_intermediate: True
marker_topic: stomp_trajectory
marker_namespace: optimized

19
mycobot_pro/mycobot_600_moveit/launch/chomp_planning_pipeline.launch.xml
View file

@ -1,10 +1,21 @@
<launch> <launch>
<!-- CHOMP Plugin for MoveIt! --> <arg name="start_state_max_bounds_error" default="0.1" />
<arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" /> <arg name="jiggle_fraction" default="0.05" />
<arg name="start_state_max_bounds_error" value="0.1" /> <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<param name="planning_plugin" value="$(arg planning_plugin)" /> <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find mycobot_600_moveit)/config/chomp_planning.yaml" /> <rosparam command="load" file="$(find mycobot_600_moveit)/config/chomp_planning.yaml" />
</launch> </launch>

2
mycobot_pro/mycobot_600_moveit/launch/default_warehouse_db.launch
View file

@ -5,7 +5,7 @@
<arg name="moveit_warehouse_database_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" /> <arg name="moveit_warehouse_database_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location --> <!-- Launch the warehouse with the configured database location -->
<include file="$(find mycobot_600_moveit)/launch/warehouse.launch"> <include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" /> <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include> </include>

63
mycobot_pro/mycobot_600_moveit/launch/demo.launch
View file

@ -1,65 +1,66 @@
<launch> <launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) --> <!-- By default, we do not start a database (it can be large) -->
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
<arg name="db" default="false" /> <arg name="db" default="false" />
<!-- Allow user to specify database location --> <!-- Allow user to specify database location -->
<!-- 允许用户指定数据库位置 -->
<arg name="db_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" /> <arg name="db_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode --> <!-- By default, we are not in debug mode -->
<!-- 默认情况下，我们不处于调试模式 -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<!-- <!-- By default, we will load or override the robot_description -->
By default, hide joint_state_publisher's GUI <arg name="load_robot_description" default="true"/>
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher. <!-- Choose controller manager: fake, simple, or ros_control -->
The latter one maintains and publishes the current joint configuration of the simulated robot. <arg name="moveit_controller_manager" default="fake" />
It also provides a GUI to move the simulated robot around "manually". <!-- Set execution mode for fake execution controllers -->
This corresponds to moving around the real robot without the use of MoveIt. <arg name="fake_execution_type" default="interpolate" />
-->
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" /> <arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
<include file="$(find mycobot_600_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root --> <!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic base" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a robot connected, so publish fake joint states --> <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
<!-- 我们没有连接机器人，所以发布假关节状态 --> MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<param name="use_gui" value="$(arg use_gui)"/> <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node> </node>
<!-- Given the published joint states, publish tf for the robot links --> <!-- Given the published joint states, publish tf for the robot links -->
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" /> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) --> <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）--> <include file="$(dirname)/move_group.launch">
<include file="$(find mycobot_600_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/> <arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/> <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/> <arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include> </include>
<!-- Run Rviz and load the default config to see the state of the move_group node --> <!-- Run Rviz and load the default config to see the state of the move_group node -->
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 --> <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<include file="$(find mycobot_600_moveit)/launch/moveit_rviz.launch"> <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
</include> </include>
<!-- If database loading was enabled, start mongodb as well --> <!-- If database loading was enabled, start mongodb as well -->
<!-- 如果启用了数据库加载，也启动 mongodb --> <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<include file="$(find mycobot_600_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include> </include>

77
mycobot_pro/mycobot_600_moveit/launch/demo_gazebo.launch
View file

@ -1,70 +1,21 @@
<?xml version="1.0"?>
<launch> <launch>
<!-- MoveIt options -->
<arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
<!-- By default, we do not start a database (it can be large) --> <!-- Gazebo options -->
<arg name="db" default="false" /> <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
<!-- Allow user to specify database location --> <arg name="paused" default="false" doc="Start Gazebo paused"/>
<arg name="db_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" /> <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
<!-- By default, we are not in debug mode --> <!-- Launch Gazebo and spawn the robot -->
<arg name="debug" default="false" /> <include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
<!-- <!-- Launch MoveIt -->
By default, hide joint_state_publisher's GUI <include file="$(dirname)/demo.launch" pass_all_args="true">
<!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Gazebo specific options -->
<arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/>
<!-- By default, use the urdf location provided from the package -->
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.urdf"/>
<!-- launch the gazebo simulator and spawn the robot -->
<include file="$(find mycobot_600_moveit)/launch/gazebo.launch" >
<arg name="paused" value="$(arg paused)"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
<arg name="urdf_path" value="$(arg urdf_path)"/>
</include>
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find mycobot_600_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="false" /> <arg name="load_robot_description" value="false" />
<arg name="moveit_controller_manager" value="ros_control" />
</include> </include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[/joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find mycobot_600_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="false"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find mycobot_600_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find mycobot_600_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch> </launch>

5
mycobot_pro/mycobot_600_moveit/launch/fake_moveit_controller_manager.launch.xml
View file

@ -1,9 +1,12 @@
<launch> <launch>
<!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
<arg name="fake_execution_type" default="interpolate" />
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin --> <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/> <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin --> <!-- The rest of the params are specific to this plugin -->
<rosparam file="$(find mycobot_600_moveit)/config/fake_controllers.yaml"/> <rosparam subst_value="true" file="$(find mycobot_600_moveit)/config/fake_controllers.yaml"/>
</launch> </launch>

37
mycobot_pro/mycobot_600_moveit/launch/gazebo.launch
View file

@ -1,23 +1,34 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<launch> <launch>
<arg name="paused" default="false"/> <!-- Gazebo options -->
<arg name="gazebo_gui" default="true"/> <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.urdf"/> <arg name="paused" default="false" doc="Start Gazebo paused"/>
<arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
<arg name="initial_joint_positions" default=" -J joint2_to_joint1 0 -J joint3_to_joint2 -1.5708 -J joint4_to_joint3 0 -J joint5_to_joint4 -1.5708 -J joint6_to_joint5 0 -J joint6output_to_joint6 0" doc="Initial joint configuration of the robot"/>
<!-- startup simulated world --> <!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
<include file="$(find gazebo_ros)/launch/empty_world.launch"> <include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
<arg name="world_name" default="worlds/empty.world"/> <arg name="paused" value="true"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gazebo_gui)"/>
</include> </include>
<!-- send robot urdf to param server --> <!-- Set the robot urdf on the parameter server -->
<param name="robot_description" textfile="$(arg urdf_path)" /> <param name="robot_description" textfile="$(find mycobot_600_moveit)/config/gazebo_firefighter.urdf" />
<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position --> <!-- Unpause the simulation after loading the robot model -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0" <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<!-- Spawn the robot in Gazebo -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
respawn="false" output="screen" /> respawn="false" output="screen" />
<include file="$(find mycobot_600_moveit)/launch/ros_controllers.launch"/> <!-- Load the controller parameters onto the parameter server -->
<rosparam file="$(find mycobot_600_moveit)/config/gazebo_controllers.yaml" />
<include file="$(dirname)/ros_controllers.launch"/>
<!-- Spawn the Gazebo ROS controllers -->
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</launch> </launch>

54
mycobot_pro/mycobot_600_moveit/launch/move_group.launch
View file

@ -1,12 +1,10 @@
<launch> <launch>
<include file="$(find mycobot_600_moveit)/launch/planning_context.launch" />
<!-- GDB Debug Option --> <!-- GDB Debug Option -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" /> <arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" <arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(find mycobot_600_moveit)/launch/gdb_settings.gdb --ex run --args" /> value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option --> <!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" /> <arg name="info" default="$(arg debug)" />
@ -14,10 +12,11 @@
<arg if="$(arg info)" name="command_args" value="--debug" /> <arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings --> <!-- move_group settings -->
<arg name="pipeline" default="ompl" />
<arg name="allow_trajectory_execution" default="true"/> <arg name="allow_trajectory_execution" default="true"/>
<arg name="fake_execution" default="false"/> <arg name="moveit_controller_manager" default="simple" />
<arg name="fake_execution_type" default="interpolate"/>
<arg name="max_safe_path_cost" default="1"/> <arg name="max_safe_path_cost" default="1"/>
<arg name="jiggle_fraction" default="0.05" />
<arg name="publish_monitored_planning_scene" default="true"/> <arg name="publish_monitored_planning_scene" default="true"/>
<arg name="capabilities" default=""/> <arg name="capabilities" default=""/>
@ -38,20 +37,46 @@
" /> " />
--> -->
<!-- Planning Functionality --> <arg name="load_robot_description" default="false" />
<include ns="move_group" file="$(find mycobot_600_moveit)/launch/planning_pipeline.launch.xml"> <!-- load URDF, SRDF and joint_limits configuration -->
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="$(arg load_robot_description)" />
</include>
<!-- Planning Pipelines -->
<group ns="move_group/planning_pipelines">
<!-- OMPL -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" /> <arg name="pipeline" value="ompl" />
</include> </include>
<!-- CHOMP -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="chomp" />
</include>
<!-- Pilz Industrial Motion -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="pilz_industrial_motion_planner" />
</include>
<!-- Support custom planning pipeline -->
<include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg pipeline)" />
</include>
</group>
<!-- Trajectory Execution Functionality --> <!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(find mycobot_600_moveit)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)"> <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" /> <arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/> <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/> <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
</include> </include>
<!-- Sensors Functionality --> <!-- Sensors Functionality -->
<include ns="move_group" file="$(find mycobot_600_moveit)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)"> <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="firefighter" /> <arg name="moveit_sensor_manager" value="firefighter" />
</include> </include>
@ -61,11 +86,14 @@
<env name="DISPLAY" value="$(optenv DISPLAY :0)" /> <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/> <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/> <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" /> <param name="default_planning_pipeline" value="$(arg pipeline)" />
<param name="capabilities" value="$(arg capabilities)" /> <param name="capabilities" value="$(arg capabilities)" />
<param name="disable_capabilities" value="$(arg disable_capabilities)" /> <param name="disable_capabilities" value="$(arg disable_capabilities)" />
<!-- do not copy dynamics information from /joint_states to internal robot monitoring
default to false, because almost nothing in move_group relies on this information -->
<param name="monitor_dynamics" value="false" />
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot --> <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" /> <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />

49
mycobot_pro/mycobot_600_moveit/launch/moveit.rviz
View file

@ -9,8 +9,8 @@ Panels:
- /MotionPlanning1/Scene Robot1 - /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1 - /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1 - /MotionPlanning1/Planned Path1
Splitter Ratio: 0.742560029 Splitter Ratio: 0.7425600290298462
Tree Height: 195 Tree Height: 197
- Class: rviz/Help - Class: rviz/Help
Name: Help Name: Help
- Class: rviz/Views - Class: rviz/Views
@ -18,6 +18,8 @@ Panels:
- /Current View1 - /Current View1
Name: Views Name: Views
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
@ -29,7 +31,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
@ -49,12 +51,10 @@ Visualization Manager:
MoveIt_Allow_External_Program: false MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false MoveIt_Allow_Sensor_Positioning: false
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10 MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5 MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace: MoveIt_Workspace:
Center: Center:
X: 0 X: 0
@ -118,18 +118,19 @@ Visualization Manager:
State Display Time: 0.05 s State Display Time: 0.05 s
Trail Step Size: 1 Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics: Planning Metrics:
Payload: 1 Payload: 1
Show Joint Torques: false Show Joint Torques: false
Show Manipulability: false Show Manipulability: false
Show Manipulability Index: false Show Manipulability Index: false
Show Weight Limit: false Show Weight Limit: false
TextHeight: 0.0799999982 TextHeight: 0.07999999821186066
Planning Request: Planning Request:
Colliding Link Color: 255; 0; 0 Colliding Link Color: 255; 0; 0
Goal State Alpha: 1 Goal State Alpha: 1
Goal State Color: 250; 128; 0 Goal State Color: 250; 128; 0
Interactive Marker Size: 0.109999999 Interactive Marker Size: 0.10999999940395355
Joint Violation Color: 255; 0; 255 Joint Violation Color: 255; 0; 255
Planning Group: arm_group Planning Group: arm_group
Query Goal State: true Query Goal State: true
@ -142,7 +143,7 @@ Visualization Manager:
Scene Geometry: Scene Geometry:
Scene Alpha: 1 Scene Alpha: 1
Scene Color: 50; 230; 50 Scene Color: 50; 230; 50
Scene Display Time: 0.200000003 Scene Display Time: 0.20000000298023224
Show Scene Geometry: true Show Scene Geometry: true
Voxel Coloring: Z-Axis Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels Voxel Rendering: Occupied Voxels
@ -210,30 +211,30 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/XYOrbit Class: rviz/XYOrbit
Distance: 1.39158678 Distance: 1.8773764371871948
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: 0.113567002 X: 0.11356700211763382
Y: 0.105920002 Y: 0.10592000186443329
Z: 2.23518001e-07 Z: 2.2351800055275817e-07
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: 0.354796648 Pitch: 0.3547966778278351
Target Frame: base Target Frame: base
Value: XYOrbit (rviz) Yaw: 2.836765766143799
Yaw: 2.02676558
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 898 Height: 906
Help: Help:
collapsed: false collapsed: false
Hide Left Dock: false Hide Left Dock: false
@ -242,9 +243,9 @@ Window Geometry:
collapsed: false collapsed: false
MotionPlanning - Trajectory Slider: MotionPlanning - Trajectory Slider:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff000004710000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000156000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000199000000420000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001e10000018c0000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views: Views:
collapsed: false collapsed: false
Width: 1828 Width: 1848
X: 60 X: 72
Y: 15 Y: 27

7
mycobot_pro/mycobot_600_moveit/launch/moveit_rviz.launch
View file

@ -4,13 +4,12 @@
<arg unless="$(arg debug)" name="launch_prefix" value="" /> <arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" /> <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="config" default="false" /> <arg name="rviz_config" default="" />
<arg unless="$(arg config)" name="command_args" value="" /> <arg if="$(eval rviz_config=='')" name="command_args" value="" />
<arg if="$(arg config)" name="command_args" value="-d $(find mycobot_600_moveit)/launch/moveit.rviz" /> <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen"> args="$(arg command_args)" output="screen">
<rosparam command="load" file="$(find mycobot_600_moveit)/config/kinematics.yaml"/>
</node> </node>
</launch> </launch>

64
mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch
View file

@ -1,64 +1,66 @@
<launch> <launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) --> <!-- By default, we do not start a database (it can be large) -->
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
<arg name="db" default="false" /> <arg name="db" default="false" />
<!-- Allow user to specify database location --> <!-- Allow user to specify database location -->
<!-- 允许用户指定数据库位置 -->
<arg name="db_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" /> <arg name="db_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode --> <!-- 默认情况下，我们不处于调试模式 --> <!-- By default, we are not in debug mode -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<!-- <!-- By default, we will load or override the robot_description -->
By default, hide joint_state_publisher's GUI <arg name="load_robot_description" default="true"/>
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher. <!-- Choose controller manager: fake, simple, or ros_control -->
The latter one maintains and publishes the current joint configuration of the simulated robot. <arg name="moveit_controller_manager" default="fake" />
It also provides a GUI to move the simulated robot around "manually". <!-- Set execution mode for fake execution controllers -->
This corresponds to moving around the real robot without the use of MoveIt. <arg name="fake_execution_type" default="interpolate" />
-->
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" /> <arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
<include file="$(find mycobot_600_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root --> <!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic base" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a robot connected, so publish fake joint states --> <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
<!-- 我们没有连接机器人，所以发布假关节状态 --> MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<param name="use_gui" value="$(arg use_gui)"/> <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node> </node>
<!-- Given the published joint states, publish tf for the robot links --> <!-- Given the published joint states, publish tf for the robot links -->
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" /> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) --> <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）--> <include file="$(dirname)/move_group.launch">
<include file="$(find mycobot_600_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/> <arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/> <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/> <arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include> </include>
<!-- Run Rviz and load the default config to see the state of the move_group node --> <!-- Run Rviz and load the default config to see the state of the move_group node -->
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 --> <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<include file="$(find mycobot_600_moveit)/launch/moveit_rviz.launch"> <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
</include> </include>
<!-- If database loading was enabled, start mongodb as well --> <!-- If database loading was enabled, start mongodb as well -->
<!-- 如果启用了数据库加载，也启动 mongodb --> <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<include file="$(find mycobot_600_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include> </include>

20
mycobot_pro/mycobot_600_moveit/launch/ompl-chomp_planning_pipeline.launch.xml Normal file
View file

@ -0,0 +1,20 @@
<launch>
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
<include file="$(find mycobot_600_moveit)/launch/ompl_planning_pipeline.launch.xml">
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
chomp/OptimizerAdapter"
/>
</include>
<!-- load chomp config -->
<rosparam command="load" file="$(find mycobot_600_moveit)/config/chomp_planning.yaml" />
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
<param name="trajectory_initialization_method" value="fillTrajectory"/>
</launch>

20
mycobot_pro/mycobot_600_moveit/launch/ompl_planning_pipeline.launch.xml
View file

@ -1,21 +1,23 @@
<launch> <launch>
<!-- OMPL Plugin for MoveIt! --> <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" /> <arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
<!-- The request adapters (plugins) used when planning with OMPL. default_planner_request_adapters/AddTimeParameterization
ORDER MATTERS --> default_planner_request_adapters/ResolveConstraintFrames
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" /> default_planner_request_adapters/FixStartStatePathConstraints"
/>
<arg name="start_state_max_bounds_error" value="0.1" /> <arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<param name="planning_plugin" value="$(arg planning_plugin)" /> <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" /> <param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find mycobot_600_moveit)/config/ompl_planning.yaml"/> <rosparam command="load" file="$(find mycobot_600_moveit)/config/ompl_planning.yaml"/>

15
mycobot_pro/mycobot_600_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml Normal file
View file

@ -0,0 +1,15 @@
<launch>
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters" default="" />
<param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<!-- Define default planner (for all groups) -->
<param name="default_planner_config" value="PTP" />
<!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
<param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceService" />
</launch>

4
mycobot_pro/mycobot_600_moveit/launch/planning_context.launch
View file

@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/> <arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) --> <!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.urdf"/> <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf"/>
<!-- The semantic description that corresponds to the URDF --> <!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find mycobot_600_moveit)/config/firefighter.srdf" /> <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_600_moveit)/config/firefighter.srdf" />
@ -14,11 +14,13 @@
<!-- Load updated joint limits (override information from URDF) --> <!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning"> <group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find mycobot_600_moveit)/config/joint_limits.yaml"/> <rosparam command="load" file="$(find mycobot_600_moveit)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find mycobot_600_moveit)/config/cartesian_limits.yaml"/>
</group> </group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace --> <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics"> <group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find mycobot_600_moveit)/config/kinematics.yaml"/> <rosparam command="load" file="$(find mycobot_600_moveit)/config/kinematics.yaml"/>
</group> </group>
</launch> </launch>

2
mycobot_pro/mycobot_600_moveit/launch/planning_pipeline.launch.xml
View file

@ -5,6 +5,6 @@
<arg name="pipeline" default="ompl" /> <arg name="pipeline" default="ompl" />
<include file="$(find mycobot_600_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" /> <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch> </launch>

4
mycobot_pro/mycobot_600_moveit/launch/ros_control_moveit_controller_manager.launch.xml Normal file
View file

@ -0,0 +1,4 @@
<launch>
<!-- Define MoveIt controller manager plugin -->
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
</launch>

2
mycobot_pro/mycobot_600_moveit/launch/ros_controllers.launch
View file

@ -6,6 +6,6 @@
<!-- Load the controllers --> <!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args=""/> output="screen" args="arm_group_controller "/>
</launch> </launch>

5
mycobot_pro/mycobot_600_moveit/launch/run_benchmark_ompl.launch
View file

@ -4,18 +4,17 @@
<arg name="cfg" /> <arg name="cfg" />
<!-- Load URDF --> <!-- Load URDF -->
<include file="$(find mycobot_600_moveit)/launch/planning_context.launch"> <include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="true"/> <arg name="load_robot_description" value="true"/>
</include> </include>
<!-- Start the database --> <!-- Start the database -->
<include file="$(find mycobot_600_moveit)/launch/warehouse.launch"> <include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/> <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include> </include>
<!-- Start Benchmark Executable --> <!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen"> <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find mycobot_600_moveit)/config/kinematics.yaml"/>
<rosparam command="load" file="$(find mycobot_600_moveit)/config/ompl_planning.yaml"/> <rosparam command="load" file="$(find mycobot_600_moveit)/config/ompl_planning.yaml"/>
</node> </node>

2
mycobot_pro/mycobot_600_moveit/launch/sensor_manager.launch.xml
View file

@ -12,6 +12,6 @@
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter --> <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="firefighter" /> <arg name="moveit_sensor_manager" default="firefighter" />
<include file="$(find mycobot_600_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" /> <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch> </launch>

3
mycobot_pro/mycobot_600_moveit/launch/setup_assistant.launch
View file

@ -1,4 +1,4 @@
<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded --> <!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
<launch> <launch>
<!-- Debug Info --> <!-- Debug Info -->
@ -10,6 +10,7 @@
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=mycobot_600_moveit" args="--config_pkg=mycobot_600_moveit"
launch-prefix="$(arg launch_prefix)" launch-prefix="$(arg launch_prefix)"
required="true"
output="screen" /> output="screen" />
</launch> </launch>

8
mycobot_pro/mycobot_600_moveit/launch/simple_moveit_controller_manager.launch.xml Normal file
View file

@ -0,0 +1,8 @@
<launch>
<!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<!-- Load controller list to the parameter server -->
<rosparam file="$(find mycobot_600_moveit)/config/simple_moveit_controllers.yaml" />
<rosparam file="$(find mycobot_600_moveit)/config/ros_controllers.yaml" />
</launch>

23
mycobot_pro/mycobot_600_moveit/launch/stomp_planning_pipeline.launch.xml Normal file
View file

@ -0,0 +1,23 @@
<launch>
<!-- Stomp Plugin for MoveIt -->
<arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
<arg name="start_state_max_bounds_error" value="0.1" />
<arg name="jiggle_fraction" value="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find mycobot_600_moveit)/config/stomp_planning.yaml"/>
</launch>

13
mycobot_pro/mycobot_600_moveit/launch/trajectory_execution.launch.xml
View file

@ -1,8 +1,11 @@
<launch> <launch>
<!-- This file summarizes all settings required for trajectory execution -->
<!-- This file makes it easy to include the settings for trajectory execution --> <!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" />
<arg name="fake_execution_type" default="interpolate" />
<!-- Flag indicating whether MoveIt! is allowed to load/unload or switch controllers --> <!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/> <arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/> <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
@ -13,8 +16,8 @@
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state --> <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 --> <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter --> <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
<arg name="moveit_controller_manager" default="firefighter" /> As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
<include file="$(find mycobot_600_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" /> <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
</launch> </launch>

2
mycobot_pro/mycobot_600_moveit/launch/warehouse.launch
View file

@ -4,7 +4,7 @@
<arg name="moveit_warehouse_database_path" /> <arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters --> <!-- Load warehouse parameters -->
<include file="$(find mycobot_600_moveit)/launch/warehouse_settings.launch.xml" /> <include file="$(dirname)/warehouse_settings.launch.xml" />
<!-- Run the DB server --> <!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo"> <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">

18
mycobot_pro/mycobot_600_moveit/package.xml
View file

@ -3,7 +3,7 @@
<name>mycobot_600_moveit</name> <name>mycobot_600_moveit</name>
<version>0.3.0</version> <version>0.3.0</version>
<description> <description>
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
</description> </description>
<author email="weijian.wang@elephantrobotics.com">wangweijian</author> <author email="weijian.wang@elephantrobotics.com">wangweijian</author>
<maintainer email="weijian.wang@elephantrobotics.com">wangweijian</maintainer> <maintainer email="weijian.wang@elephantrobotics.com">wangweijian</maintainer>
@ -19,20 +19,22 @@
<run_depend>moveit_ros_move_group</run_depend> <run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend> <run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend> <run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners_ompl</run_depend> <run_depend>moveit_planners</run_depend>
<run_depend>moveit_ros_visualization</run_depend> <run_depend>moveit_ros_visualization</run_depend>
<run_depend>moveit_setup_assistant</run_depend> <run_depend>moveit_setup_assistant</run_depend>
<run_depend>moveit_simple_controller_manager</run_depend>
<run_depend>joint_state_publisher</run_depend> <run_depend>joint_state_publisher</run_depend>
<run_depend>joint_state_publisher_gui</run_depend>
<run_depend>robot_state_publisher</run_depend> <run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>xacro</run_depend> <run_depend>xacro</run_depend>
<!-- The next 2 packages are required for the gazebo simulation.
We don't include them by default to prevent installing gazebo and all its dependencies. -->
<!-- <run_depend>joint_trajectory_controller</run_depend> -->
<!-- <run_depend>gazebo_ros_control</run_depend> -->
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. --> <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> --> <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>moveit_msgs</build_depend>
<build_depend>mycobot_description</build_depend>
<run_depend>mycobot_description</run_depend> <run_depend>mycobot_description</run_depend>

3
mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py
View file

@ -23,6 +23,9 @@ def callback(data):
radians_to_angles = round(math.degrees(value), 2) radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles) data_list.append(radians_to_angles)
data_list[1] = data_list[1] - 90
data_list[3] = data_list[3] - 90
rospy.loginfo(rospy.get_caller_id() + "%s", data_list) rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.write_angles(data_list, 1000) mc.write_angles(data_list, 1000)

6
mycobot_pro/mycobot_630/config/mycobot_630.rviz
View file

@ -180,7 +180,7 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 1.5878180265426636 Distance: 2.1886165142059326
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
@ -196,9 +196,9 @@ Visualization Manager:
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.5947973132133484 Pitch: 0.8997963666915894
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Yaw: 2.5353903770446777 Yaw: 3.4653899669647217
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:

3
mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py
View file

@ -22,6 +22,9 @@ def callback(data):
radians_to_angles = round(math.degrees(value), 2) radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles) data_list.append(radians_to_angles)
data_list[1] = data_list[1] - 90
data_list[3] = data_list[3] - 90
rospy.loginfo(rospy.get_caller_id() + "%s", data_list) rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.write_angles(data_list, 800) mc.write_angles(data_list, 800)

4
mycobot_pro/mycobot_630_moveit/.setup_assistant
View file

@ -1,11 +1,11 @@
moveit_setup_assistant_config: moveit_setup_assistant_config:
URDF: URDF:
package: mycobot_description package: mycobot_description
relative_path: urdf/mycobot_pro_630/mycobot_pro_630.urdf relative_path: urdf/mycobot_pro_630/mycobot_pro_630_moveit.urdf
xacro_args: "--inorder " xacro_args: "--inorder "
SRDF: SRDF:
relative_path: config/firefighter.srdf relative_path: config/firefighter.srdf
CONFIG: CONFIG:
author_name: wangweijian author_name: wangweijian
author_email: weijian.wang@elephantrobotics.com author_email: weijian.wang@elephantrobotics.com
generated_timestamp: 1652406964 generated_timestamp: 1736239899

15
mycobot_pro/mycobot_630_moveit/CMakeLists.txt
View file

@ -1,21 +1,10 @@
cmake_minimum_required(VERSION 2.8.3) cmake_minimum_required(VERSION 3.1.3)
project(mycobot_630_moveit) project(mycobot_630_moveit)
find_package(catkin REQUIRED find_package(catkin REQUIRED)
rospy
std_msgs
moveit_msgs
)
catkin_package() catkin_package()
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
scripts/sync_plan.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE) PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

5
mycobot_pro/mycobot_630_moveit/config/cartesian_limits.yaml Normal file
View file

@ -0,0 +1,5 @@
cartesian_limits:
max_trans_vel: 1
max_trans_acc: 2.25
max_trans_dec: -5
max_rot_vel: 1.57

6
mycobot_pro/mycobot_630_moveit/config/chomp_planning.yaml
View file

@ -7,12 +7,12 @@ learning_rate: 0.01
smoothness_cost_velocity: 0.0 smoothness_cost_velocity: 0.0
smoothness_cost_acceleration: 1.0 smoothness_cost_acceleration: 1.0
smoothness_cost_jerk: 0.0 smoothness_cost_jerk: 0.0
ridge_factor: 0.01 ridge_factor: 0.0
use_pseudo_inverse: false use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4 pseudo_inverse_ridge_factor: 1e-4
joint_update_limit: 0.1 joint_update_limit: 0.1
collision_clearence: 0.2 collision_clearance: 0.2
collision_threshold: 0.07 collision_threshold: 0.07
use_stochastic_descent: true use_stochastic_descent: true
enable_failure_recovery: true enable_failure_recovery: false
max_recovery_attempts: 5 max_recovery_attempts: 5

4
mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml
View file

@ -1,5 +1,6 @@
controller_list: controller_list:
- name: fake_arm_group_controller - name: fake_arm_group_controller
type: $(arg fake_execution_type)
joints: joints:
- joint1_to_base - joint1_to_base
- joint2_to_joint1 - joint2_to_joint1
@ -7,3 +8,6 @@ controller_list:
- joint4_to_joint3 - joint4_to_joint3
- joint5_to_joint4 - joint5_to_joint4
- joint6_to_joint5 - joint6_to_joint5
initial: # Define initial robot poses per group
- group: arm_group
pose: init_pose

17
mycobot_pro/mycobot_630_moveit/config/firefighter.srdf
View file

@ -1,4 +1,4 @@
<?xml version="1.0" ?> <?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF. <!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure. This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
@ -20,33 +20,22 @@
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'--> <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="init_pose" group="arm_group"> <group_state name="init_pose" group="arm_group">
<joint name="joint1_to_base" value="0"/> <joint name="joint1_to_base" value="0"/>
<joint name="joint2_to_joint1" value="-1.5708" /> <joint name="joint2_to_joint1" value="0"/>
<joint name="joint3_to_joint2" value="0"/> <joint name="joint3_to_joint2" value="0"/>
<joint name="joint4_to_joint3" value="-1.5708" /> <joint name="joint4_to_joint3" value="0"/>
<joint name="joint5_to_joint4" value="0"/> <joint name="joint5_to_joint4" value="0"/>
<joint name="joint6_to_joint5" value="0"/> <joint name="joint6_to_joint5" value="0"/>
</group_state> </group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)--> <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<!-- <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" /> -->
<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base"/> <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. --> <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base" link2="link1" reason="Adjacent"/> <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
<disable_collisions link1="base" link2="link2" reason="Never" />
<disable_collisions link1="base" link2="link3" reason="Never" />
<disable_collisions link1="base" link2="link4" reason="Never" />
<disable_collisions link1="base" link2="link5" reason="Never" />
<disable_collisions link1="base" link2="link6" reason="Never" />
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/> <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link3" reason="Never"/> <disable_collisions link1="link1" link2="link3" reason="Never"/>
<disable_collisions link1="link1" link2="link4" reason="Never"/> <disable_collisions link1="link1" link2="link4" reason="Never"/>
<disable_collisions link1="link1" link2="link5" reason="Never"/> <disable_collisions link1="link1" link2="link5" reason="Never"/>
<disable_collisions link1="link1" link2="link6" reason="Never" />
<disable_collisions link1="link2" link2="link3" reason="Adjacent"/> <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
<disable_collisions link1="link2" link2="link4" reason="Never"/> <disable_collisions link1="link2" link2="link4" reason="Never"/>
<disable_collisions link1="link2" link2="link5" reason="Never" />
<disable_collisions link1="link2" link2="link6" reason="Never" />
<disable_collisions link1="link3" link2="link4" reason="Adjacent"/> <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
<disable_collisions link1="link3" link2="link5" reason="Never"/> <disable_collisions link1="link3" link2="link5" reason="Never"/>
<disable_collisions link1="link3" link2="link6" reason="Never"/> <disable_collisions link1="link3" link2="link6" reason="Never"/>

4
mycobot_pro/mycobot_630_moveit/config/gazebo_controllers.yaml Normal file
View file

@ -0,0 +1,4 @@
# Publish joint_states
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

250
mycobot_pro/mycobot_630_moveit/config/gazebo_firefighter.urdf Normal file
View file

@ -0,0 +1,250 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
<xacro:property name="width" value=".2" />
<link name="base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae" />
</geometry>
<origin xyz="0 0 0 " rpy=" 1.5707 0 0" />
</visual>
<collision>
<origin xyz="0 0 0.04 " rpy=" 0 0 1.5708" />
<geometry>
<cylinder length="0.08" radius="0.06" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link1.dae" />
</geometry>
<origin xyz="0 0 -0.06 " rpy="0 0 3.1415926" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.02 " rpy=" 0 0 1.5708" />
<geometry>
<cylinder length="0.06" radius="0.03" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link2.dae" />
</geometry>
<origin xyz="0 0 -0.0446 " rpy=" 0 -1.5707 -1.5707" />
</visual>
<collision>
<origin xyz="0.14 0 -0.08 " rpy=" 0 1.5708 0" />
<geometry>
<cylinder length="0.28" radius="0.028" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae" />
</geometry>
<origin xyz="0 0 -0.0444 " rpy=" 0 1.5707 -1.5707" />
</visual>
<collision>
<origin xyz="0.13 0.0 0.02 " rpy="0 1.5708 0" />
<geometry>
<cylinder length="0.28" radius="0.024" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link4">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link4.dae" />
</geometry>
<origin xyz="0 0 0.041 " rpy=" -1.5707 0 1.5707" />
</visual>
<collision>
<origin xyz="0.0 -0.01 0.007" rpy=" 1.5708 1.5708 0" />
<geometry>
<cylinder length="0.05" radius="0.024" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link5">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link5.dae" />
</geometry>
<origin xyz="-0.043 0 0 " rpy=" 0 -1.5707 3.1415926" />
</visual>
<collision>
<origin xyz="0.0 0.0 -0.015 " rpy=" 0 0 -1.5708" />
<geometry>
<cylinder length="0.05" radius="0.028" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link6">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link6.dae" />
</geometry>
<!-- <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material> -->
<origin xyz="0.01 0 0" rpy=" 0 1.5707 0" />
</visual>
<collision>
<origin xyz="0.006 0.0 -0.0 " rpy=" 0 1.5708 0" />
<geometry>
<cylinder length="0.006" radius="0.026" />
</geometry>
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<joint name="joint1_to_base" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
<parent link="base" />
<child link="link1" />
<origin xyz="0 0 0.22934" rpy="0 0 0" />
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 -1" />
<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/> -->
<limit effort="1000.0" lower="-3.14159" upper="3.14159" velocity="0" />
<parent link="link1" />
<child link="link2" />
<origin xyz="0 0 0" rpy="1.5707 -1.5708 0" />
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz=" 0 0 -1" />
<limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" />
<parent link="link2" />
<child link="link3" />
<origin xyz="0.27 0 0 " rpy="0 0 0" />
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1" />
<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
<limit effort="1000.0" lower="-2.9670" upper="2.9670" velocity="0" />
<parent link="link3" />
<child link="link4" />
<origin xyz="0.267 0 -0.0745" rpy="0 0 1.5708" />
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.93" upper="2.9321" velocity="0" />
<parent link="link4" />
<child link="link5" />
<origin xyz="0 -0.095 0.002" rpy="1.5707 -1.5707 0" />
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="-1 0 0" />
<limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
<parent link="link5" />
<child link="link6" />
<origin xyz="-0.054 0 0" rpy="-1.5707 0 0 " />
</joint>
<transmission name="trans_joint1_to_base">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1_to_base">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint1_to_base_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint2_to_joint1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2_to_joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint2_to_joint1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint3_to_joint2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3_to_joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint3_to_joint2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint4_to_joint3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4_to_joint3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint4_to_joint3_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint5_to_joint4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5_to_joint4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint5_to_joint4_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6_to_joint5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6_to_joint5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint6_to_joint5_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
</robot>

42
mycobot_pro/mycobot_630_moveit/config/joint_limits.yaml
View file

@ -1,34 +1,40 @@
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits: joint_limits:
joint1_to_base: joint1_to_base:
has_velocity_limits: true has_velocity_limits: false
max_velocity: 3.14 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 0
joint2_to_joint1: joint2_to_joint1:
has_velocity_limits: true has_velocity_limits: false
max_velocity: 3.14 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 0
joint3_to_joint2: joint3_to_joint2:
has_velocity_limits: true has_velocity_limits: false
max_velocity: 3.14 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 0
joint4_to_joint3: joint4_to_joint3:
has_velocity_limits: true has_velocity_limits: false
max_velocity: 3.14 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 0
joint5_to_joint4: joint5_to_joint4:
has_velocity_limits: true has_velocity_limits: false
max_velocity: 3.14 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 0
joint6_to_joint5: joint6_to_joint5:
has_velocity_limits: true has_velocity_limits: false
max_velocity: 3.14 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 30 max_acceleration: 0

4
mycobot_pro/mycobot_630_moveit/config/kinematics.yaml
View file

@ -2,4 +2,6 @@ arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005 kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005 kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3 goal_joint_tolerance: 0.0001
goal_position_tolerance: 0.0001
goal_orientation_tolerance: 0.001

58
mycobot_pro/mycobot_630_moveit/config/ompl_planning.yaml
View file

@ -1,4 +1,11 @@
planner_configs: planner_configs:
AnytimePathShortening:
type: geometric::AnytimePathShortening
shortcut: true # Attempt to shortcut all new solution paths
hybridize: true # Compute hybrid solution trajectories
max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
num_planners: 4 # The number of default planners to use for planning
planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
SBL: SBL:
type: geometric::SBL type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
@ -44,8 +51,8 @@ planner_configs:
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
init_temperature: 10e-6 # initial temperature. default: 10e-6 init_temperature: 10e-6 # initial temperature. default: 10e-6
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() frontier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 frontier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
PRM: PRM:
type: geometric::PRM type: geometric::PRM
@ -88,8 +95,8 @@ planner_configs:
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
init_temperature: 100 # initial temperature. default: 100 init_temperature: 100 # initial temperature. default: 100
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() frontier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 frontier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
LBTRRT: LBTRRT:
type: geometric::LBTRRT type: geometric::LBTRRT
@ -120,9 +127,47 @@ planner_configs:
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000 max_failures: 5000 # maximum consecutive failure limit. default: 5000
AITstar:
type: geometric::AITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
set_max_num_goals: 1 # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1
ABITstar:
type: geometric::ABITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0
use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
initial_inflation_factor: 1000000 # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000
inflation_scaling_parameter: 10 # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
truncation_scaling_parameter: 5.0 # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
BITstar:
type: geometric::BITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0
use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
arm_group: arm_group:
default_planner_config: RRTConnect default_planner_config: RRTConnect
planner_configs: planner_configs:
- AnytimePathShortening
- SBL - SBL
- EST - EST
- LBKPIECE - LBKPIECE
@ -146,5 +191,8 @@ arm_group:
- LazyPRMstar - LazyPRMstar
- SPARS - SPARS
- SPARStwo - SPARStwo
projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2) - AITstar
- ABITstar
- BITstar
projection_evaluator: joints(joint1_to_base,joint2_to_joint1)
longest_valid_segment_fraction: 0.005 longest_valid_segment_fraction: 0.005

52
mycobot_pro/mycobot_630_moveit/config/ros_controllers.yaml
View file

@ -1,26 +1,40 @@
# Simulation settings for using moveit_sim_controllers arm_group_controller:
moveit_sim_hw_interface: type: effort_controllers/JointTrajectoryController
joint_model_group: arm_group
joint_model_group_pose: init_pose
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
loop_hz: 300
cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
joints: joints:
- vitual_joint
- joint1_to_base - joint1_to_base
- joint2_to_joint1 - joint2_to_joint1
- joint3_to_joint2 - joint3_to_joint2
- joint4_to_joint3 - joint4_to_joint3
- joint5_to_joint4 - joint5_to_joint4
- joint6_to_joint5 - joint6_to_joint5
sim_control_mode: 1 # 0: position, 1: velocity gains:
# Publish all joint states joint1_to_base:
# Creates the /joint_states topic necessary in ROS p: 100
joint_state_controller: d: 1
type: joint_state_controller/JointStateController i: 1
publish_rate: 50 i_clamp: 1
controller_list: joint2_to_joint1:
[] p: 100
d: 1
i: 1
i_clamp: 1
joint3_to_joint2:
p: 100
d: 1
i: 1
i_clamp: 1
joint4_to_joint3:
p: 100
d: 1
i: 1
i_clamp: 1
joint5_to_joint4:
p: 100
d: 1
i: 1
i_clamp: 1
joint6_to_joint5:
p: 100
d: 1
i: 1
i_clamp: 1

1
mycobot_pro/mycobot_630_moveit/config/sensors_3d.yaml
View file

@ -1,4 +1,3 @@
# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
sensors: sensors:
- filtered_cloud_topic: filtered_cloud - filtered_cloud_topic: filtered_cloud
max_range: 5.0 max_range: 5.0

12
mycobot_pro/mycobot_630_moveit/config/simple_moveit_controllers.yaml Normal file
View file

@ -0,0 +1,12 @@
controller_list:
- name: arm_group_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- joint1_to_base
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5

39
mycobot_pro/mycobot_630_moveit/config/stomp_planning.yaml Normal file
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@ -0,0 +1,39 @@
stomp/arm_group:
group_name: arm_group
optimization:
num_timesteps: 60
num_iterations: 40
num_iterations_after_valid: 0
num_rollouts: 30
max_rollouts: 30
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
control_cost_weight: 0.0
task:
noise_generator:
- class: stomp_moveit/NormalDistributionSampling
stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
cost_functions:
- class: stomp_moveit/CollisionCheck
collision_penalty: 1.0
cost_weight: 1.0
kernel_window_percentage: 0.2
longest_valid_joint_move: 0.05
noisy_filters:
- class: stomp_moveit/JointLimits
lock_start: True
lock_goal: True
- class: stomp_moveit/MultiTrajectoryVisualization
line_width: 0.02
rgb: [255, 255, 0]
marker_array_topic: stomp_trajectories
marker_namespace: noisy
update_filters:
- class: stomp_moveit/PolynomialSmoother
poly_order: 6
- class: stomp_moveit/TrajectoryVisualization
line_width: 0.05
rgb: [0, 191, 255]
error_rgb: [255, 0, 0]
publish_intermediate: True
marker_topic: stomp_trajectory
marker_namespace: optimized

19
mycobot_pro/mycobot_630_moveit/launch/chomp_planning_pipeline.launch.xml
View file

@ -1,10 +1,21 @@
<launch> <launch>
<!-- CHOMP Plugin for MoveIt! --> <arg name="start_state_max_bounds_error" default="0.1" />
<arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" /> <arg name="jiggle_fraction" default="0.05" />
<arg name="start_state_max_bounds_error" value="0.1" /> <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<param name="planning_plugin" value="$(arg planning_plugin)" /> <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find mycobot_630_moveit)/config/chomp_planning.yaml" /> <rosparam command="load" file="$(find mycobot_630_moveit)/config/chomp_planning.yaml" />
</launch> </launch>

2
mycobot_pro/mycobot_630_moveit/launch/default_warehouse_db.launch
View file

@ -5,7 +5,7 @@
<arg name="moveit_warehouse_database_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" /> <arg name="moveit_warehouse_database_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location --> <!-- Launch the warehouse with the configured database location -->
<include file="$(find mycobot_630_moveit)/launch/warehouse.launch"> <include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" /> <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include> </include>

63
mycobot_pro/mycobot_630_moveit/launch/demo.launch
View file

@ -1,65 +1,66 @@
<launch> <launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) --> <!-- By default, we do not start a database (it can be large) -->
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
<arg name="db" default="false" /> <arg name="db" default="false" />
<!-- Allow user to specify database location --> <!-- Allow user to specify database location -->
<!-- 允许用户指定数据库位置 -->
<arg name="db_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" /> <arg name="db_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode --> <!-- By default, we are not in debug mode -->
<!-- 默认情况下，我们不处于调试模式 -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<!-- <!-- By default, we will load or override the robot_description -->
By default, hide joint_state_publisher's GUI <arg name="load_robot_description" default="true"/>
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher. <!-- Choose controller manager: fake, simple, or ros_control -->
The latter one maintains and publishes the current joint configuration of the simulated robot. <arg name="moveit_controller_manager" default="fake" />
It also provides a GUI to move the simulated robot around "manually". <!-- Set execution mode for fake execution controllers -->
This corresponds to moving around the real robot without the use of MoveIt. <arg name="fake_execution_type" default="interpolate" />
-->
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" /> <arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
<include file="$(find mycobot_630_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root --> <!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic base" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a robot connected, so publish fake joint states --> <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
<!-- 我们没有连接机器人，所以发布假关节状态 --> MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<param name="use_gui" value="$(arg use_gui)"/> <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node> </node>
<!-- Given the published joint states, publish tf for the robot links --> <!-- Given the published joint states, publish tf for the robot links -->
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" /> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) --> <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）--> <include file="$(dirname)/move_group.launch">
<include file="$(find mycobot_630_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/> <arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/> <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/> <arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include> </include>
<!-- Run Rviz and load the default config to see the state of the move_group node --> <!-- Run Rviz and load the default config to see the state of the move_group node -->
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 --> <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<include file="$(find mycobot_630_moveit)/launch/moveit_rviz.launch"> <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
</include> </include>
<!-- If database loading was enabled, start mongodb as well --> <!-- If database loading was enabled, start mongodb as well -->
<!-- 如果启用了数据库加载，也启动 mongodb --> <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<include file="$(find mycobot_630_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include> </include>

77
mycobot_pro/mycobot_630_moveit/launch/demo_gazebo.launch
View file

@ -1,70 +1,21 @@
<?xml version="1.0"?>
<launch> <launch>
<!-- MoveIt options -->
<arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
<!-- By default, we do not start a database (it can be large) --> <!-- Gazebo options -->
<arg name="db" default="false" /> <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
<!-- Allow user to specify database location --> <arg name="paused" default="false" doc="Start Gazebo paused"/>
<arg name="db_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" /> <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
<!-- By default, we are not in debug mode --> <!-- Launch Gazebo and spawn the robot -->
<arg name="debug" default="false" /> <include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
<!-- <!-- Launch MoveIt -->
By default, hide joint_state_publisher's GUI <include file="$(dirname)/demo.launch" pass_all_args="true">
<!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Gazebo specific options -->
<arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/>
<!-- By default, use the urdf location provided from the package -->
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630.urdf"/>
<!-- launch the gazebo simulator and spawn the robot -->
<include file="$(find mycobot_630_moveit)/launch/gazebo.launch" >
<arg name="paused" value="$(arg paused)"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
<arg name="urdf_path" value="$(arg urdf_path)"/>
</include>
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find mycobot_630_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="false" /> <arg name="load_robot_description" value="false" />
<arg name="moveit_controller_manager" value="ros_control" />
</include> </include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[/joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find mycobot_630_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="false"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find mycobot_630_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find mycobot_630_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch> </launch>

5
mycobot_pro/mycobot_630_moveit/launch/fake_moveit_controller_manager.launch.xml
View file

@ -1,9 +1,12 @@
<launch> <launch>
<!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
<arg name="fake_execution_type" default="interpolate" />
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin --> <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/> <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin --> <!-- The rest of the params are specific to this plugin -->
<rosparam file="$(find mycobot_630_moveit)/config/fake_controllers.yaml"/> <rosparam subst_value="true" file="$(find mycobot_630_moveit)/config/fake_controllers.yaml"/>
</launch> </launch>

37
mycobot_pro/mycobot_630_moveit/launch/gazebo.launch
View file

@ -1,23 +1,34 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<launch> <launch>
<arg name="paused" default="false"/> <!-- Gazebo options -->
<arg name="gazebo_gui" default="true"/> <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630.urdf"/> <arg name="paused" default="false" doc="Start Gazebo paused"/>
<arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
<arg name="initial_joint_positions" default=" -J joint1_to_base 0 -J joint2_to_joint1 0 -J joint3_to_joint2 0 -J joint4_to_joint3 0 -J joint5_to_joint4 0 -J joint6_to_joint5 0" doc="Initial joint configuration of the robot"/>
<!-- startup simulated world --> <!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
<include file="$(find gazebo_ros)/launch/empty_world.launch"> <include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
<arg name="world_name" default="worlds/empty.world"/> <arg name="paused" value="true"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gazebo_gui)"/>
</include> </include>
<!-- send robot urdf to param server --> <!-- Set the robot urdf on the parameter server -->
<param name="robot_description" textfile="$(arg urdf_path)" /> <param name="robot_description" textfile="$(find mycobot_630_moveit)/config/gazebo_firefighter.urdf" />
<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position --> <!-- Unpause the simulation after loading the robot model -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0" <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<!-- Spawn the robot in Gazebo -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
respawn="false" output="screen" /> respawn="false" output="screen" />
<include file="$(find mycobot_630_moveit)/launch/ros_controllers.launch"/> <!-- Load the controller parameters onto the parameter server -->
<rosparam file="$(find mycobot_630_moveit)/config/gazebo_controllers.yaml" />
<include file="$(dirname)/ros_controllers.launch"/>
<!-- Spawn the Gazebo ROS controllers -->
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</launch> </launch>

54
mycobot_pro/mycobot_630_moveit/launch/move_group.launch
View file

@ -1,12 +1,10 @@
<launch> <launch>
<include file="$(find mycobot_630_moveit)/launch/planning_context.launch" />
<!-- GDB Debug Option --> <!-- GDB Debug Option -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" /> <arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" <arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(find mycobot_630_moveit)/launch/gdb_settings.gdb --ex run --args" /> value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option --> <!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" /> <arg name="info" default="$(arg debug)" />
@ -14,10 +12,11 @@
<arg if="$(arg info)" name="command_args" value="--debug" /> <arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings --> <!-- move_group settings -->
<arg name="pipeline" default="ompl" />
<arg name="allow_trajectory_execution" default="true"/> <arg name="allow_trajectory_execution" default="true"/>
<arg name="fake_execution" default="false"/> <arg name="moveit_controller_manager" default="simple" />
<arg name="fake_execution_type" default="interpolate"/>
<arg name="max_safe_path_cost" default="1"/> <arg name="max_safe_path_cost" default="1"/>
<arg name="jiggle_fraction" default="0.05" />
<arg name="publish_monitored_planning_scene" default="true"/> <arg name="publish_monitored_planning_scene" default="true"/>
<arg name="capabilities" default=""/> <arg name="capabilities" default=""/>
@ -38,20 +37,46 @@
" /> " />
--> -->
<!-- Planning Functionality --> <arg name="load_robot_description" default="false" />
<include ns="move_group" file="$(find mycobot_630_moveit)/launch/planning_pipeline.launch.xml"> <!-- load URDF, SRDF and joint_limits configuration -->
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="$(arg load_robot_description)" />
</include>
<!-- Planning Pipelines -->
<group ns="move_group/planning_pipelines">
<!-- OMPL -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" /> <arg name="pipeline" value="ompl" />
</include> </include>
<!-- CHOMP -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="chomp" />
</include>
<!-- Pilz Industrial Motion -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="pilz_industrial_motion_planner" />
</include>
<!-- Support custom planning pipeline -->
<include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg pipeline)" />
</include>
</group>
<!-- Trajectory Execution Functionality --> <!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(find mycobot_630_moveit)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)"> <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" /> <arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/> <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/> <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
</include> </include>
<!-- Sensors Functionality --> <!-- Sensors Functionality -->
<include ns="move_group" file="$(find mycobot_630_moveit)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)"> <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="firefighter" /> <arg name="moveit_sensor_manager" value="firefighter" />
</include> </include>
@ -61,11 +86,14 @@
<env name="DISPLAY" value="$(optenv DISPLAY :0)" /> <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/> <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/> <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" /> <param name="default_planning_pipeline" value="$(arg pipeline)" />
<param name="capabilities" value="$(arg capabilities)" /> <param name="capabilities" value="$(arg capabilities)" />
<param name="disable_capabilities" value="$(arg disable_capabilities)" /> <param name="disable_capabilities" value="$(arg disable_capabilities)" />
<!-- do not copy dynamics information from /joint_states to internal robot monitoring
default to false, because almost nothing in move_group relies on this information -->
<param name="monitor_dynamics" value="false" />
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot --> <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" /> <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />

8
mycobot_pro/mycobot_630_moveit/launch/moveit.rviz
View file

@ -211,7 +211,7 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/XYOrbit Class: rviz/XYOrbit
Distance: 1.3915867805480957 Distance: 1.955079197883606
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
@ -227,9 +227,9 @@ Visualization Manager:
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.3547966480255127 Pitch: 0.2597966492176056
Target Frame: base Target Frame: base
Yaw: 2.0267655849456787 Yaw: 2.8617656230926514
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
@ -243,7 +243,7 @@ Window Geometry:
collapsed: false collapsed: false
MotionPlanning - Trajectory Slider: MotionPlanning - Trajectory Slider:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000156000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000199000000420000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001e10000018c0000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000156000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000199000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001e00000018d0000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views: Views:
collapsed: false collapsed: false
Width: 1848 Width: 1848

7
mycobot_pro/mycobot_630_moveit/launch/moveit_rviz.launch
View file

@ -4,13 +4,12 @@
<arg unless="$(arg debug)" name="launch_prefix" value="" /> <arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" /> <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="config" default="false" /> <arg name="rviz_config" default="" />
<arg unless="$(arg config)" name="command_args" value="" /> <arg if="$(eval rviz_config=='')" name="command_args" value="" />
<arg if="$(arg config)" name="command_args" value="-d $(find mycobot_630_moveit)/launch/moveit.rviz" /> <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen"> args="$(arg command_args)" output="screen">
<rosparam command="load" file="$(find mycobot_630_moveit)/config/kinematics.yaml"/>
</node> </node>
</launch> </launch>

64
mycobot_pro/mycobot_630_moveit/launch/mycobot630_moveit.launch
View file

@ -1,64 +1,66 @@
<launch> <launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) --> <!-- By default, we do not start a database (it can be large) -->
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
<arg name="db" default="false" /> <arg name="db" default="false" />
<!-- Allow user to specify database location --> <!-- Allow user to specify database location -->
<!-- 允许用户指定数据库位置 -->
<arg name="db_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" /> <arg name="db_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode --> <!-- 默认情况下，我们不处于调试模式 --> <!-- By default, we are not in debug mode -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<!-- <!-- By default, we will load or override the robot_description -->
By default, hide joint_state_publisher's GUI <arg name="load_robot_description" default="true"/>
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher. <!-- Choose controller manager: fake, simple, or ros_control -->
The latter one maintains and publishes the current joint configuration of the simulated robot. <arg name="moveit_controller_manager" default="fake" />
It also provides a GUI to move the simulated robot around "manually". <!-- Set execution mode for fake execution controllers -->
This corresponds to moving around the real robot without the use of MoveIt. <arg name="fake_execution_type" default="interpolate" />
-->
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" /> <arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
<include file="$(find mycobot_630_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root --> <!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic base" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a robot connected, so publish fake joint states --> <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
<!-- 我们没有连接机器人，所以发布假关节状态 --> MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<param name="use_gui" value="$(arg use_gui)"/> <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node> </node>
<!-- Given the published joint states, publish tf for the robot links --> <!-- Given the published joint states, publish tf for the robot links -->
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" /> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) --> <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）--> <include file="$(dirname)/move_group.launch">
<include file="$(find mycobot_630_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/> <arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/> <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/> <arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include> </include>
<!-- Run Rviz and load the default config to see the state of the move_group node --> <!-- Run Rviz and load the default config to see the state of the move_group node -->
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 --> <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<include file="$(find mycobot_630_moveit)/launch/moveit_rviz.launch"> <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
</include> </include>
<!-- If database loading was enabled, start mongodb as well --> <!-- If database loading was enabled, start mongodb as well -->
<!-- 如果启用了数据库加载，也启动 mongodb --> <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<include file="$(find mycobot_630_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include> </include>

20
mycobot_pro/mycobot_630_moveit/launch/ompl-chomp_planning_pipeline.launch.xml Normal file
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@ -0,0 +1,20 @@
<launch>
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
<include file="$(find mycobot_630_moveit)/launch/ompl_planning_pipeline.launch.xml">
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
chomp/OptimizerAdapter"
/>
</include>
<!-- load chomp config -->
<rosparam command="load" file="$(find mycobot_630_moveit)/config/chomp_planning.yaml" />
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
<param name="trajectory_initialization_method" value="fillTrajectory"/>
</launch>

20
mycobot_pro/mycobot_630_moveit/launch/ompl_planning_pipeline.launch.xml
View file

@ -1,21 +1,23 @@
<launch> <launch>
<!-- OMPL Plugin for MoveIt! --> <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" /> <arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
<!-- The request adapters (plugins) used when planning with OMPL. default_planner_request_adapters/AddTimeParameterization
ORDER MATTERS --> default_planner_request_adapters/ResolveConstraintFrames
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" /> default_planner_request_adapters/FixStartStatePathConstraints"
/>
<arg name="start_state_max_bounds_error" value="0.1" /> <arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<param name="planning_plugin" value="$(arg planning_plugin)" /> <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" /> <param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find mycobot_630_moveit)/config/ompl_planning.yaml"/> <rosparam command="load" file="$(find mycobot_630_moveit)/config/ompl_planning.yaml"/>

15
mycobot_pro/mycobot_630_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml Normal file
View file

@ -0,0 +1,15 @@
<launch>
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters" default="" />
<param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<!-- Define default planner (for all groups) -->
<param name="default_planner_config" value="PTP" />
<!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
<param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceService" />
</launch>

4
mycobot_pro/mycobot_630_moveit/launch/planning_context.launch
View file

@ -6,7 +6,7 @@
<arg name="robot_description" default="robot_description"/> <arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) --> <!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630.urdf"/> <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630_moveit.urdf"/>
<!-- The semantic description that corresponds to the URDF --> <!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find mycobot_630_moveit)/config/firefighter.srdf" /> <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_630_moveit)/config/firefighter.srdf" />
@ -14,11 +14,13 @@
<!-- Load updated joint limits (override information from URDF) --> <!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning"> <group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find mycobot_630_moveit)/config/joint_limits.yaml"/> <rosparam command="load" file="$(find mycobot_630_moveit)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find mycobot_630_moveit)/config/cartesian_limits.yaml"/>
</group> </group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace --> <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics"> <group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find mycobot_630_moveit)/config/kinematics.yaml"/> <rosparam command="load" file="$(find mycobot_630_moveit)/config/kinematics.yaml"/>
</group> </group>
</launch> </launch>

2
mycobot_pro/mycobot_630_moveit/launch/planning_pipeline.launch.xml
View file

@ -5,6 +5,6 @@
<arg name="pipeline" default="ompl" /> <arg name="pipeline" default="ompl" />
<include file="$(find mycobot_630_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" /> <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch> </launch>

4
mycobot_pro/mycobot_630_moveit/launch/ros_control_moveit_controller_manager.launch.xml Normal file
View file

@ -0,0 +1,4 @@
<launch>
<!-- Define MoveIt controller manager plugin -->
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
</launch>

2
mycobot_pro/mycobot_630_moveit/launch/ros_controllers.launch
View file

@ -6,6 +6,6 @@
<!-- Load the controllers --> <!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args=""/> output="screen" args="arm_group_controller "/>
</launch> </launch>

5
mycobot_pro/mycobot_630_moveit/launch/run_benchmark_ompl.launch
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@ -4,18 +4,17 @@
<arg name="cfg" /> <arg name="cfg" />
<!-- Load URDF --> <!-- Load URDF -->
<include file="$(find mycobot_630_moveit)/launch/planning_context.launch"> <include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="true"/> <arg name="load_robot_description" value="true"/>
</include> </include>
<!-- Start the database --> <!-- Start the database -->
<include file="$(find mycobot_630_moveit)/launch/warehouse.launch"> <include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/> <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include> </include>
<!-- Start Benchmark Executable --> <!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen"> <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find mycobot_630_moveit)/config/kinematics.yaml"/>
<rosparam command="load" file="$(find mycobot_630_moveit)/config/ompl_planning.yaml"/> <rosparam command="load" file="$(find mycobot_630_moveit)/config/ompl_planning.yaml"/>
</node> </node>

2
mycobot_pro/mycobot_630_moveit/launch/sensor_manager.launch.xml
View file

@ -12,6 +12,6 @@
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter --> <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="firefighter" /> <arg name="moveit_sensor_manager" default="firefighter" />
<include file="$(find mycobot_630_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" /> <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch> </launch>

3
mycobot_pro/mycobot_630_moveit/launch/setup_assistant.launch
View file

@ -1,4 +1,4 @@
<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded --> <!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
<launch> <launch>
<!-- Debug Info --> <!-- Debug Info -->
@ -10,6 +10,7 @@
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=mycobot_630_moveit" args="--config_pkg=mycobot_630_moveit"
launch-prefix="$(arg launch_prefix)" launch-prefix="$(arg launch_prefix)"
required="true"
output="screen" /> output="screen" />
</launch> </launch>

8
mycobot_pro/mycobot_630_moveit/launch/simple_moveit_controller_manager.launch.xml Normal file
View file

@ -0,0 +1,8 @@
<launch>
<!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<!-- Load controller list to the parameter server -->
<rosparam file="$(find mycobot_630_moveit)/config/simple_moveit_controllers.yaml" />
<rosparam file="$(find mycobot_630_moveit)/config/ros_controllers.yaml" />
</launch>

23
mycobot_pro/mycobot_630_moveit/launch/stomp_planning_pipeline.launch.xml Normal file
View file

@ -0,0 +1,23 @@
<launch>
<!-- Stomp Plugin for MoveIt -->
<arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
<arg name="start_state_max_bounds_error" value="0.1" />
<arg name="jiggle_fraction" value="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find mycobot_630_moveit)/config/stomp_planning.yaml"/>
</launch>

13
mycobot_pro/mycobot_630_moveit/launch/trajectory_execution.launch.xml
View file

@ -1,8 +1,11 @@
<launch> <launch>
<!-- This file summarizes all settings required for trajectory execution -->
<!-- This file makes it easy to include the settings for trajectory execution --> <!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" />
<arg name="fake_execution_type" default="interpolate" />
<!-- Flag indicating whether MoveIt! is allowed to load/unload or switch controllers --> <!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/> <arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/> <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
@ -13,8 +16,8 @@
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state --> <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 --> <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter --> <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
<arg name="moveit_controller_manager" default="firefighter" /> As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
<include file="$(find mycobot_630_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" /> <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
</launch> </launch>

2
mycobot_pro/mycobot_630_moveit/launch/warehouse.launch
View file

@ -4,7 +4,7 @@
<arg name="moveit_warehouse_database_path" /> <arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters --> <!-- Load warehouse parameters -->
<include file="$(find mycobot_630_moveit)/launch/warehouse_settings.launch.xml" /> <include file="$(dirname)/warehouse_settings.launch.xml" />
<!-- Run the DB server --> <!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo"> <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">

18
mycobot_pro/mycobot_630_moveit/package.xml
View file

@ -3,7 +3,7 @@
<name>mycobot_630_moveit</name> <name>mycobot_630_moveit</name>
<version>0.3.0</version> <version>0.3.0</version>
<description> <description>
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
</description> </description>
<author email="weijian.wang@elephantrobotics.com">wangweijian</author> <author email="weijian.wang@elephantrobotics.com">wangweijian</author>
<maintainer email="weijian.wang@elephantrobotics.com">wangweijian</maintainer> <maintainer email="weijian.wang@elephantrobotics.com">wangweijian</maintainer>
@ -19,20 +19,22 @@
<run_depend>moveit_ros_move_group</run_depend> <run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend> <run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend> <run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners_ompl</run_depend> <run_depend>moveit_planners</run_depend>
<run_depend>moveit_ros_visualization</run_depend> <run_depend>moveit_ros_visualization</run_depend>
<run_depend>moveit_setup_assistant</run_depend> <run_depend>moveit_setup_assistant</run_depend>
<run_depend>moveit_simple_controller_manager</run_depend>
<run_depend>joint_state_publisher</run_depend> <run_depend>joint_state_publisher</run_depend>
<run_depend>joint_state_publisher_gui</run_depend>
<run_depend>robot_state_publisher</run_depend> <run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>xacro</run_depend> <run_depend>xacro</run_depend>
<!-- The next 2 packages are required for the gazebo simulation.
We don't include them by default to prevent installing gazebo and all its dependencies. -->
<!-- <run_depend>joint_trajectory_controller</run_depend> -->
<!-- <run_depend>gazebo_ros_control</run_depend> -->
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. --> <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> --> <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>moveit_msgs</build_depend>
<build_depend>mycobot_description</build_depend>
<run_depend>mycobot_description</run_depend> <run_depend>mycobot_description</run_depend>

3
mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
View file

@ -23,6 +23,9 @@ def callback(data):
radians_to_angles = round(math.degrees(value), 2) radians_to_angles = round(math.degrees(value), 2)
data_list.append(radians_to_angles) data_list.append(radians_to_angles)
data_list[1] = data_list[1] - 90
data_list[3] = data_list[3] - 90
rospy.loginfo(rospy.get_caller_id() + "%s", data_list) rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.write_angles(data_list, 800) mc.write_angles(data_list, 800)

35
mycobot_pro/mycobot_630_moveit/scripts/test_add_ground.py Executable file
View file

@ -0,0 +1,35 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import rospy
from moveit_commander import PlanningSceneInterface
from geometry_msgs.msg import PoseStamped
class GroundAdder:
def __init__(self):
# 初始化 ROS 节点
rospy.init_node('add_ground_node', anonymous=True)
# 初始化 PlanningSceneInterface
self.scene = PlanningSceneInterface()
rospy.sleep(2) # 等待场景初始化
def add_ground(self):
# 定义地面的姿态
ground_pose = PoseStamped()
ground_pose.header.frame_id = "base" # 基座坐标系
ground_pose.pose.position.x = 0.0
ground_pose.pose.position.y = 0.0
ground_pose.pose.position.z = -0.01 # 地面位于基座下方 0.01 米
ground_pose.pose.orientation.w = 1.0
# 添加地面到场景中
self.scene.add_box("ground", ground_pose, size=(1.5, 1.5, 0.005))
rospy.loginfo("Ground added to the planning scene.")
if __name__ == "__main__":
try:
ground_adder = GroundAdder()
ground_adder.add_ground()
rospy.spin() # 保持节点运行，防止退出
except rospy.ROSInterruptException:
pass