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Maintain and merge 280M5 ros gripper and support Python3

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This commit is contained in:
wangWking 2023-09-18 18:17:40 +08:00
parent 6c4c85ef0f
commit 332ebde9e8
66 changed files with 4767 additions and 36 deletions
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2
mycobot_280/mycobot_280/CMakeLists.txt
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@ -30,6 +30,8 @@ catkin_install_python(PROGRAMS
scripts/following_marker.py
scripts/follow_and_pump.py
scripts/simple_gui.py
scripts/follow_display_gripper.py
scripts/slider_control_gripper.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

113
mycobot_280/mycobot_280/config/mycobot.rviz
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@ -10,7 +10,7 @@ Panels:
- /TF1
- /Marker1
Splitter Ratio: 0.5
Tree Height: 607
Tree Height: 657
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@ -19,17 +19,18 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@ -41,7 +42,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
@ -63,7 +64,42 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
env:
g_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right3:
Alpha: 1
Show Axes: false
Show Trail: false
@ -111,10 +147,26 @@ Visualization Manager:
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
env:
g_base:
Value: true
gripper_base:
Value: true
gripper_left1:
Value: true
gripper_left2:
Value: true
gripper_left3:
Value: true
gripper_right1:
Value: true
gripper_right2:
Value: true
gripper_right3:
Value: true
joint1:
Value: true
@ -130,21 +182,31 @@ Visualization Manager:
Value: true
joint6_flange:
Value: true
Marker Scale: 0.300000012
Marker Alpha: 1
Marker Scale: 0.10000000149011612
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
g_base:
joint1:
env:
{}
joint2:
joint3:
joint4:
joint5:
joint6:
joint6_flange:
gripper_base:
gripper_left2:
{}
gripper_left3:
gripper_left1:
{}
gripper_right2:
{}
gripper_right3:
gripper_right1:
{}
Update Interval: 0
Value: true
@ -171,7 +233,10 @@ Visualization Manager:
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
@ -181,33 +246,33 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 1.20289087
Distance: 1.2028908729553223
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -0.0706475973
Y: -0.0814988762
Z: 0.107583851
X: -0.07064759731292725
Y: -0.0814988762140274
Z: 0.10758385062217712
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.440398335
Near Clip Distance: 0.009999999776482582
Pitch: 0.32539835572242737
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.430389732
Yaw: 3.0853891372680664
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 888
Height: 954
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002eefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002ee000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002eefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002ee000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000069f0000003efc0100000002fb0000000800540069006d006501000000000000069f0000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000367000002ee00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c20000031cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000031c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004000000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@ -216,6 +281,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1695
X: 180
Y: 34
Width: 1848
X: 72
Y: 27

18
mycobot_280/mycobot_280/launch/mycobot_follow_gripper.launch Normal file
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@ -0,0 +1,18 @@
<launch>
<!-- Load URDF file,加载URDF文件 -->
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/> -->
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_up.urdf"/> -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_parallel.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
</node>
<!-- show in Rviza,显示在Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

25
mycobot_280/mycobot_280/launch/simple_gui_gripper.launch Normal file
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@ -0,0 +1,25 @@
<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" />
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/> -->
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_up.urdf"/> -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_parallel.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ,将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<include file="$(find mycobot_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
</launch>

28
mycobot_280/mycobot_280/launch/slider_control_gripper.launch Normal file
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@ -0,0 +1,28 @@
<launch>
<!-- <arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" /> -->
<!-- Load file model ，加载文件模型-->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_parallel.urdf"/>
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_up.urdf"/> -->
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/> -->
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF，将值合并到TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<!-- <param name="use_gui" value="$(arg gui)" /> -->
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Open control script -->
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node> -->
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

25
mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch Normal file
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@ -0,0 +1,25 @@
<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" />
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/> -->
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_up.urdf"/> -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_parallel.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<include file="$(find mycobot_communication)/launch/communication_service.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<!-- listen and pub the real angles ，监听并发布真实角度-->
<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
</launch>

2
mycobot_280/mycobot_280/scripts/follow_display.py
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@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import time
import rospy

115
mycobot_280/mycobot_280/scripts/follow_display_gripper.py Normal file
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@ -0,0 +1,115 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import time
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from visualization_msgs.msg import Marker
from pymycobot.mycobot import MyCobot
def talker():
rospy.init_node("display", anonymous=True)
print("Try connect real mycobot...")
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
print("port: {}, baud: {}\n".format(port, baud))
try:
mycobot = MyCobot(port, baud)
except Exception as e:
print(e)
print(
"""\
\rTry connect mycobot failed!
\rPlease check wether connected with mycobot.
\rPlease chckt wether the port or baud is right.
"""
)
exit(1)
mycobot.release_all_servos()
time.sleep(0.1)
print("Rlease all servos over.\n")
pub = rospy.Publisher("joint_states", JointState, queue_size=10)
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
rate = rospy.Rate(30) # 30hz
# pub joint state
joint_state_send = JointState()
joint_state_send.header = Header()
joint_state_send.name = [
"joint2_to_joint1",
"joint3_to_joint2",
"joint4_to_joint3",
"joint5_to_joint4",
"joint6_to_joint5",
"joint6output_to_joint6",
"gripper_controller",
]
joint_state_send.velocity = [0]
joint_state_send.effort = []
marker_ = Marker()
marker_.header.frame_id = "/joint1"
marker_.ns = "my_namespace"
print("publishing ...")
while not rospy.is_shutdown():
joint_state_send.header.stamp = rospy.Time.now()
angles = mycobot.get_radians()
mycobot.release_servo(7)
# if (gripper_value := mycobot.get_gripper_value()) != -1: python3.8
gripper_value = mycobot.get_gripper_value()
# print("gripper_value1 %s"%gripper_value)
if gripper_value != -1:
gripper_value = -0.78 + round(gripper_value / 117.0, 2)
print(gripper_value)
data_list = []
for index, value in enumerate(angles):
data_list.append(value)
data_list.append(gripper_value)
# rospy.loginfo('{}'.format(data_list))
joint_state_send.position = data_list
pub.publish(joint_state_send)
coords = mycobot.get_coords()
# marker
marker_.header.stamp = rospy.Time.now()
marker_.type = marker_.SPHERE
marker_.action = marker_.ADD
marker_.scale.x = 0.04
marker_.scale.y = 0.04
marker_.scale.z = 0.04
# marker position initial.标记位置初始
# print(coords)
if not coords:
coords = [0, 0, 0, 0, 0, 0]
rospy.loginfo("error [101]: can not get coord values")
marker_.pose.position.x = coords[1] / 1000 * -1
marker_.pose.position.y = coords[0] / 1000
marker_.pose.position.z = coords[2] / 1000
marker_.color.a = 1.0
marker_.color.g = 1.0
pub_marker.publish(marker_)
rate.sleep()
if __name__ == "__main__":
try:
talker()
except rospy.ROSInterruptException:
pass

2
mycobot_280/mycobot_280/scripts/listen_real.py
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@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
# encoding:utf-8
# license removed for brevity
import time

2
mycobot_280/mycobot_280/scripts/simple_gui.py
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@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
try:
import tkinter as tk

53
mycobot_280/mycobot_280/scripts/slider_control_gripper.py Normal file
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@ -0,0 +1,53 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""[summary]
This file obtains the joint angle of the manipulator in ROS,
and then sends it directly to the real manipulator using `pymycobot` API.
This file is [slider_control.launch] related script.
Passable parameters:
port: serial prot string. Defaults is '/dev/ttyUSB0'
baud: serial prot baudrate. Defaults is 115200.
"""
import rospy
from sensor_msgs.msg import JointState
from pymycobot.mycobot import MyCobot
mc = None
gripper_value = []
def callback(data):
# print(data.position)
data_list = []
for index, value in enumerate(data.position):
data_list.append(round(value,3))
# print(data_list[6:])
data_list = data_list[:7]
print("radians:%s"%data_list[:6])
mc.send_radians(data_list[:6], 80)
gripper_value = int(abs(-0.7-data_list[6])* 117)
print("gripper_value:%s"%gripper_value)
mc.set_gripper_value(gripper_value, 80)
def listener():
global mc
global gripper_value
rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback)
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mc = MyCobot(port, baud)
# spin() simply keeps python from exiting until this node is stopped
# spin()只是阻止python退出，直到该节点停止
print("spin ...")
rospy.spin()
if __name__ == "__main__":
listener()

2
mycobot_280/mycobot_280/scripts/teleop_keyboard.py
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@ -1,4 +1,4 @@
#!/usr/bin/env python
#!/usr/bin/env python3
from __future__ import print_function
from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
import rospy

11
mycobot_280/mycobot_280_gripper_moveit/.setup_assistant Normal file
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@ -0,0 +1,11 @@
moveit_setup_assistant_config:
URDF:
package: mycobot_description
relative_path: urdf/mycobot/mycobot_with_gripper_up.urdf
xacro_args: ""
SRDF:
relative_path: config/firefighter.srdf
CONFIG:
author_name: wangwj
author_email: weijian.wang@elephantrobotics.com
generated_timestamp: 1666945049

22
mycobot_280/mycobot_280_gripper_moveit/CMakeLists.txt Normal file
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@ -0,0 +1,22 @@
cmake_minimum_required(VERSION 3.1.3)
project(mycobot_280_gripper_moveit)
find_package(catkin REQUIRED
rospy
std_msgs
moveit_msgs
)
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
scripts/path_planning_and_obstacle_avoidance_demo.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

5
mycobot_280/mycobot_280_gripper_moveit/config/cartesian_limits.yaml Normal file
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@ -0,0 +1,5 @@
cartesian_limits:
max_trans_vel: 1
max_trans_acc: 2.25
max_trans_dec: -5
max_rot_vel: 1.57

18
mycobot_280/mycobot_280_gripper_moveit/config/chomp_planning.yaml Normal file
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@ -0,0 +1,18 @@
planning_time_limit: 10.0
max_iterations: 200
max_iterations_after_collision_free: 5
smoothness_cost_weight: 0.1
obstacle_cost_weight: 1.0
learning_rate: 0.01
smoothness_cost_velocity: 0.0
smoothness_cost_acceleration: 1.0
smoothness_cost_jerk: 0.0
ridge_factor: 0.0
use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4
joint_update_limit: 0.1
collision_clearance: 0.2
collision_threshold: 0.07
use_stochastic_descent: true
enable_failure_recovery: false
max_recovery_attempts: 5

17
mycobot_280/mycobot_280_gripper_moveit/config/fake_controllers.yaml Normal file
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@ -0,0 +1,17 @@
controller_list:
- name: fake_arm_group_controller
type: $(arg fake_execution_type)
joints:
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
- joint6output_to_joint6
- name: fake_gripper_controller
type: $(arg fake_execution_type)
joints:
- gripper_controller
initial: # Define initial robot poses per group
- group: arm_group
pose: init_pose

133
mycobot_280/mycobot_280_gripper_moveit/config/firefighter.srdf Normal file
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@ -0,0 +1,133 @@
<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
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
-->
<robot name="firefighter">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="arm_group">
<joint name="joint2_to_joint1"/>
<joint name="joint3_to_joint2"/>
<joint name="joint4_to_joint3"/>
<joint name="joint5_to_joint4"/>
<joint name="joint6_to_joint5"/>
<joint name="joint6output_to_joint6"/>
<chain base_link="g_base" tip_link="gripper_base"/>
</group>
<group name="gripper">
<chain base_link="gripper_base" tip_link="gripper_left3"/>
</group>
<!--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">
<joint name="joint2_to_joint1" value="0"/>
<joint name="joint3_to_joint2" value="0"/>
<joint name="joint4_to_joint3" value="0"/>
<joint name="joint5_to_joint4" value="0"/>
<joint name="joint6_to_joint5" value="0"/>
<joint name="joint6output_to_joint6" value="0"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<!-- <end_effector name="gripper" parent_link="gripper_base" group="arm_group" parent_group="arm_group"/> -->
<!--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="virtual_joint" type="fixed" parent_frame="world" child_link="g_base"/>
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<passive_joint name="gripper_right3_to_gripper_right1"/>
<passive_joint name="gripper_left3_to_gripper_left1"/>
<passive_joint name="gripper_base_to_gripper_right2"/>
<passive_joint name="gripper_base_to_gripper_right3"/>
<passive_joint name="gripper_base_to_gripper_left2"/>
<!--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="g_base" link2="gripper_base" reason="Default"/>
<disable_collisions link1="g_base" link2="gripper_left1" reason="Default"/>
<disable_collisions link1="g_base" link2="gripper_left2" reason="Default"/>
<disable_collisions link1="g_base" link2="gripper_left3" reason="Default"/>
<disable_collisions link1="g_base" link2="gripper_right1" reason="Default"/>
<disable_collisions link1="g_base" link2="gripper_right2" reason="Default"/>
<disable_collisions link1="g_base" link2="gripper_right3" reason="Default"/>
<disable_collisions link1="g_base" link2="joint1" reason="Adjacent"/>
<disable_collisions link1="g_base" link2="joint2" reason="Never"/>
<disable_collisions link1="g_base" link2="joint3" reason="Never"/>
<disable_collisions link1="g_base" link2="joint4" reason="Never"/>
<disable_collisions link1="g_base" link2="joint5" reason="Never"/>
<disable_collisions link1="g_base" link2="joint6" reason="Never"/>
<disable_collisions link1="g_base" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_base" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_base" link2="joint6_flange" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_base" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_base" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Default"/>
<disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
<disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Default"/>
<disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
<disable_collisions link1="gripper_right1" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="joint1" link2="joint2" reason="Adjacent"/>
<disable_collisions link1="joint2" link2="joint3" reason="Adjacent"/>
<disable_collisions link1="joint3" link2="joint4" reason="Adjacent"/>
<disable_collisions link1="joint4" link2="joint5" reason="Adjacent"/>
<disable_collisions link1="joint5" link2="joint6" reason="Adjacent"/>
<disable_collisions link1="joint5" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent"/>
</robot>

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# Publish joint_states
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

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# 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]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
gripper_controller:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint2_to_joint1:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint3_to_joint2:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint4_to_joint3:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint5_to_joint4:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint6_to_joint5:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint6output_to_joint6:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0

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arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
gripper:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005

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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:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
EST:
type: geometric::EST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LBKPIECE:
type: geometric::LBKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECE:
type: geometric::BKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
KPIECE:
type: geometric::KPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
RRT:
type: geometric::RRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
RRTConnect:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstar:
type: geometric::RRTstar
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
TRRT:
type: geometric::TRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
max_states_failed: 10 # when to start increasing temp. default: 10
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
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()
frountierNodeRatio: 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()
PRM:
type: geometric::PRM
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
PRMstar:
type: geometric::PRMstar
FMT:
type: geometric::FMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
nearest_k: 1 # use Knearest strategy. default: 1
cache_cc: 1 # use collision checking cache. default: 1
heuristics: 0 # activate cost to go heuristics. default: 0
extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
BFMT:
type: geometric::BFMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
nearest_k: 1 # use the Knearest strategy. default: 1
balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
heuristics: 1 # activates cost to go heuristics. default: 1
cache_cc: 1 # use the collision checking cache. default: 1
extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
PDST:
type: geometric::PDST
STRIDE:
type: geometric::STRIDE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
max_degree: 18 # max degree of a node in the GNAT. default: 12
min_degree: 12 # min degree of a node in the GNAT. default: 12
max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
BiTRRT:
type: geometric::BiTRRT
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
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()
frountier_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
LBTRRT:
type: geometric::LBTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
epsilon: 0.4 # optimality approximation factor. default: 0.4
BiEST:
type: geometric::BiEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
ProjEST:
type: geometric::ProjEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LazyPRM:
type: geometric::LazyPRM
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
LazyPRMstar:
type: geometric::LazyPRMstar
SPARS:
type: geometric::SPARS
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
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
max_failures: 1000 # maximum consecutive failure limit. default: 1000
SPARStwo:
type: geometric::SPARStwo
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
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
max_failures: 5000 # maximum consecutive failure limit. default: 5000
arm_group:
default_planner_config: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo
gripper:
default_planner_config: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo

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arm_group_controller:
type: effort_controllers/JointTrajectoryController
joints:
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
- joint6output_to_joint6
gains:
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
joint6output_to_joint6:
p: 100
d: 1
i: 1
i_clamp: 1
gripper_controller:
type: effort_controllers/JointTrajectoryController
joints:
- gripper_controller
gains:
gripper_controller:
p: 100
d: 1
i: 1
i_clamp: 1

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sensors:
[]

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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
- name: gripper_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- gripper_controller

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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
stomp/gripper:
group_name: gripper
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]
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

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mycobot_280/mycobot_280_gripper_moveit/launch/chomp_planning_pipeline.launch.xml Normal file
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<launch>
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="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="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="jiggle_fraction" value="$(arg jiggle_fraction)" />
<!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find mycobot_280_gripper_moveit)/config/chomp_planning.yaml" />
</launch>

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mycobot_280/mycobot_280_gripper_moveit/launch/default_warehouse_db.launch Normal file
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<launch>
<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
<arg name="moveit_warehouse_database_path" default="$(find mycobot_280_gripper_moveit)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include>
<!-- If we want to reset the database, run this node -->
<node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
</launch>

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<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find mycobot_280_gripper_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" default="fake" />
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world g_base" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
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" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</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" />
</group>
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

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<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- Gazebo specific options -->
<arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/>
<!-- launch the gazebo simulator and spawn the robot -->
<include file="$(dirname)/gazebo.launch" >
<arg name="paused" value="$(arg paused)"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
</include>
<include file="$(dirname)/demo.launch" pass_all_args="true">
<!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
<arg name="load_robot_description" value="false" />
<arg name="moveit_controller_manager" value="ros_control" />
</include>
</launch>

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mycobot_280/mycobot_280_gripper_moveit/launch/fake_moveit_controller_manager.launch.xml Normal file
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<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 -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin -->
<rosparam subst_value="true" file="$(find mycobot_280_gripper_moveit)/config/fake_controllers.yaml"/>
</launch>

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mycobot_280/mycobot_280_gripper_moveit/launch/firefighter_moveit_sensor_manager.launch.xml Normal file
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<launch>
</launch>

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<?xml version="1.0"?>
<launch>
<arg name="paused" default="false"/>
<arg name="gazebo_gui" default="true"/>
<arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
default=" -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 -J joint6output_to_joint6 0"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="true"/>
<arg name="gui" value="$(arg gazebo_gui)"/>
</include>
<!-- send robot urdf to param server -->
<param name="robot_description" textfile="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_up.urdf" />
<!-- unpause only after loading robot model -->
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
<arg name="world_pose" value="-x 0 -y 0 -z 0" />
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
respawn="false" output="screen" />
<!-- Load joint controller parameters for Gazebo -->
<rosparam file="$(find mycobot_280_gripper_moveit)/config/gazebo_controllers.yaml" />
<!-- Spawn Gazebo ROS controllers -->
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
<!-- Load ROS controllers -->
<include file="$(dirname)/ros_controllers.launch"/>
</launch>

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mycobot_280/mycobot_280_gripper_moveit/launch/joystick_control.launch Normal file
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<launch>
<!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
<arg name="dev" default="/dev/input/js0" />
<!-- Launch joy node -->
<node pkg="joy" type="joy_node" name="joy">
<param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
<param name="deadzone" value="0.2" />
<param name="autorepeat_rate" value="40" />
<param name="coalesce_interval" value="0.025" />
</node>
<!-- Launch python interface -->
<node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
</launch>

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<launch>
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
<arg unless="$(arg info)" name="command_args" value="" />
<arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings -->
<arg name="pipeline" default="ompl" />
<arg name="allow_trajectory_execution" default="true"/>
<arg name="moveit_controller_manager" default="simple" />
<arg name="fake_execution_type" default="interpolate"/>
<arg name="max_safe_path_cost" default="1"/>
<arg name="publish_monitored_planning_scene" default="true"/>
<arg name="capabilities" default=""/>
<arg name="disable_capabilities" default=""/>
<!-- load these non-default MoveGroup capabilities (space seperated) -->
<!--
<arg name="capabilities" value="
a_package/AwsomeMotionPlanningCapability
another_package/GraspPlanningPipeline
" />
-->
<!-- inhibit these default MoveGroup capabilities (space seperated) -->
<!--
<arg name="disable_capabilities" value="
move_group/MoveGroupKinematicsService
move_group/ClearOctomapService
" />
-->
<arg name="load_robot_description" default="false" />
<!-- 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="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" />
</include>
<!-- CHOMP -->
<include file="$(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 -->
<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_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)" />
</include>
<!-- Sensors Functionality -->
<include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="firefighter" />
</include>
<!-- Start the actual move_group node/action server -->
<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
<!-- Set the display variable, in case OpenGL code is used internally -->
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="default_planning_pipeline" value="$(arg pipeline)" />
<param name="capabilities" value="$(arg capabilities)" />
<param name="disable_capabilities" value="$(arg disable_capabilities)" />
<!-- 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="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
</node>
</launch>

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Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planning Metrics1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.5
Tree Height: 228
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: true
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
g_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6_flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.15000000596046448
Joint Violation Color: 255; 0; 255
Planning Group: arm_group
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
g_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6_flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: g_base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.75
Focal Point:
X: -0.10000000149011612
Y: 0.25
Z: 0.30000001192092896
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.06499998271465302
Target Frame: g_base
Yaw: 3.689950466156006
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 848
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000121000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000164000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ab000001880000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1291
X: 382
Y: 27

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<launch>
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="rviz_config" default="" />
<arg if="$(eval rviz_config=='')" name="command_args" value="" />
<arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
</node>
</launch>

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<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find mycobot_280_gripper_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" default="fake" />
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world g_base" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
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" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</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" />
</group>
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

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

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<launch>
<!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
<arg name="planning_adapters"
default="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"
/>
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<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="$(arg jiggle_fraction)" />
<!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find mycobot_280_gripper_moveit)/config/ompl_planning.yaml"/>
</launch>

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<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>

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<launch>
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
<arg name="load_robot_description" default="false"/>
<!-- The name of the parameter under which the URDF is loaded -->
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_up.urdf"/>
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find mycobot_280_gripper_moveit)/config/firefighter.srdf" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find mycobot_280_gripper_moveit)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find mycobot_280_gripper_moveit)/config/cartesian_limits.yaml"/>
</group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find mycobot_280_gripper_moveit)/config/kinematics.yaml"/>
</group>
</launch>

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<launch>
<!-- This file makes it easy to include different planning pipelines;
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
<arg name="pipeline" default="ompl" />
<include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch>

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mycobot_280/mycobot_280_gripper_moveit/launch/ros_control_moveit_controller_manager.launch.xml Normal file
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<launch>
<!-- Define MoveIt controller manager plugin -->
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
</launch>

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<?xml version="1.0"?>
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find mycobot_280_gripper_moveit)/config/ros_controllers.yaml" command="load"/>
<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="arm_group_controller gripper_controller "/>
</launch>

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<launch>
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
<arg name="cfg" />
<!-- Load URDF -->
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>
<!-- 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">
<rosparam command="load" file="$(find mycobot_280_gripper_moveit)/config/ompl_planning.yaml"/>
</node>
</launch>

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<launch>
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for 3D sensors config -->
<rosparam command="load" file="$(find mycobot_280_gripper_moveit)/config/sensors_3d.yaml" />
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="firefighter" />
<include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>

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mycobot_280/mycobot_280_gripper_moveit/launch/setup_assistant.launch Normal file
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<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
<launch>
<!-- Debug Info -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<!-- Run -->
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=mycobot_280_gripper_moveit"
launch-prefix="$(arg launch_prefix)"
required="true"
output="screen" />
</launch>

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mycobot_280/mycobot_280_gripper_moveit/launch/simple_moveit_controller_manager.launch.xml Normal file
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<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="$(find mycobot_280_gripper_moveit)/config/simple_moveit_controllers.yaml" />
<rosparam file="$(find mycobot_280_gripper_moveit)/config/ros_controllers.yaml" />
</launch>

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mycobot_280/mycobot_280_gripper_moveit/launch/stomp_planning_pipeline.launch.xml Normal file
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<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/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)" />
<!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find mycobot_280_gripper_moveit)/config/stomp_planning.yaml"/>
</launch>

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mycobot_280/mycobot_280_gripper_moveit/launch/trajectory_execution.launch.xml Normal file
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<launch>
<!-- This file summarizes all settings required 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 -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
<include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
</launch>

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mycobot_280/mycobot_280_gripper_moveit/launch/warehouse.launch Normal file
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<launch>
<!-- The path to the database must be specified -->
<arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters -->
<include file="$(dirname)/warehouse_settings.launch.xml" />
<!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
<param name="overwrite" value="false"/>
<param name="database_path" value="$(arg moveit_warehouse_database_path)" />
</node>
</launch>

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mycobot_280/mycobot_280_gripper_moveit/launch/warehouse_settings.launch.xml Normal file
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<launch>
<!-- Set the parameters for the warehouse and run the mongodb server. -->
<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
<arg name="moveit_warehouse_port" default="33829" />
<!-- The default DB host for moveit -->
<arg name="moveit_warehouse_host" default="localhost" />
<!-- Set parameters for the warehouse -->
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
<param name="warehouse_exec" value="mongod" />
<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
</launch>

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mycobot_280/mycobot_280_gripper_moveit/package.xml Normal file
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<package>
<name>mycobot_280_gripper_moveit</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
</description>
<author email="weijian.wang@elephantrobotics.com">wangwj</author>
<maintainer email="weijian.wang@elephantrobotics.com">wangwj</maintainer>
<license>BSD</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
<url type="repository">https://github.com/ros-planning/moveit</url>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners_ompl</run_depend>
<run_depend>moveit_ros_visualization</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_gui</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>
<!-- 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. -->
<!-- <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>
</package>

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mycobot_280/mycobot_280_gripper_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py Normal file
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy, roslib, sys
import moveit_commander
from moveit_msgs.msg import RobotTrajectory
from trajectory_msgs.msg import JointTrajectoryPoint
from geometry_msgs.msg import PoseStamped, Pose
from tf.transformations import euler_from_quaternion, quaternion_from_euler
class MoveItPlanningDemo:
def __init__(self):
# API to initialize move_group,初始化move_group的API
moveit_commander.roscpp_initialize(sys.argv)
# Initialize the ROS node,初始化ROS节点
rospy.init_node("moveit_ik_demo")
# Initialize the scene object to monitor changes in the external environment
# 初始化场景对象，用来监听外部环境的变化
self.scene = moveit_commander.PlanningSceneInterface()
rospy.sleep(1)
# Initialize self.arm group in the robotic arm that needs to be controlled by move group
# 初始化需要使用move group控制的机械臂中的self.arm group
self.arm = moveit_commander.MoveGroupCommander("arm_group")
# Get the name of the terminal link,获取终端link的名称
self.end_effector_link = self.arm.get_end_effector_link()
# Set the reference coordinate system used for the target position
# 设置目标位置所使用的参考坐标系
self.reference_frame = "joint1"
self.arm.set_pose_reference_frame(self.reference_frame)
# Allow replanning when motion planning fails,当运动规划失败后，允许重新规划
self.arm.allow_replanning(True)
# Set the allowable error of position (unit: meter) and attitude (unit: radian)
# 设置位置(单位：米)和姿态（单位：弧度）的允许误差
self.arm.set_goal_position_tolerance(0.01)
self.arm.set_goal_orientation_tolerance(0.05)
def moving(self):
# # Control the robotic arm to return to the initialization position first
# 控制机械臂先回到初始化位置
self.arm.set_named_target("init_pose")
self.arm.go()
rospy.sleep(2)
# Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates,
# 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述，
# Pose is described by quaternion, based on base_link coordinate system
# 姿态使用四元数描述，基于base_link坐标系
target_pose = PoseStamped()
target_pose.header.frame_id = self.reference_frame
target_pose.header.stamp = rospy.Time.now()
target_pose.pose.position.x = 0.132
target_pose.pose.position.y = -0.150
target_pose.pose.position.z = 0.075
target_pose.pose.orientation.x = 0.026
target_pose.pose.orientation.y = 1.0
target_pose.pose.orientation.z = 0.0
target_pose.pose.orientation.w = 0.014
# Set the current state of the robot arm as the initial state of motion
# 设置机器臂当前的状态作为运动初始状态
self.arm.set_start_state_to_current_state()
# Set the target pose of the terminal motion of the robotic arm
# 设置机械臂终端运动的目标位姿
self.arm.set_pose_target(target_pose, self.end_effector_link)
# Plan the movement path,规划运动路径
traj = self.arm.plan()
# Control the motion of the robotic arm according to the planned motion path
# 按照规划的运动路径控制机械臂运动
self.arm.execute(traj)
rospy.sleep(1)
# Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy
# 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy
self.arm.shift_pose_target(1, 0.12, self.end_effector_link)
self.arm.go()
rospy.sleep(1)
self.arm.shift_pose_target(1, 0.1, self.end_effector_link)
self.arm.go()
rospy.sleep(1)
# Control the terminal of the robotic arm to rotate 90 degrees in the opposite direction. 0,1,2,3,4,5 represent xyzrpy
# 控制机械臂终端反向旋转90度 0,1,2,3,4,5 代表xyzrpy
# self.arm.shift_pose_target(3, -1.57, end_effector_link)
# self.arm.go()
# rospy.sleep(1)
def run(self):
self.scene.remove_world_object("suit")
# Run once without obstacles,没有障碍物运行一次
self.moving()
# Add environment,添加环境
quat = quaternion_from_euler(3.1415, 0, -1.57)
suit_post = PoseStamped()
suit_post.header.frame_id = self.reference_frame
suit_post.pose.position.x = 0.0
suit_post.pose.position.y = 0.0
suit_post.pose.position.z = -0.02
suit_post.pose.orientation.x = quat[0]
suit_post.pose.orientation.y = quat[1]
suit_post.pose.orientation.z = quat[2]
suit_post.pose.orientation.w = quat[3]
suit_path = (
roslib.packages.get_pkg_dir("mycobot_description")
+ "/urdf/mycobot/suit_env.dae"
)
# need `pyassimp==3.3`
self.scene.add_mesh("suit", suit_post, suit_path)
rospy.sleep(2)
# Run it again if there is an environmental impact,有环境影响后再运行一次
self.moving()
# close and exit moveit，关闭并退出moveit
moveit_commander.roscpp_shutdown()
moveit_commander.os._exit(0)
if __name__ == "__main__":
o = MoveItPlanningDemo()
o.run()

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mycobot_280/mycobot_280_gripper_moveit/scripts/sync_plan.py Executable file
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import time
import rospy
from sensor_msgs.msg import JointState
from pymycobot.mycobot import MyCobot
def callback(data):
# port = rospy.get_param("~port", "/dev/ttyUSB0")
# baud = rospy.get_param("~baud", 115200)
# # print(port, baud)
# mc = MyCobot(port, baud)
data_list = []
for index, value in enumerate(data.position):
data_list.append(round(value, 3))
data_list = data_list[:7]
print("radians:%s" % data_list[:6])
# t1 = time.time()
mc.send_radians(data_list[:6], 80)
# time.sleep(0.02)
gripper_value = int(abs(-0.7 - data_list[6]) * 117)
print("gripper_value:%s\n" % gripper_value)
mc.set_gripper_value(gripper_value, 80)
# t2 = time.time() - t1
# print("cost time:", t2)
# time.sleep(1)
def listener():
global mc
rospy.init_node("mycobot_reciver", anonymous=True)
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mc = MyCobot(port, baud)
rospy.Subscriber("joint_states", JointState, callback)
# spin() simply keeps python from exiting until this node is stopped
# spin() 只是阻止 python 退出，直到该节点停止
rospy.spin()
if __name__ == "__main__":
listener()

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
<xacro:property name="width" value=".2" />
<link name="g_base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
</collision>
</link>
<link name="joint1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
<link name="joint2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
<link name="joint3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</collision>
</link>
<link name="joint4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</collision>
</link>
<link name="joint5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
</collision>
</link>
<link name="joint6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="joint6_flange">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left1.dae"/>
</geometry>
<origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
<!-- <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> -->
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left2.dae"/>
</geometry>
<origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.012 0.0025 -0.012" rpy = " 0 0 0"/>
</collision>
</link>
<joint name="g_base_to_joint1" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="g_base"/>
<child link="joint1"/>
<origin xyz= "0 0 0" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
</joint>
<joint name="joint6output_to_gripper_base" type="fixed">
<!-- <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
<parent link="joint6_flange"/>
<child link="gripper_base"/>
<!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> -->
<origin xyz= "0 0 0.034" rpy = "1.579 0 0"/>
</joint>
<joint name="gripper_controller" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.7" upper = "0.15" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_left3"/>
<origin xyz= "-0.012 0.005 0" rpy = "0 0 0"/>
</joint>
<joint name="gripper_base_to_gripper_left2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_left2"/>
<origin xyz= "-0.005 0.027 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<joint name="gripper_left3_to_gripper_left1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_left3"/>
<child link="gripper_left1"/>
<origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_right3"/>
<origin xyz= "0.012 0.005 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_right2"/>
<origin xyz= "0.005 0.027 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_right3_to_gripper_right1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_right3"/>
<child link="gripper_right1"/>
<origin xyz= "0.027 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
</robot>

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mycobot_description/urdf/mycobot/mycobot_with_gripper_up.urdf Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
<xacro:property name="width" value=".2" />
<link name="g_base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
</collision>
</link>
<link name="joint1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
<link name="joint2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
</collision>
</link>
<link name="joint3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
</collision>
</link>
<link name="joint4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
</geometry>
<origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
</collision>
</link>
<link name="joint5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
</collision>
</link>
<link name="joint6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
</geometry>
<origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="joint6_flange">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_base.dae"/>
</geometry>
<origin xyz = "0.0 0.0077 -0.012" rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_base.dae"/>
</geometry>
<origin xyz = "0.0 0.0077 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left1.dae"/>
</geometry>
<origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
<!-- <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> -->
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left2.dae"/>
</geometry>
<origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_left3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.012 0.0025 -0.012" rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="gripper_right3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.012 0.0025 -0.012" rpy = " 0 0 0"/>
</collision>
</link>
<joint name="g_base_to_joint1" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="g_base"/>
<child link="joint1"/>
<origin xyz= "0 0 0" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
</joint>
<joint name="joint6output_to_gripper_base" type="fixed">
<!-- <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
<parent link="joint6_flange"/>
<child link="gripper_base"/>
<origin xyz= "0 0 0.0139" rpy = "0 0 3.14159"/>
</joint>
<joint name="gripper_controller" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.7" upper = "0.15" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_left3"/>
<origin xyz= "-0.012 0.005 0" rpy = "0 0 0"/>
</joint>
<joint name="gripper_base_to_gripper_left2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_left2"/>
<origin xyz= "-0.005 0.027 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<joint name="gripper_left3_to_gripper_left1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_left3"/>
<child link="gripper_left1"/>
<origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_right3"/>
<origin xyz= "0.012 0.005 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
<parent link="gripper_base"/>
<child link="gripper_right2"/>
<origin xyz= "0.005 0.027 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_right3_to_gripper_right1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_right3"/>
<child link="gripper_right1"/>
<origin xyz= "0.027 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
</robot>