新增 mycobot600 机械臂跟随仿真运动

mycobot_280/mycobot_280/scripts/follow_display.py

@@ -13,7 +13,7 @@ def talker():
     rospy.init_node("display", anonymous=True)
 
     print("Try connect real mycobot...")
-    port = rospy.get_param("~port", "/dev/ttyUSB0")
+    port = rospy.get_param("~port", "/dev/ttyACM0")
     baud = rospy.get_param("~baud", 115200)
     print("port: {}, baud: {}\n".format(port, baud))
     try:
@@ -41,6 +41,7 @@ def talker():
     joint_state_send.header = Header()
 
     joint_state_send.name = [
+        
         "joint2_to_joint1",
         "joint3_to_joint2",
         "joint4_to_joint3",

mycobot_320/mycobot_320_gripper_moveit/.setup_assistant

@@ -6,6 +6,6 @@ moveit_setup_assistant_config:
   SRDF:
     relative_path: config/firefighter.srdf
   CONFIG:
-    author_name: wwj
-    author_email: wwj@elephantrobot.com
+    author_name: Jz
+    author_email: Jz@elephantrobot.com
     generated_timestamp: 1683628879

mycobot_320/mycobot_320_gripper_moveit/config/fake_controllers.yaml

@@ -2,18 +2,25 @@ 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
+      - joint1_to_base
       - joint2_to_joint1
       - joint3_to_joint2
       - joint4_to_joint3
       - joint5_to_joint4
       - joint6_to_joint5
-      - joint6output_to_joint6
+      - joint6output_to_tool1
   - name: fake_gripper_group_controller
     type: $(arg fake_execution_type)
     joints:
       - gripper_controller
-initial:  # Define initial robot poses per group
-  - group: arm_group
-    pose: init_pose
-  - group: gripper_group
-    pose: init_gripper
+# initial:  # Define initial robot poses per group
+#   - group: arm_group
+#     pose: init_pose
+#   - group: gripper_group
+#     pose: init_gripper

mycobot_320/mycobot_320_gripper_moveit/launch/moveit.rviz

@@ -1,6 +1,6 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 84
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
@@ -9,7 +9,7 @@ Panels:
         - /MotionPlanning1/Planning Request1
         - /MotionPlanning1/Planned Path1
       Splitter Ratio: 0.5
-    Tree Height: 109
+    Tree Height: 200
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -45,6 +45,7 @@ Visualization Manager:
     - Acceleration_Scaling_Factor: 0.1
       Class: moveit_rviz_plugin/MotionPlanning
       Enabled: true
+      JointsTab_Use_Radians: true
       Move Group Namespace: ""
       MoveIt_Allow_Approximate_IK: true
       MoveIt_Allow_External_Program: false
@@ -52,7 +53,7 @@ Visualization Manager:
       MoveIt_Allow_Sensor_Positioning: false
       MoveIt_Planning_Attempts: 10
       MoveIt_Planning_Time: 5
-      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Cartesian_Path: true
       MoveIt_Use_Constraint_Aware_IK: true
       MoveIt_Workspace:
         Center:
@@ -78,10 +79,6 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-          base_footprint:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
           gripper_base:
             Alpha: 1
             Show Axes: false
@@ -117,32 +114,42 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-          link1:
+          joint1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link2:
+          joint2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link3:
+          joint3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link4:
+          joint4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link5:
+          joint5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link6:
+          joint6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -168,11 +175,11 @@ Visualization Manager:
         Colliding Link Color: 255; 0; 0
         Goal State Alpha: 1
         Goal State Color: 250; 128; 0
-        Interactive Marker Size: 0.15000000596046448
+        Interactive Marker Size: 0.20000000298023224
         Joint Violation Color: 255; 0; 255
         Planning Group: arm_group
         Query Goal State: true
-        Query Start State: false
+        Query Start State: true
         Show Workspace: false
         Start State Alpha: 1
         Start State Color: 0; 255; 0
@@ -198,10 +205,6 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-          base_footprint:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
           gripper_base:
             Alpha: 1
             Show Axes: false
@@ -237,32 +240,42 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-          link1:
+          joint1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link2:
+          joint2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link3:
+          joint3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link4:
+          joint4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link5:
+          joint5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link6:
+          joint6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -314,7 +327,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2
+      Distance: 1.4812843799591064
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -322,17 +335,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.75
       Focal Point:
-        X: -0.10000000149011612
-        Y: 0.25
-        Z: 0.30000001192092896
+        X: -0.07944566011428833
+        Y: 0.29104751348495483
+        Z: 0.29134249687194824
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.3399999737739563
+      Pitch: 1.0449998378753662
       Target Frame: base
-      Yaw: 2.9449498653411865
+      Yaw: 6.149951934814453
     Saved:
       - Class: rviz/Orbit
         Distance: 2
@@ -357,7 +370,7 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 919
+  Height: 820
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -366,9 +379,9 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f30000033dfc0200000007fb000000100044006900730070006c006100790073010000003d000000fe000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000141000000520000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000199000001e10000017d00ffffff000003120000033d00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002dafc0200000007fb000000100044006900730070006c006100790073010000003d00000105000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000148000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000018f000001880000017d00ffffff00000539000002da00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1291
-  X: 454
+  Width: 1842
+  X: 72
   Y: 27

mycobot_320/mycobot_320_gripper_moveit/launch/planning_context.launch

@@ -6,10 +6,12 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf"/>
+  <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf"/> -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_630_gripper.urdf"/>
 
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_320_gripper_moveit)/config/firefighter.srdf" />
+  <!-- <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_320_gripper_moveit)/config/firefighter.srdf" /> -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find new_mycobot_630_gripper_moveit)/config/firefighter.srdf" />
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">

mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan.py

@@ -8,7 +8,16 @@ Passable parameters:
     port: serial prot string. Defaults is '/dev/ttyUSB0'
     baud: serial prot baudrate. Defaults is 115200.
 """
+from socket import *
+import math
+import sys
+import time
+from multiprocessing import Lock
 
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.elephantrobot import ElephantRobot
 import rospy
 import time
 from sensor_msgs.msg import JointState
@@ -38,17 +47,24 @@ def callback(data):
 def listener():
     global mc
     global gripper_value
-   
     rospy.init_node("control_slider", anonymous=True)
 
+    ip = rospy.get_param("~ip", "192.168.1.161")
+    port = rospy.get_param("~port", 5001)
+    print (ip, port)
+    mc = ElephantRobot(ip, int(port))
+    # START CLIENT,启动客户端
+    res = mc.start_client()
+    if res != "":
+        sys.exit(1)
+
+    mc.set_speed(90)
+
     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
-    print("spin ...")
+    # spin()只是阻止python退出，直到该节点停止
+    print ("sping ...")
     rospy.spin()
 
 

mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan_630.py

@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+from socket import *
+import math
+import sys
+import time
+from multiprocessing import Lock
+import numpy as np
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.elephantrobot import ElephantRobot
+
+global mc
+gripper_value = []
+
+
+
+def linear_mapping(value, input_start, input_end, output_start, output_end):
+    """
+    Maps a value from one range to another using a linear transformation.
+
+    Args:
+        value (float): The input value to be mapped.
+        input_start (float): The start of the input range.
+        input_end (float): The end of the input range.
+        output_start (float): The start of the output range.
+        output_end (float): The end of the output range.
+
+    Returns:
+        float: The mapped value in the output range.
+    """
+    # Calculate the slope of the linear function
+    slope = (output_end - output_start) / (input_end - input_start)
+    # Calculate the mapped value
+    mapped_value = output_start + slope * (value - input_start)
+    return mapped_value
+
+
+def callback(data):
+    """callback function,回调函数"""
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+
+    data_list = []
+    for index, value in enumerate(data.position):
+        radians_to_angles = round(math.degrees(value), 2)
+        data_list.append(radians_to_angles)
+
+    rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
+    # mc.write_angles(data_list, 800)
+    
+    list_i = []
+    for i in data_list[:6]:
+        list_i.append(i)
+    mc.write_angles(list_i,800)
+    
+    list_j = []
+    for j in data_list[6:]:
+        list_j.append(j)
+    # list_j = [int(a) for a in list_j]
+    
+    mc.set_gripper_mode(0)
+    # Define the input and output ranges
+    input_start = 17
+    input_end = -40
+    output_start = 100
+    output_end = 0
+    num = [linear_mapping(value, input_start, input_end, output_start, output_end) for value in list_j]
+    num2 = [int(i) for i in num]
+    num2 = num2[1]
+    mc.set_gripper_value(num2,100)
+    rospy.loginfo(num2)
+    
+
+
+
+def listener():
+    global mc
+    global gripper_value
+    rospy.init_node("control_slider", anonymous=True)
+
+    ip = rospy.get_param("~ip", "192.168.1.161")
+    port = rospy.get_param("~port", 5001)
+    print (ip, port)
+    mc = ElephantRobot(ip, int(port))
+    # START CLIENT,启动客户端
+    res = mc.start_client()
+    if res != "":
+        sys.exit(1)
+
+    mc.set_speed(90)
+
+    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
+    print ("sping ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()

mycobot_320/mycobot_320_gripper_moveit/scripts/test.py

@@ -0,0 +1,35 @@
+from pymycobot.elephantrobot import ElephantRobot
+import time
+
+global mc
+
+mc = ElephantRobot("192.168.1.161",5001)
+
+
+
+
+# 启动机器人必要指令
+mc.start_client()
+time.sleep(1)
+mc.set_gripper_mode(0)
+time.sleep(1)
+
+
+
+# mc.power_off()#夹爪透传换IO模式时需要先关闭机器再重启机器人一次，仅使用夹爪透传模式不必关闭机器人
+# mc.state_off()
+# time.sleep(3)
+# mc.power_on()
+# time.sleep(3)
+# mc.state_on()
+# time.sleep(3)
+# mc.set_gripper_mode(0)
+mc.set_gripper_calibrate()
+
+# #透传模式
+
+# for i in range(3):
+#     mc.set_gripper_value(46, 20)
+#     time.sleep(1)
+#     mc.set_gripper_value(96, 20)
+#     time.sleep(1)

mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_gripper.urdf

@@ -291,8 +291,8 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <!-- <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>   -->
-    <origin xyz= "0 0.04  0.085" rpy = "1.5708 0 0"/>
+    <!-- <origin xyz= "0 0  0" rpy = "1.5708 0 0"/>   -->
+    <origin xyz= "0 0.04  0.085" rpy = "1.5706 1.5706 0"/>
   </joint>
 
 
@@ -310,8 +310,8 @@
     <limit effort = "1000.0" lower = "-2.97" upper = "2.97" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-    <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>   -->
-    <origin xyz= "0 0.25  0.025" rpy = "0 0 0"/>  
+    <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 0"/>   -->
+    <origin xyz= "0 0.25  0.025" rpy = "0 0 -1.5706"/>  
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -330,7 +330,7 @@
     <origin xyz= "-0.076 0 0.05" rpy = "-1.57080 0 0 "/>  
   </joint>
 
-  <joint name="joint6output_to_tool1" type="revolute">
+  <joint name="joint6output_to_tool1" type="fixed">
     <axis xyz="0 1 0"/>
     <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
     <parent link="link6" />

mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf

@@ -378,39 +378,39 @@
 
 
     <joint name="joint1_to_base" type="revolute">
-        <axis xyz="0 0 -1" />
+        <axis xyz="0 0 1" />
         <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
         <parent link="base" />
         <child link="joint1" />
         <origin xyz="0 0 0.16034" rpy="0 0 0" />
     </joint>
     <joint name="joint2_to_joint1" type="revolute">
-        <axis xyz="0 0 -1" />
+        <axis xyz="0 0 1" />
         <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
         <parent link="joint1" />
         <child link="joint2" />
-        <origin xyz="0 0.06  0.038" rpy="1.5707 0 3.14159" />
+        <origin xyz="0 0.06  0.038" rpy="1.5707 -1.5706 3.14159" />
     </joint>
     <joint name="joint3_to_joint2" type="revolute">
-        <axis xyz=" 0 0 -1" />
+        <axis xyz=" 0 0 1" />
         <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
         <parent link="joint2" />
         <child link="joint3" />
         <origin xyz="0 0.2685 0   " rpy="0 0 0" />
     </joint>
     <joint name="joint4_to_joint3" type="revolute">
-        <axis xyz=" 0 0 -1" />
+        <axis xyz=" 0 0 1" />
         <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
         <parent link="joint3" />
         <child link="joint4" />
-        <origin xyz="0 0.2663 0   " rpy="0 0 0" />
+        <origin xyz="0 0.2663 0   " rpy="0 0 1.5706" />
     </joint>
     <joint name="joint5_to_joint4" type="revolute">
         <axis xyz="0 0 1" />
         <limit effort="1000.0" lower="-2.99" upper="2.99" velocity="0" />
         <parent link="joint4" />
         <child link="joint5" />
-        <origin xyz="0 0.055 0.039" rpy="1.5707 -1.5707 0" />
+        <origin xyz="0 0.055 0.039" rpy="1.5707 0 0" />
     </joint>
     <joint name="joint6_to_joint5" type="revolute">
         <axis xyz="1 0 0" />
@@ -420,7 +420,7 @@
         <origin xyz="0 0.04 -0.0385" rpy="-1.5707 0 1.5706 " />
     </joint>
 
-    <joint name="joint6output_to_tool1" type="revolute">
+    <joint name="joint6output_to_tool1" type="fixed">
         <axis xyz="0 1 0"/>
         <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
         <parent link="joint6" />

mycobot_pro/mycobot_600/config/mycobot_600.rviz

@@ -246,7 +246,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 0.6429708003997803
+      Distance: 1.742307186126709
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -254,17 +254,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.05385429784655571
-        Y: 0.09180382639169693
-        Z: 0.726940929889679
+        X: -0.07060671597719193
+        Y: 0.09759367257356644
+        Z: 0.5344932079315186
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2553977966308594
+      Pitch: 0.4803977310657501
       Target Frame: <Fixed Frame>
-      Yaw: 2.845386028289795
+      Yaw: 3.7303872108459473
     Saved: ~
 Window Geometry:
   Displays:

mycobot_pro/mycobot_600/launch/mycobot_600_follow_display.launch

@@ -0,0 +1,11 @@
+<launch>
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
+		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
+	</node>
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>

mycobot_pro/mycobot_600/scripts/mycobot_600_follow_display.py

@@ -0,0 +1,105 @@
+#!/usr/bin/env python2
+# -*- coding:utf-8 -*-
+from cgi import print_environ
+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",
+    ]
+    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()
+        data_list = []
+        for index, value in enumerate(angles):
+            data_list.append(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
+        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

mycobot_pro/mycobot_600/scripts/test.py

@@ -0,0 +1,23 @@
+from pymycobot import ElephantRobot
+import time
+if __name__=='__main__':
+    # "Connect to robot server"
+    elephant_client = ElephantRobot("192.168.1.6", 5001)
+
+    # "Enable TCP communication"
+    elephant_client.start_client()
+
+    # "Setting"
+    # elephant_client.set_speed(20)   # set speed(20%)
+    # elephant_client.set_payload(2.0)   # set payload(2.0Kg)
+
+    # "Power on the robot"
+    # elephant_client.power_on()
+    
+    # "Start the system"
+    # elephant_client.state_on()
+
+    # "test move"
+    elephant_client.write_coords([-108, -140, 620, 88, -2, -37], 3000)
+    elephant_client.wait(3)
+    elephant_client.command_wait_done()

mycobot_pro/mycobot_600_gripper_moveit/config/fake_controllers.yaml

@@ -1,7 +1,14 @@
 controller_list:
-  - name: fake_arm_controller
+  - 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
+      
       - joint2_to_joint1
       - joint3_to_joint2
       - joint4_to_joint3
@@ -9,12 +16,12 @@ controller_list:
       - joint6_to_joint5
       - joint6output_to_joint6
       - joint6output_to_tool1
-  - name: fake_gripper_controller
+  - name: fake_gripper_group_controller
     type: $(arg fake_execution_type)
     joints:
       - gripper_controller
-initial:  # Define initial robot poses per group
-#  - group: arm
-#    pose: home
-
-  []
+# initial:  # Define initial robot poses per group
+#   - group: arm_group
+#     pose: init_pose
+#   - group: gripper_group
+#     pose: init_gripper

mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf

@@ -9,30 +9,136 @@
     <!--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">
-        <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"/>
-        <joint name="joint6output_to_tool1"/>
-        <joint name="tool1_to_tool2"/>
+    <group name="arm_group">
+        <chain base_link="base" tip_link="link6"/>
     </group>
-    <group name="gripper">
-        <joint name="tool2_to_gripper_base"/>
-        <joint name="gripper_base_to_gripper_left2"/>
-        <joint name="gripper_base_to_gripper_right2"/>
-        <joint name="gripper_base_to_gripper_right3"/>
-        <joint name="gripper_right3_to_gripper_right1"/>
-        <joint name="gripper_controller"/>
-        <joint name="gripper_left3_to_gripper_left1"/>
+    <group name="gripper_group">
+        <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>
+    <!-- <group_state name="init_gripper" group="gripper_group">
+        <joint name="gripper_controller" value="0"/>
+    </group_state> -->
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="hand" parent_link="tool2" group="gripper"/>
+    <end_effector name="gripper" parent_link="link6" group="gripper_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="base"/>
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="gripper_base_to_gripper_left2"/>
+    <passive_joint name="gripper_base_to_gripper_right2"/>
+    <passive_joint name="gripper_base_to_gripper_right3"/>
+    <passive_joint name="gripper_right3_to_gripper_right1"/>
+    <passive_joint name="gripper_left3_to_gripper_left1"/>
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    
+    <!-- <disable_collisions link1="base" link2="gripper_base" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_left1" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_left2" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_left3" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_right1" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_right2" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_right3" reason="Default"/>
     <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
     <disable_collisions link1="base" link2="link2" reason="Never"/>
+    <disable_collisions link1="base" link2="link3" reason="Never"/>
+    <disable_collisions link1="base" link2="link4" reason="Never"/>
+    <disable_collisions link1="base" link2="link5" reason="Never"/>
+    <disable_collisions link1="base" link2="link6" reason="Never"/>
+    <disable_collisions link1="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="link1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link6" reason="Adjacent"/>
+    <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="link1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Default"/>
+    <disable_collisions link1="gripper_left3" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link6" 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="link1" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link6" reason="Never"/>
+    <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
+    <disable_collisions link1="link1" link2="link3" reason="Never"/>
+    <disable_collisions link1="link1" link2="link4" reason="Never"/>
+    <disable_collisions link1="link1" link2="link5" reason="Never"/>
+    <disable_collisions link1="link1" link2="link6" reason="Never"/>
+    <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
+    <disable_collisions link1="link2" link2="link4" reason="Never"/>
+    <disable_collisions link1="link2" link2="link5" reason="Never"/>
+    <disable_collisions link1="link2" link2="link6" reason="Never"/>
+    <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
+    <disable_collisions link1="link3" link2="link5" reason="Never"/>
+    <disable_collisions link1="link3" link2="link6" reason="Never"/>
+    <disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
+    <disable_collisions link1="link5" link2="link6" reason="Adjacent"/> -->
+
+    <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
+    <disable_collisions link1="base" link2="link2" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_base" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_left3" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_right3" reason="Never"/>
+    <!-- <disable_collisions link1="base" link2="gripper_base" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_base" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_base" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_base" reason="Default"/> -->
     <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"/>

mycobot_pro/mycobot_600_gripper_moveit/config/gazebo_firefighter.urdf

@@ -1,579 +0,0 @@
-<?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
-    <xacro:property name="width" value=".2" />
-    <link name="base">
-        <visual>
-            <geometry>
-                <!--- 0.0 0 -0.04  1.5708 3.14159-->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 0 0" />
-        </visual>
-        <collision>
-            <geometry>
-                <!--- 0.0 0 -0.04  1.5708 3.14159-->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 0 0" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="link1">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0 " rpy="0 0 0" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 0 0" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="link2">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-mm.dae" />
-            </geometry>
-            <origin xyz="0 0.0 0.0 " rpy=" 3.1415926 0 3.1415926" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-mm.dae" />
-            </geometry>
-            <origin xyz="0 0.0 0.0 " rpy=" 3.1415926 0 3.1415926" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="link3">
-        <visual>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0.0 " rpy=" 3.1415926 3.14159 3.1415926" />
-        </visual>
-        <collision>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0.0 " rpy="3.1415926 03.14159 3.1415926" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="link4">
-        <visual>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 3.1415926 0" />
-        </visual>
-        <collision>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 3.1415926 0" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="link5">
-        <visual>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-mm.dae" />
-            </geometry>
-            <origin xyz="0 0  0 " rpy=" 0  0 -1.5706" />
-        </visual>
-        <collision>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-mm.dae" />
-            </geometry>
-            <origin xyz="0 0  0 " rpy=" 0  0 -1.5706" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="link6">
-        <visual>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae" />
-            </geometry>
-            <material name="grey">
-                <color rgba="0.5 0.5 0.5 1" />
-            </material>
-            <origin xyz="0.02 0 0" rpy=" 0 -1.5707  0" />
-        </visual>
-        <collision>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae" />
-            </geometry>
-            <material name="grey">
-                <color rgba="0.5 0.5 0.5 1" />
-            </material>
-            <origin xyz="0.02 0 0" rpy=" 0 -1.5707  0" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="tool1">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 0 0" rpy=" -1.5706 0  0" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 0 0" rpy=" -1.5706 0  0" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="tool2">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool2-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 0 0" rpy=" 0 0  -1.5706" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool2-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 0 0" rpy=" 0 0  -1.5706" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="gripper_base">
-        <visual>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae" />
-            </geometry>
-            <origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae" />
-            </geometry>
-            <origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="gripper_left1">
-        <visual>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae" />
-            </geometry>
-            <origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae" />
-            </geometry>
-            <origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="gripper_left2">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae" />
-            </geometry>
-            <origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae" />
-            </geometry>
-            <origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="gripper_left3">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae" />
-            </geometry>
-            <origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
-            <!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae" />
-            </geometry>
-            <origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="gripper_right1">
-        <visual>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae" />
-            </geometry>
-            <origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae" />
-            </geometry>
-            <origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="gripper_right2">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae" />
-            </geometry>
-            <origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae" />
-            </geometry>
-            <origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <link name="gripper_right3">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae" />
-            </geometry>
-            <origin xyz="0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae" />
-            </geometry>
-            <origin xyz="0.0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
-        </collision>
-        <inertial>
-            <mass value="0.1" />
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
-        </inertial>
-    </link>
-    <joint name="joint2_to_joint1" type="revolute">
-        <axis xyz="0 0 1" />
-        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
-        <parent link="base" />
-        <child link="link1" />
-        <origin xyz="0 0 0.1655" rpy="0 0 0" />
-    </joint>
-    <joint name="joint3_to_joint2" type="revolute">
-        <axis xyz="0 0 -1" />
-        <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/>   -->
-        <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
-        <parent link="link1" />
-        <child link="link2" />
-        <!-- <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>   -->
-        <origin xyz="0 0.04  0.085" rpy="1.5708 0 0" />
-    </joint>
-    <joint name="joint4_to_joint3" type="revolute">
-        <axis xyz=" 0 0 -1" />
-        <limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" />
-        <parent link="link2" />
-        <child link="link3" />
-        <origin xyz="0.0 0.25 0   " rpy="0 0 0" />
-    </joint>
-    <joint name="joint5_to_joint4" type="revolute">
-        <axis xyz=" 0 0 -1" />
-        <!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
-        <limit effort="1000.0" lower="-2.97" upper="2.97" velocity="0" />
-        <parent link="link3" />
-        <child link="link4" />
-        <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>   -->
-        <origin xyz="0 0.25  0.025" rpy="0 0 0" />
-    </joint>
-    <joint name="joint6_to_joint5" type="revolute">
-        <axis xyz="0 0 1" />
-        <limit effort="1000.0" lower="-2.93" upper="2.9321" velocity="0" />
-        <parent link="link4" />
-        <child link="link5" />
-        <origin xyz="0 0.058 -0.05" rpy="1.57080 -1.57080 3.14159" />
-    </joint>
-    <joint name="joint6output_to_joint6" type="revolute">
-        <axis xyz="-1 0 0" />
-        <limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
-        <parent link="link5" />
-        <child link="link6" />
-        <origin xyz="-0.076 0 0.05" rpy="-1.57080 0 0 " />
-    </joint>
-    <joint name="joint6output_to_tool1" type="revolute">
-        <axis xyz="0 1 0" />
-        <limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
-        <parent link="link6" />
-        <child link="tool1" />
-        <origin xyz="0.0079 0.0 0.0" rpy="1.5708 -1.5706 0" />
-    </joint>
-    <joint name="tool1_to_tool2" type="fixed">
-        <axis xyz="0 0 1" />
-        <limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
-        <parent link="tool1" />
-        <child link="tool2" />
-        <origin xyz="0.0 0.008 0.00" rpy="1.5708 -1.5706 3.14159" />
-    </joint>
-    <joint name="tool2_to_gripper_base" type="fixed">
-        <axis xyz="0 0 -1" />
-        <limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
-        <parent link="tool2" />
-        <child link="gripper_base" />
-        <origin xyz="0.0 0.0 0.04" rpy="1.5706 0 1.5706" />
-    </joint>
-    <joint name="gripper_controller" type="revolute">
-        <axis xyz="0 0 1" />
-        <limit effort="1000.0" lower="-0.7" upper="0.3" velocity="0" />
-        <parent link="gripper_base" />
-        <child link="gripper_left3" />
-        <origin xyz="-0.018 0.016 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="-0.05 -0.01 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="-0.0356 0.051 -0.018" 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="-0.3" upper="0.7" velocity="0" />
-        <parent link="gripper_base" />
-        <child link="gripper_right3" />
-        <origin xyz="0.018 0.016 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="0.046 -0.01 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="0.033 0.051 -0.018" rpy="0 0 0" />
-        <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
-    </joint>
-    <transmission name="trans_joint2_to_joint1">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint2_to_joint1">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint2_to_joint1_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_joint3_to_joint2">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint3_to_joint2">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint3_to_joint2_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_joint4_to_joint3">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint4_to_joint3">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint4_to_joint3_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_joint5_to_joint4">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint5_to_joint4">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint5_to_joint4_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_joint6_to_joint5">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint6_to_joint5">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint6_to_joint5_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_joint6output_to_joint6">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint6output_to_joint6">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint6output_to_joint6_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_joint6output_to_tool1">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint6output_to_tool1">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint6output_to_tool1_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_gripper_controller">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="gripper_controller">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="gripper_controller_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_gripper_base_to_gripper_left2">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="gripper_base_to_gripper_left2">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="gripper_base_to_gripper_left2_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_gripper_left3_to_gripper_left1">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="gripper_left3_to_gripper_left1">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="gripper_left3_to_gripper_left1_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_gripper_base_to_gripper_right3">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="gripper_base_to_gripper_right3">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="gripper_base_to_gripper_right3_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_gripper_base_to_gripper_right2">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="gripper_base_to_gripper_right2">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="gripper_base_to_gripper_right2_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_gripper_right3_to_gripper_right1">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="gripper_right3_to_gripper_right1">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="gripper_right3_to_gripper_right1_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <gazebo>
-        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-            <robotNamespace>/</robotNamespace>
-        </plugin>
-    </gazebo>
-</robot>
-

mycobot_pro/mycobot_600_gripper_moveit/config/joint_limits.yaml

@@ -8,36 +8,11 @@ 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_base_to_gripper_left2:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  gripper_base_to_gripper_right2:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  gripper_base_to_gripper_right3:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
   gripper_controller:
     has_velocity_limits: false
     max_velocity: 0
     has_acceleration_limits: false
     max_acceleration: 0
-  gripper_left3_to_gripper_left1:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  gripper_right3_to_gripper_right1:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
   joint2_to_joint1:
     has_velocity_limits: false
     max_velocity: 0
@@ -68,8 +43,3 @@ joint_limits:
     max_velocity: 0
     has_acceleration_limits: false
     max_acceleration: 0
-  joint6output_to_tool1:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0

mycobot_pro/mycobot_600_gripper_moveit/config/kinematics.yaml

@@ -1,7 +1,10 @@
-arm:
+arm_group:
+# arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+gripper_group:
+# gripper:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  goal_joint_tolerance: 0.0001
-  goal_position_tolerance: 0.0001
-  goal_orientation_tolerance: 0.001

mycobot_pro/mycobot_600_gripper_moveit/config/ompl_planning.yaml

@@ -51,8 +51,8 @@ planner_configs:
     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
-    frontier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
-    frontier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    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
@@ -95,8 +95,8 @@ planner_configs:
     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
-    frontier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
-    frontier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    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
@@ -127,44 +127,9 @@ planner_configs:
     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
-  AITstar:
-    type: geometric::AITstar
-    use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
-    rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
-    samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
-    use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
-    find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
-    set_max_num_goals: 1  # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1
-  ABITstar:
-    type: geometric::ABITstar
-    use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
-    rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
-    samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
-    use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
-    prune_threshold_as_fractional_cost_change: 0.1  # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
-    delay_rewiring_to_first_solution: 0  # delay (1) or not (0) rewiring until a solution is found. Default: 0
-    use_just_in_time_sampling: 0  # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
-    drop_unconnected_samples_on_prune: 0  # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
-    stop_on_each_solution_improvement: 0  # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
-    use_strict_queue_ordering: 0  # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
-    find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
-    initial_inflation_factor: 1000000  # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000
-    inflation_scaling_parameter: 10  # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
-    truncation_scaling_parameter: 5.0  # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
-  BITstar:
-    type: geometric::BITstar
-    use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
-    rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
-    samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
-    use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
-    prune_threshold_as_fractional_cost_change: 0.1  # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
-    delay_rewiring_to_first_solution: 0  # delay (1) or not (0) rewiring until a solution is found. Default: 0
-    use_just_in_time_sampling: 0  # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
-    drop_unconnected_samples_on_prune: 0  # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
-    stop_on_each_solution_improvement: 0  # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
-    use_strict_queue_ordering: 0  # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
-    find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
-arm:
+arm_group:
+# arm:
+  default_planner_config: RRTConnect
   planner_configs:
     - AnytimePathShortening
     - SBL
@@ -190,12 +155,11 @@ arm:
     - LazyPRMstar
     - SPARS
     - SPARStwo
-    - AITstar
-    - ABITstar
-    - BITstar
   projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
   longest_valid_segment_fraction: 0.005
-gripper:
+gripper_group:
+# gripper:
+  default_planner_config: RRTConnect
   planner_configs:
     - AnytimePathShortening
     - SBL
@@ -221,6 +185,3 @@ gripper:
     - LazyPRMstar
     - SPARS
     - SPARStwo
-    - AITstar
-    - ABITstar
-    - BITstar

mycobot_pro/mycobot_600_gripper_moveit/config/ros_controllers.yaml

@@ -1,5 +1,6 @@
-arm_controller:
-  type: position_controllers/JointTrajectoryController
+arm_group_controller:
+# arm_controller:
+  type: effort_controllers/JointTrajectoryController
   joints:
     - joint2_to_joint1
     - joint3_to_joint2
@@ -7,7 +8,6 @@ arm_controller:
     - joint5_to_joint4
     - joint6_to_joint5
     - joint6output_to_joint6
-    - joint6output_to_tool1
   gains:
     joint2_to_joint1:
       p: 100
@@ -39,7 +39,13 @@ arm_controller:
       d: 1
       i: 1
       i_clamp: 1
-    joint6output_to_tool1:
+gripper_group_controller:
+# gripper_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - gripper_controller
+  gains:
+    gripper_controller:
       p: 100
       d: 1
       i: 1

mycobot_pro/mycobot_600_gripper_moveit/config/simple_moveit_controllers.yaml

@@ -1,5 +1,6 @@
 controller_list:
-  - name: arm_controller
+  - name: arm_group_controller
+  # - name: arm_controller
     action_ns: follow_joint_trajectory
     type: FollowJointTrajectory
     default: True
@@ -10,4 +11,10 @@ controller_list:
       - joint5_to_joint4
       - joint6_to_joint5
       - joint6output_to_joint6
-      - joint6output_to_tool1
+  - name: gripper_group_controller
+  # - name: gripper_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - gripper_controller

mycobot_pro/mycobot_600_gripper_moveit/config/stomp_planning.yaml

@@ -1,5 +1,5 @@
-stomp/arm:
-  group_name: arm
+stomp/arm_group:
+  group_name: arm_group
   optimization:
     num_timesteps: 60
     num_iterations: 40
@@ -11,7 +11,7 @@ stomp/arm:
   task:
     noise_generator:
       - class: stomp_moveit/NormalDistributionSampling
-        stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
     cost_functions:
       - class: stomp_moveit/CollisionCheck
         collision_penalty: 1.0
@@ -37,8 +37,8 @@ stomp/arm:
         publish_intermediate: True
         marker_topic: stomp_trajectory
         marker_namespace: optimized
-stomp/gripper:
-  group_name: gripper
+stomp/gripper_group:
+  group_name: gripper_group
   optimization:
     num_timesteps: 60
     num_iterations: 40

mycobot_pro/mycobot_600_gripper_moveit/launch/chomp_planning_pipeline.launch.xml

@@ -3,8 +3,7 @@
   <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/LimitMaxCartesianLinkSpeed
-                default_planner_request_adapters/AddTimeParameterization
+       default="default_planner_request_adapters/AddTimeParameterization
                 default_planner_request_adapters/ResolveConstraintFrames
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
@@ -17,5 +16,8 @@
   <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_600_gripper_moveit)/config/chomp_planning.yaml" />
 </launch>

mycobot_pro/mycobot_600_gripper_moveit/launch/demo.launch

@@ -24,6 +24,9 @@
   <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 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

mycobot_pro/mycobot_600_gripper_moveit/launch/demo_gazebo.launch

@@ -1,20 +1,20 @@
-<?xml version="1.0"?>
 <launch>
-  <!-- MoveIt options -->
-  <arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
 
-  <!-- Gazebo options -->
-  <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
-  <arg name="paused" default="false" doc="Start Gazebo paused"/>
-  <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
-  <arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
 
-  <!-- Launch Gazebo and spawn the robot -->
-  <include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
+  <!-- Gazebo specific options -->
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="paused" default="false"/>
+
+  <!-- launch the gazebo simulator and spawn the robot -->
+  <include file="$(dirname)/gazebo.launch" >
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+  </include>
 
-  <!-- Launch MoveIt -->
   <include file="$(dirname)/demo.launch" pass_all_args="true">
-    <!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
+    <!-- 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>

mycobot_pro/mycobot_600_gripper_moveit/launch/gazebo.launch

@@ -1,34 +1,32 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Gazebo options -->
-  <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
-  <arg name="paused" default="false" doc="Start Gazebo paused"/>
-  <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
-  <arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
-  <arg name="initial_joint_positions" default="" doc="Initial joint configuration of the robot"/>
+  <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 gripper_controller 0 -J joint2_to_joint1 0 -J joint3_to_joint2 0 -J joint4_to_joint3 0 -J joint5_to_joint4 0 -J joint6_to_joint5 0 -J joint6output_to_joint6 0"/>
 
-  <!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
+  <!-- startup simulated world -->
+  <include file="$(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>
 
-  <!-- Set the robot urdf on the parameter server -->
-  <param name="robot_description" textfile="$(find mycobot_600_gripper_moveit)/config/gazebo_firefighter.urdf" />
+  <!-- send robot urdf to param server -->
+  <param name="robot_description" textfile="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf" />
 
-  <!-- Unpause the simulation after loading the robot model -->
+  <!-- unpause only after loading robot model -->
   <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
-
-  <!-- Spawn the robot in Gazebo -->
+  <!-- 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 the controller parameters onto the parameter server -->
+  <!-- Load joint controller parameters for Gazebo -->
   <rosparam file="$(find mycobot_600_gripper_moveit)/config/gazebo_controllers.yaml" />
+  <!-- Spawn Gazebo ROS controllers -->
+  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
+  <!-- Load ROS controllers -->
   <include file="$(dirname)/ros_controllers.launch"/>
 
-  <!-- Spawn the Gazebo ROS controllers -->
-  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
-
-  <!-- Given the published joint states, publish tf for the robot links -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
 </launch>

mycobot_pro/mycobot_600_gripper_moveit/launch/move_group.launch

@@ -91,10 +91,6 @@
     <param name="capabilities" value="$(arg capabilities)" />
     <param name="disable_capabilities" value="$(arg disable_capabilities)" />
 
-    <!-- do not copy dynamics information from /joint_states to internal robot monitoring
-         default to false, because almost nothing in move_group relies on this information -->
-    <param name="monitor_dynamics" value="false" />
-
     <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
     <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)" />

mycobot_pro/mycobot_600_gripper_moveit/launch/moveit.rviz

@@ -1,12 +1,15 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 84
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /MotionPlanning1
+        - /MotionPlanning1/Scene Robot1
+        - /MotionPlanning1/Planning Request1
+        - /MotionPlanning1/Planned Path1
       Splitter Ratio: 0.5
-    Tree Height: 226
+    Tree Height: 200
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -14,6 +17,10 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -23,7 +30,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.03
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -35,32 +42,144 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Class: moveit_rviz_plugin/MotionPlanning
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
       Enabled: true
+      JointsTab_Use_Radians: 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: true
+      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:
-        Links: ~
-        Loop Animation: true
+        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
+          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
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            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
+        Interactive Marker Size: 0.20000000298023224
         Joint Violation Color: 255; 0; 255
+        Planning Group: arm_group
         Query Goal State: true
-        Query Start State: false
+        Query Start State: true
         Show Workspace: false
         Start State Alpha: 1
         Start State Color: 0; 255; 0
@@ -68,19 +187,136 @@ Visualization Manager:
       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: ~
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          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
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
         Robot Alpha: 0.5
-        Show Scene Robot: true
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: visualization_marker
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Update Topic: ""
+      Value: true
+    - Class: rviz/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Update Topic: ""
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
+    Default Light: true
     Fixed Frame: base
+    Frame Rate: 30
   Name: root
   Tools:
     - Class: rviz/Interact
@@ -91,30 +327,50 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.0
+      Distance: 1.4812843799591064
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Field of View: 0.75
       Focal Point:
-        X: -0.1
-        Y: 0.25
-        Z: 0.30
+        X: -0.07944566011428833
+        Y: 0.29104751348495483
+        Z: 0.29134249687194824
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.5
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.0449998378753662
       Target Frame: base
-      Yaw: -0.6232355833053589
-    Saved: ~
+      Yaw: 6.149951934814453
+    Saved:
+      - 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: Orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.3399999737739563
+        Target Frame: base
+        Yaw: 2.9449498653411865
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 848
+  Height: 820
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -123,9 +379,9 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000173000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017d0000017d00ffffff00000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002dafc0200000007fb000000100044006900730070006c006100790073010000003d00000105000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000148000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000018f000001880000017d00ffffff00000539000002da00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1291
-  X: 454
-  Y: 25
+  Width: 1842
+  X: 72
+  Y: 27

mycobot_pro/mycobot_600_gripper_moveit/launch/mycobot600_gripper_moveit.launch

@@ -0,0 +1,69 @@
+<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="$(find mycobot_600_gripper_moveit)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
+
+
+
+  <group if="$(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>

mycobot_pro/mycobot_600_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml

@@ -1,8 +1,7 @@
 <launch>
   <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
-  <include file="$(find mycobot_600_gripper_moveit)/launch/ompl_planning_pipeline.launch.xml">
-    <arg name="planning_adapters"
-         default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+  <include file="$(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
@@ -13,7 +12,7 @@
   </include>
 
   <!-- load chomp config -->
-  <rosparam command="load" file="$(find mycobot_600_gripper_moveit)/config/chomp_planning.yaml" />
+  <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
 
   <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
   <param name="trajectory_initialization_method" value="fillTrajectory"/>

mycobot_pro/mycobot_600_gripper_moveit/launch/ompl_planning_pipeline.launch.xml

@@ -2,8 +2,7 @@
 
   <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
   <arg name="planning_adapters"
-       default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
-                default_planner_request_adapters/AddTimeParameterization
+       default="default_planner_request_adapters/AddTimeParameterization
                 default_planner_request_adapters/ResolveConstraintFrames
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
@@ -19,6 +18,9 @@
   <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_600_gripper_moveit)/config/ompl_planning.yaml"/>
 
 </launch>

mycobot_pro/mycobot_600_gripper_moveit/launch/planning_context.launch

@@ -6,9 +6,11 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
+  <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf"/> -->
   <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_gripper.urdf"/>
 
-  <!-- The semantic description that corresponds to the URDF -->
+  <!-- The semantic description that corresponds to the SRDF -->
+  <!-- <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_600_gripper_moveit)/config/firefighter.srdf" /> -->
   <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_600_gripper_moveit)/config/firefighter.srdf" />
 
   <!-- Load updated joint limits (override information from URDF) -->

mycobot_pro/mycobot_600_gripper_moveit/launch/ros_controllers.launch

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

mycobot_pro/mycobot_600_gripper_moveit/launch/stomp_planning_pipeline.launch.xml

@@ -6,8 +6,7 @@
   <arg name="jiggle_fraction" value="0.05" />
   <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
   <arg name="planning_adapters"
-       default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
-                default_planner_request_adapters/AddTimeParameterization
+       default="default_planner_request_adapters/AddTimeParameterization
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
                 default_planner_request_adapters/FixStartStateCollision
@@ -19,5 +18,8 @@
   <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_600_gripper_moveit)/config/stomp_planning.yaml"/>
 </launch>

mycobot_pro/mycobot_600_gripper_moveit/package.xml

@@ -5,21 +5,21 @@
   <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="aa@123.com">aa</author>
-  <maintainer email="aa@123.com">aa</maintainer>
+  <author email="jz@elephantrobot.com">jz</author>
+  <maintainer email="jz@elephantrobot.com">jz</maintainer>
 
   <license>BSD</license>
 
   <url type="website">http://moveit.ros.org/</url>
-  <url type="bugtracker">https://github.com/moveit/moveit/issues</url>
-  <url type="repository">https://github.com/moveit/moveit</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</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>

mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan.py

@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+from socket import *
+import math
+import sys
+import time
+from multiprocessing import Lock
+import numpy as np
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.elephantrobot import ElephantRobot
+
+global mc
+gripper_value = []
+
+
+
+def linear_mapping(value, input_start, input_end, output_start, output_end):
+    """
+    Maps a value from one range to another using a linear transformation.
+
+    Args:
+        value (float): The input value to be mapped.
+        input_start (float): The start of the input range.
+        input_end (float): The end of the input range.
+        output_start (float): The start of the output range.
+        output_end (float): The end of the output range.
+
+    Returns:
+        float: The mapped value in the output range.
+    """
+    # Calculate the slope of the linear function
+    slope = (output_end - output_start) / (input_end - input_start)
+    # Calculate the mapped value
+    mapped_value = output_start + slope * (value - input_start)
+    return mapped_value
+
+
+def callback(data):
+    """callback function,回调函数"""
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+
+    data_list = []
+    for index, value in enumerate(data.position):
+        radians_to_angles = round(math.degrees(value), 2)
+        data_list.append(radians_to_angles)
+
+    rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
+    # mc.write_angles(data_list, 800)
+    
+    list_i = []
+    for i in data_list[:6]:
+        list_i.append(i)
+    mc.write_angles(list_i,800)
+    
+    list_j = []
+    for j in data_list[6:]:
+        list_j.append(j)
+    # list_j = [int(a) for a in list_j]
+    
+    mc.set_gripper_mode(0)
+    # Define the input and output ranges
+    input_start = 17
+    input_end = -40
+    output_start = 100
+    output_end = 0
+    num = [linear_mapping(value, input_start, input_end, output_start, output_end) for value in list_j]
+    num2 = [int(i) for i in num]
+    num2 = num2[1]
+    mc.set_gripper_value(num2,100)
+    rospy.loginfo(num2)
+    
+
+
+
+def listener():
+    global mc
+    global gripper_value
+    rospy.init_node("control_slider", anonymous=True)
+
+    ip = rospy.get_param("~ip", "192.168.1.161")
+    port = rospy.get_param("~port", 5001)
+    print (ip, port)
+    mc = ElephantRobot(ip, int(port))
+    # START CLIENT,启动客户端
+    res = mc.start_client()
+    if res != "":
+        sys.exit(1)
+
+    mc.set_speed(90)
+
+    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
+    print ("sping ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()

mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan_320.py

@@ -0,0 +1,88 @@
+#!/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.
+"""
+from socket import *
+import math
+import sys
+import time
+from multiprocessing import Lock
+
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.elephantrobot import ElephantRobot
+import rospy
+import time
+from sensor_msgs.msg import JointState
+
+from pymycobot.mycobot import MyCobot
+
+
+mc = None
+gripper_value = []
+
+def callback(data):
+    global mc
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+    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])
+    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_mode(0)
+    # time.sleep(1)
+    mc.set_gripper_value(gripper_value, 100)
+    
+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
+    # print("spin ...")
+    # rospy.spin()
+    
+    
+    global mc
+    global gripper_value
+    rospy.init_node("control_slider", anonymous=True)
+
+    ip = rospy.get_param("~ip", "192.168.1.161")
+    port = rospy.get_param("~port", 5001)
+    print (ip, port)
+    mc = ElephantRobot(ip, int(port))
+    # START CLIENT,启动客户端
+    res = mc.start_client()
+    if res != "":
+        sys.exit(1)
+
+    mc.set_speed(90)
+
+    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
+    print ("sping ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()

mycobot_pro/mycobot_600_gripper_moveit/scripts/test.py

@@ -0,0 +1,37 @@
+from pymycobot import ElephantRobot
+import time
+
+global mc
+
+mc = ElephantRobot("192.168.1.6",5001)
+
+
+
+
+
+# 启动机器人必要指令
+mc.start_client()
+time.sleep(1)
+# mc.set_gripper_calibrate()
+# time.sleep(1)
+# mc.set_gripper_mode(0)
+# time.sleep(1)
+
+
+
+# mc.power_off()#夹爪透传换IO模式时需要先关闭机器再重启机器人一次，仅使用夹爪透传模式不必关闭机器人
+mc.state_off()
+time.sleep(3)
+mc.power_on()
+time.sleep(3)
+mc.state_on()
+time.sleep(3)
+mc.set_gripper_mode(0)
+
+#透传模式
+
+for i in range(3):
+    mc.set_gripper_value(10, 20)
+    time.sleep(1)
+    mc.set_gripper_value(96, 20)
+    time.sleep(1)

mycobot_pro/mycobot_630/launch/mycobot_630_follow_display.launch

@@ -0,0 +1,11 @@
+<launch>
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_630)/config/mycobot_630.rviz" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
+		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
+	</node>
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>

mycobot_pro/mycobot_630/scripts/mycobot_630_follow_display.py

@@ -0,0 +1,105 @@
+#!/usr/bin/env python2
+# -*- coding:utf-8 -*-
+from cgi import print_environ
+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 = [
+        "joint1_to_base",
+        "joint2_to_joint1",
+        "joint3_to_joint2",
+        "joint4_to_joint3",
+        "joint5_to_joint4",
+        "joint6_to_joint5",
+    ]
+    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()
+        data_list = []
+        for index, value in enumerate(angles):
+            data_list.append(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
+        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

mycobot_pro/mycobot_630_gripper_moveit/config/fake_controllers.yaml

@@ -1,6 +1,6 @@
 controller_list:
   - name: fake_arm_controller
-    type: $(arg fake_execution_type)
+    # type: $(arg fake_execution_type)
     joints:
       - joint1_to_base
       - joint2_to_joint1
@@ -10,7 +10,7 @@ controller_list:
       - joint6_to_joint5
       - joint6output_to_tool1
   - name: fake_gripper_controller
-    type: $(arg fake_execution_type)
+    # type: $(arg fake_execution_type)
     joints:
       - gripper_controller
 initial:  # Define initial robot poses per group

mycobot_pro/mycobot_630_gripper_moveit/config/firefighter.srdf

@@ -9,7 +9,7 @@
     <!--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 name="arm">
         <joint name="joint1_to_base"/>
         <joint name="joint2_to_joint1"/>
         <joint name="joint3_to_joint2"/>
@@ -27,9 +27,32 @@
         <joint name="gripper_right3_to_gripper_right1"/>
         <joint name="gripper_controller"/>
         <joint name="gripper_left3_to_gripper_left1"/>
+    </group> -->
+    <group name="arm_group">
+        <chain base_link="base" tip_link="joint6"/>
     </group>
+    <group name="gripper_group">
+        <chain base_link="gripper_base" tip_link="gripper_left3"/>
+    </group>
+    <group_state name="init_pose" group="arm_group">
+        <joint name="joint1_to_base" value="0"/>
+        <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_end" parent_link="tool2" group="gripper"/>
+    <end_effector name="gripper" parent_link="joint6" group="gripper_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="base"/>
+
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <!-- <end_effector name="gripper_end" parent_link="tool2" group="gripper"/> -->
+
     <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
     <passive_joint name="gripper_base_to_gripper_left2"/>
     <passive_joint name="gripper_base_to_gripper_right2"/>

mycobot_pro/mycobot_630_gripper_moveit/config/kinematics.yaml

@@ -2,6 +2,7 @@ arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
+  # kinematics_solver_attempts: 3
   goal_joint_tolerance: 0.0001
   goal_position_tolerance: 0.0001
   goal_orientation_tolerance: 0.001

mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml

@@ -43,6 +43,7 @@ planner_configs:
     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
+    planning_attempts: 3
   TRRT:
     type: geometric::TRRT
     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()

mycobot_pro/mycobot_630_gripper_moveit/launch/moveit.rviz

@@ -7,7 +7,7 @@ Panels:
         - /MotionPlanning1
         - /MotionPlanning1/Planning Request1
       Splitter Ratio: 0.5
-    Tree Height: 388
+    Tree Height: 200
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -40,18 +40,18 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Acceleration_Scaling_Factor: 0.1
+    - Acceleration_Scaling_Factor: 1
       Class: moveit_rviz_plugin/MotionPlanning
       Enabled: true
       JointsTab_Use_Radians: true
       Move Group Namespace: ""
-      MoveIt_Allow_Approximate_IK: false
+      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: true
+      MoveIt_Use_Cartesian_Path: false
       MoveIt_Use_Constraint_Aware_IK: true
       MoveIt_Workspace:
         Center:
@@ -177,10 +177,10 @@ Visualization Manager:
         Joint Violation Color: 255; 0; 255
         Planning Group: arm
         Query Goal State: true
-        Query Start State: false
+        Query Start State: true
         Show Workspace: false
         Start State Alpha: 1
-        Start State Color: 0; 255; 0
+        Start State Color: 115; 210; 22
       Planning Scene Topic: move_group/monitored_planning_scene
       Robot Description: robot_description
       Scene Geometry:
@@ -280,9 +280,9 @@ Visualization Manager:
             Value: true
         Robot Alpha: 0.5
         Show Robot Collision: false
-        Show Robot Visual: true
+        Show Robot Visual: false
       Value: true
-      Velocity_Scaling_Factor: 0.1
+      Velocity_Scaling_Factor: 1
     - Alpha: 1
       Class: rviz/RobotModel
       Collision Enabled: false
@@ -411,14 +411,14 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5400000810623169
+      Pitch: 0.4850001335144043
       Target Frame: base
-      Yaw: 4.9563188552856445
+      Yaw: 6.006320953369141
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1016
+  Height: 820
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -427,9 +427,9 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f30000039efc0200000007fb000000100044006900730070006c006100790073010000003d000001c1000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000204000001d70000017d00ffffff0000053f0000039e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002dafc0200000007fb000000100044006900730070006c006100790073010000003d00000105000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000148000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000018f000001880000017d00ffffff00000539000002da00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1848
+  Width: 1842
   X: 72
   Y: 27

mycobot_pro/mycobot_630_gripper_moveit/launch/ompl_planning_pipeline.launch.xml

@@ -20,5 +20,7 @@
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
   <rosparam command="load" file="$(find mycobot_630_gripper_moveit)/config/ompl_planning.yaml"/>
+  <!-- <rosparam command="load" file="$(find mycobot_630_moveit)/config/ompl_planning.yaml"/> -->
+
 
 </launch>

mycobot_pro/mycobot_630_gripper_moveit/launch/run_benchmark_ompl.launch

@@ -16,6 +16,8 @@
   <!-- 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="$(find mycobot_630_gripper_moveit)/config/ompl_planning.yaml"/>
+    <!-- <rosparam command="load" file="$(find mycobot_630_moveit)/config/ompl_planning.yaml"/> -->
+    <rosparam command="load" file="$(find mycobot_630_gripper_moveit)/config/kinematics.yaml"/>
   </node>
 
 </launch>

mycobot_pro/mycobot_630_gripper_moveit/scripts/sync_plan.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+from socket import *
+import math
+import sys
+import time
+from multiprocessing import Lock
+
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.elephantrobot import ElephantRobot
+
+global mc
+
+
+def callback(data):
+    """callback function,回调函数"""
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+
+    data_list = []
+    for index, value in enumerate(data.position):
+        radians_to_angles = round(math.degrees(value), 2)
+        data_list.append(radians_to_angles)
+        
+    rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
+    # mc.write_angles(data_list, 800)
+    
+    for joint,angle in enumerate(data_list[:6]):
+        mc.write_angle(joint,angle,800)
+        
+    for gripper_angle in data_list[6:]:
+        mc.set_cag_gripper_value(gripper_angle,800)
+    
+
+    
+    # excepted_joint_count = 13
+    # if len(data_list) == excepted_joint_count:
+    #     mc.write_angles(data_list, 800)
+    # else:
+    #     rospy.logwarn("关节数量不匹配，期望数量是%d,实际数量是%d",excepted_joint_count,len(data_list))
+
+
+def listener():
+    global mc
+    rospy.init_node("control_slider", anonymous=True)
+
+    ip = rospy.get_param("~ip", "192.168.1.161")
+    port = rospy.get_param("~port", 5001)
+    print (ip, port)
+    mc = ElephantRobot(ip, int(port))
+    # START CLIENT,启动客户端
+    res = mc.start_client()
+    if res != "":
+        sys.exit(1)
+
+    mc.set_speed(90)
+
+    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
+    print ("sping ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()

mycobot_pro/mycobot_630_moveit/launch/fake_moveit_controller_manager.launch.xml

@@ -1,9 +1,12 @@
 <launch>
+  <!-- <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 file="$(find mycobot_630_moveit)/config/fake_controllers.yaml"/>
+  <!-- <rosparam subst_value="true" file="$(find mycobot_630_gripper_moveit)/config/fake_controllers.yaml"/> -->
+
 
 </launch>

mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_controller_manager.launch.xml

@@ -7,4 +7,5 @@
 
   <!-- loads ros_controllers to the param server -->
   <rosparam file="$(find mycobot_630_moveit)/config/ros_controllers.yaml"/>
+
 </launch>

mycobot_pro/mycobot_630_moveit/launch/moveit.rviz

@@ -5,14 +5,13 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /MotionPlanning1
-        - /MotionPlanning1/Status1
         - /MotionPlanning1/Scene Geometry1
         - /MotionPlanning1/Scene Robot1
         - /MotionPlanning1/Planning Request1
         - /MotionPlanning1/Planned Path1
         - /RobotModel1
       Splitter Ratio: 0.4869215190410614
-    Tree Height: 274
+    Tree Height: 396
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -82,6 +81,41 @@ Visualization Manager:
             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
@@ -112,6 +146,16 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
         Loop Animation: false
         Robot Alpha: 0.5
         Robot Color: 150; 50; 150
@@ -133,9 +177,9 @@ Visualization Manager:
         Colliding Link Color: 255; 0; 0
         Goal State Alpha: 1
         Goal State Color: 250; 128; 0
-        Interactive Marker Size: 0.10000000149011612
+        Interactive Marker Size: 0.20000000298023224
         Joint Violation Color: 255; 0; 255
-        Planning Group: arm_group
+        Planning Group: arm
         Query Goal State: true
         Query Start State: true
         Show Workspace: false
@@ -163,6 +207,41 @@ Visualization Manager:
             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
@@ -193,6 +272,16 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
         Robot Alpha: 0.5
         Show Robot Collision: false
         Show Robot Visual: false
@@ -224,6 +313,41 @@ Visualization Manager:
             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
@@ -254,6 +378,16 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
         Robot Alpha: 1
         Show Robot Collision: false
         Show Robot Visual: true
@@ -273,6 +407,41 @@ Visualization Manager:
           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
@@ -303,6 +472,16 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        tool1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tool2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -333,17 +512,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.06067162752151489
-        Y: 0.045795738697052
+        X: 0.041976600885391235
+        Y: -0.019326984882354736
         Z: 1.490174383889098e-08
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.25979647040367126
+      Pitch: 0.5597964525222778
       Target Frame: base
-      Yaw: 3.2899534702301025
+      Yaw: 6.1299567222595215
     Saved: ~
 Window Geometry:
   Displays:
@@ -357,7 +536,7 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f30000039efc0200000007fb000000100044006900730070006c006100790073010000003d0000014f000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000192000000530000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001eb000001f00000018800ffffff0000053f0000039e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f30000039efc0200000007fb000000100044006900730070006c006100790073010000003d000001c9000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072010000020c000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000253000001880000018800ffffff0000053f0000039e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
   Width: 1848

mycobot_pro/mycobot_630_moveit/launch/planning_context.launch

@@ -6,24 +6,28 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630.urdf"/> -->
   <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_630.urdf"/>
+  <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_630_gripper.urdf"/> -->
 
 
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_630_moveit)/config/firefighter.srdf" />
-  <!-- <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_280_moveit)/config/firefighter.srdf" /> -->
+  <!-- <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_630_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_630_moveit)/config/joint_limits.yaml"/>
+    <!-- <rosparam command="load" file="$(find mycobot_630_gripper_moveit)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find mycobot_630_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_630_moveit)/config/kinematics.yaml"/>
+    <!-- <rosparam command="load" file="$(find mycobot_630_gripper_moveit)/config/kinematics.yaml"/> -->
+
   </group>
 
 </launch>

mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py

@@ -31,7 +31,7 @@ def listener():
     global mc
     rospy.init_node("control_slider", anonymous=True)
 
-    ip = rospy.get_param("~ip", "192.168.1.159")
+    ip = rospy.get_param("~ip", "192.168.1.161")
     port = rospy.get_param("~port", 5001)
     print (ip, port)
     mc = ElephantRobot(ip, int(port))

mycobot_pro/new_mycobot_630_gripper_moveit/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(new_mycobot_630_gripper_moveit)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

mycobot_pro/new_mycobot_630_gripper_moveit/config/cartesian_limits.yaml

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

mycobot_pro/new_mycobot_630_gripper_moveit/config/chomp_planning.yaml

@@ -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

mycobot_pro/new_mycobot_630_gripper_moveit/config/fake_controllers.yaml

@@ -0,0 +1,26 @@
+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
+      - joint1_to_base
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
+      - joint6output_to_tool1
+  - name: fake_gripper_group_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - gripper_controller
+# initial:  # Define initial robot poses per group
+#   - group: arm_group
+#     pose: init_pose
+#   - group: gripper_group
+#     pose: init_gripper

mycobot_pro/new_mycobot_630_gripper_moveit/config/firefighter.srdf

@@ -0,0 +1,225 @@
+<?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">
+        <joint name="joint1_to_base"/>
+        <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_tool1"/>
+        <joint name="tool1_to_tool2"/>
+    </group>
+    <group name="gripper">
+        <joint name="tool2_to_gripper_base"/>
+        <joint name="gripper_base_to_gripper_left2"/>
+        <joint name="gripper_base_to_gripper_right2"/>
+        <joint name="gripper_base_to_gripper_right3"/>
+        <joint name="gripper_right3_to_gripper_right1"/>
+        <joint name="gripper_controller"/>
+        <joint name="gripper_left3_to_gripper_left1"/>
+    </group> -->
+    <group name="arm_group">
+        <chain base_link="base" tip_link="joint6"/>
+    </group>
+    <group name="gripper_group">
+        <chain base_link="gripper_base" tip_link="gripper_left3"/>
+    </group>
+    <group_state name="init_pose" group="arm_group">
+        <joint name="joint1_to_base" value="0"/>
+        <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="joint6" group="gripper_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="base"/>
+
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <!-- <end_effector name="gripper_end" parent_link="tool2" group="gripper"/> -->
+
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="gripper_base_to_gripper_left2"/>
+    <passive_joint name="gripper_base_to_gripper_right2"/>
+    <passive_joint name="gripper_base_to_gripper_right3"/>
+    <passive_joint name="gripper_right3_to_gripper_right1"/>
+    <passive_joint name="gripper_left3_to_gripper_left1"/>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    
+    <!-- <disable_collisions link1="base" link2="gripper_base" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_left1" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_left2" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_left3" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="base" link2="joint1" reason="Adjacent"/>
+    <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="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_base" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="tool2" reason="Adjacent"/>
+    <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="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right3" 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="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Default"/>
+    <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="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="tool2" 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="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="tool2" 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="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="joint5" reason="Default"/>
+    <disable_collisions link1="gripper_right3" link2="joint6" reason="Default"/>
+    <disable_collisions link1="gripper_right3" link2="tool1" reason="Default"/>
+    <disable_collisions link1="gripper_right3" link2="tool2" reason="Default"/>
+    <disable_collisions link1="joint1" link2="joint2" reason="Adjacent"/>
+    <disable_collisions link1="joint1" link2="joint4" reason="Never"/>
+    <disable_collisions link1="joint2" link2="joint3" reason="Adjacent"/>
+    <disable_collisions link1="joint3" link2="joint4" reason="Adjacent"/>
+    <disable_collisions link1="joint3" link2="joint5" reason="Never"/>
+    <disable_collisions link1="joint3" link2="joint6" reason="Never"/>
+    <disable_collisions link1="joint4" link2="joint5" reason="Adjacent"/>
+    <disable_collisions link1="joint4" link2="joint6" reason="Never"/>
+    <disable_collisions link1="joint4" link2="tool1" reason="Never"/>
+    <disable_collisions link1="joint4" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint5" link2="joint6" reason="Adjacent"/>
+    <disable_collisions link1="joint5" link2="tool1" reason="Never"/>
+    <disable_collisions link1="joint5" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint6" link2="tool1" reason="Adjacent"/>
+    <disable_collisions link1="joint6" link2="tool2" reason="Never"/>
+    <disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/> -->
+
+    <disable_collisions link1="base" link2="joint1" reason="Adjacent"/>
+    <disable_collisions link1="base" link2="joint2" 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="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="tool2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Default"/>
+    <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="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right3" 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="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right3" 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="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_right1" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Default"/>
+    <disable_collisions link1="gripper_right2" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="tool2" 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="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint1" link2="joint2" reason="Adjacent"/>
+    <disable_collisions link1="joint1" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint2" link2="joint3" reason="Adjacent"/>
+    <disable_collisions link1="joint2" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint3" link2="joint4" reason="Adjacent"/>
+    <disable_collisions link1="joint3" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint4" link2="joint5" reason="Adjacent"/>
+    <disable_collisions link1="joint4" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint5" link2="joint6" reason="Adjacent"/>
+    <disable_collisions link1="joint5" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint6" link2="tool1" reason="Adjacent"/>
+    <disable_collisions link1="joint6" link2="tool2" reason="Never"/>
+    <disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/>
+</robot>

mycobot_pro/new_mycobot_630_gripper_moveit/config/gazebo_controllers.yaml

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

mycobot_pro/new_mycobot_630_gripper_moveit/config/joint_limits.yaml

@@ -0,0 +1,45 @@
+# 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

mycobot_pro/new_mycobot_630_gripper_moveit/config/kinematics.yaml

@@ -0,0 +1,10 @@
+arm_group:
+# arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+gripper_group:
+# gripper:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005

mycobot_pro/new_mycobot_630_gripper_moveit/config/ompl_planning.yaml

@@ -0,0 +1,187 @@
+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:
+# arm:
+  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
+  projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
+  longest_valid_segment_fraction: 0.005
+gripper_group:
+# 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

mycobot_pro/new_mycobot_630_gripper_moveit/config/ros_controllers.yaml

@@ -0,0 +1,52 @@
+arm_group_controller:
+# arm_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_group_controller:
+# gripper_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - gripper_controller
+  gains:
+    gripper_controller:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1

mycobot_pro/new_mycobot_630_gripper_moveit/config/sensors_3d.yaml

@@ -0,0 +1,2 @@
+sensors:
+  []

mycobot_pro/new_mycobot_630_gripper_moveit/config/simple_moveit_controllers.yaml

@@ -0,0 +1,20 @@
+controller_list:
+  - name: arm_group_controller
+  # - name: arm_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_group_controller
+  # - name: gripper_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - gripper_controller

mycobot_pro/new_mycobot_630_gripper_moveit/config/stomp_planning.yaml

@@ -0,0 +1,78 @@
+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:
+  group_name: gripper_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]
+    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

mycobot_pro/new_mycobot_630_gripper_moveit/launch/chomp_planning_pipeline.launch.xml

@@ -0,0 +1,23 @@
+<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 new_mycobot_630_gripper_moveit)/config/chomp_planning.yaml" />
+</launch>

mycobot_pro/new_mycobot_630_gripper_moveit/launch/default_warehouse_db.launch

@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find new_mycobot_630_gripper_moveit)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(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>

mycobot_pro/new_mycobot_630_gripper_moveit/launch/demo.launch

@@ -0,0 +1,69 @@
+<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="$(find new_mycobot_630_gripper_moveit)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
+
+
+
+  <group if="$(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>

mycobot_pro/new_mycobot_630_gripper_moveit/launch/demo_gazebo.launch

@@ -0,0 +1,21 @@
+<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>

mycobot_pro/new_mycobot_630_gripper_moveit/launch/fake_moveit_controller_manager.launch.xml

@@ -0,0 +1,12 @@
+<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 new_mycobot_630_gripper_moveit)/config/fake_controllers.yaml"/>
+
+</launch>

mycobot_pro/new_mycobot_630_gripper_moveit/launch/firefighter_moveit_sensor_manager.launch.xml

@@ -0,0 +1,3 @@
+<launch>
+
+</launch>

mycobot_pro/new_mycobot_630_gripper_moveit/launch/gazebo.launch

@@ -0,0 +1,32 @@
+<?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 gripper_controller 0 -J joint2_to_joint1 0 -J joint3_to_joint2 0 -J joint4_to_joint3 0 -J joint5_to_joint4 0 -J joint6_to_joint5 0 -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="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf" />
+
+  <!-- unpause only after loading robot model -->
+  <arg name="unpause" value="$(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 new_mycobot_630_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>

mycobot_pro/new_mycobot_630_gripper_moveit/launch/joystick_control.launch

@@ -0,0 +1,17 @@
+<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>

mycobot_pro/new_mycobot_630_gripper_moveit/launch/move_group.launch

@@ -0,0 +1,101 @@
+<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>

mycobot_pro/new_mycobot_630_gripper_moveit/launch/moveit.rviz

@@ -0,0 +1,387 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+        - /MotionPlanning1/Scene Robot1
+        - /MotionPlanning1/Planning Request1
+        - /MotionPlanning1/Planned Path1
+      Splitter Ratio: 0.5
+    Tree Height: 200
+  - 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
+      JointsTab_Use_Radians: 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: true
+      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
+          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
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            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: 0.20000000298023224
+        Joint Violation Color: 255; 0; 255
+        Planning Group: arm_group
+        Query Goal State: true
+        Query Start State: true
+        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
+          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
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            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
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: visualization_marker
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Update Topic: ""
+      Value: true
+    - Class: rviz/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Update Topic: ""
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: 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: 1.4812843799591064
+      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: 0.25592494010925293
+        Y: 0.2098711133003235
+        Z: 0.08102890849113464
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5900000929832458
+      Target Frame: base
+      Yaw: 6.124949932098389
+    Saved:
+      - 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: Orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.3399999737739563
+        Target Frame: base
+        Yaw: 2.9449498653411865
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 820
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002dafc0200000007fb000000100044006900730070006c006100790073010000003d00000105000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000148000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000018f000001880000018800ffffff00000539000002da00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1842
+  X: 72
+  Y: 27

mycobot_pro/new_mycobot_630_gripper_moveit/launch/moveit_rviz.launch

@@ -0,0 +1,15 @@
+<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>