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Merge pull request #136 from elephantrobotics/280JN_gripper

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280 jn gripper
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wangWking 2024-09-12 18:19:06 +08:00 • committed by GitHub
commit 5157ee03e1
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126 changed files with 13620 additions and 872 deletions
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4
mycobot_280/mycobot_280jn/CMakeLists.txt
View file

@ -26,9 +26,7 @@ catkin_install_python(PROGRAMS
scripts/teleop_keyboard.py
scripts/listen_real.py
scripts/listen_real_of_topic.py
scripts/detect_marker.py
scripts/following_marker.py
scripts/follow_and_pump.py
scripts/slider_control_gripper.py
scripts/simple_gui.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

81
mycobot_280/mycobot_280jn/config/mycobot_jn.rviz
View file

@ -9,7 +9,7 @@ Panels:
- /RobotModel1
- /TF1
Splitter Ratio: 0.5
Tree Height: 579
Tree Height: 609
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@ -63,6 +63,46 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
g_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint1:
Alpha: 1
Show Axes: false
@ -106,9 +146,27 @@ Visualization Manager:
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
g_base:
Value: true
gripper_base:
Value: true
gripper_left1:
Value: true
gripper_left2:
Value: true
gripper_left3:
Value: true
gripper_right1:
Value: true
gripper_right2:
Value: true
gripper_right3:
Value: true
joint1:
Value: true
joint2:
@ -124,12 +182,13 @@ Visualization Manager:
joint6_flange:
Value: true
Marker Alpha: 1
Marker Scale: 0.30000001192092896
Marker Scale: 0.10000000149011612
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
g_base:
joint1:
joint2:
joint3:
@ -137,6 +196,16 @@ Visualization Manager:
joint5:
joint6:
joint6_flange:
gripper_base:
gripper_left2:
{}
gripper_left3:
gripper_left1:
{}
gripper_right2:
{}
gripper_right3:
gripper_right1:
{}
Update Interval: 0
Value: true
@ -184,17 +253,17 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.44039833545684814
Pitch: 0.7653981447219849
Target Frame: <Fixed Frame>
Yaw: 0.43038973212242126
Yaw: 3.990389108657837
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 876
Height: 906
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002cefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ce000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f000002cefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ce000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000393000002ce00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000393000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:

18
mycobot_280/mycobot_280jn/launch/detect_marker.launch
View file

@ -1,18 +0,0 @@
<launch>
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
<arg name="gui" default="true" />
<arg name="num" default="0" />
<!-- Add model control,添加模型控制 -->
<include file="$(find mycobot_280jn)/launch/slider_control.launch">
<arg name="model" value="$(arg model)" />
<arg name="rvizconfig" value="$(arg rvizconfig)" />
<arg name="gui" value="$(arg gui)" />
</include>
<!-- vision node -->
<node name="opencv_camera" pkg="mycobot_280jn" type="opencv_camera" args="$(arg num)"/>
<node name="detect_marker" pkg="mycobot_280jn" type="detect_marker.py" />
<node name="following_marker" pkg="mycobot_280jn" type="following_marker.py" />
</launch>

16
mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch → mycobot_280/mycobot_280jn/launch/simple_gui_gripper.launch
View file

@ -3,12 +3,10 @@
<arg name="port" default="/dev/ttyTHS1" />
<arg name="baud" default="1000000" />
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
<arg name="gui" default="false" />
<arg name="num" default="0" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到TF-->
@ -16,15 +14,11 @@
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<!-- mycobot-topics， mycobot-话题-->
<include file="$(find mycobot_communication)/launch/communication_topic.launch">
<include file="$(find mycobot_communication)/launch/communication_jsnn.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<!-- listen and pub the real angles ，监听并发布真实的角度-->
<node name="real_listener" pkg="mycobot_280jn" type="listen_real_of_topic.py" />
<!-- vision node -->
<node name="opencv_camera" pkg="mycobot_280jn" type="opencv_camera" args="$(arg num)"/>
<node name="detect_marker" pkg="mycobot_280jn" type="detect_marker.py" />
<node name="following_marker" pkg="mycobot_280jn" type="following_marker.py" />
<node name="real_listener" pkg="mycobot_280jn" type="listen_real.py" />
<node name="simple_gui" pkg="mycobot_280jn" type="simple_gui.py" />
</launch>

20
mycobot_280/mycobot_280jn/launch/slider_control_gripper.launch Executable file
View file

@ -0,0 +1,20 @@
<launch>
<!-- <arg name="port" default="/dev/ttyTHS1" />
<arg name="baud" default="1000000" /> -->
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF. 将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<!-- <param name="use_gui" value="$(arg gui)" /> -->
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Show in Rviz .显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

23
mycobot_280/mycobot_280jn/launch/teleop_keyboard_gripper.launch Executable file
View file

@ -0,0 +1,23 @@
<launch>
<!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyTHS1" />
<arg name="baud" default="1000000" />
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ，将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
<include file="$(find mycobot_communication)/launch/communication_jsnn.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />
</include>
<!-- listen and pub the real angles ，监听并发布真实的角度-->
<node name="real_listener" pkg="mycobot_280jn" type="listen_real.py" />
</launch>

18
mycobot_280/mycobot_280jn/launch/test_adaptive_gripper.launch Executable file
View file

@ -0,0 +1,18 @@
<launch>
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_vertical.urdf"/> -->
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ,将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<param name="use_gui" value="$(arg gui)" />
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

17
mycobot_280/mycobot_280jn/launch/test_camera_flange.launch Executable file
View file

@ -0,0 +1,17 @@
<launch>
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_camera_flange.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF ,将值合并到TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<param name="use_gui" value="$(arg gui)" />
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

123
mycobot_280/mycobot_280jn/scripts/detect_marker.py
View file

@ -1,123 +0,0 @@
#!/usr/bin/env python
import rospy
import cv2 as cv
import numpy as np
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image
import tf
from tf.broadcaster import TransformBroadcaster
import tf_conversions
from mycobot_communication.srv import (
GetCoords,
SetCoords,
GetAngles,
SetAngles,
GripperStatus,
)
class ImageConverter:
def __init__(self):
self.br = TransformBroadcaster()
self.bridge = CvBridge()
self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250)
self.aruo_params = cv.aruco.DetectorParameters_create()
calibrationParams = cv.FileStorage(
"calibrationFileName.xml", cv.FILE_STORAGE_READ
)
self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat()
self.camera_matrix = None
# subscriber, listen wether has img come in. 订阅者，监听是否有img
self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback)
def callback(self, data):
"""Callback function.
Process image with OpenCV, detect Mark to get the pose. Then acccording the
pose to transforming.
"""
try:
# trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
size = cv_image.shape
focal_length = size[1]
center = [size[1] / 2, size[0] / 2]
if self.camera_matrix is None:
# calc the camera matrix, if don't have.如果没有，则计算相机矩阵
self.camera_matrix = np.array(
[
[focal_length, 0, center[0]],
[0, focal_length, center[1]],
[0, 0, 1],
],
dtype=np.float32,
)
gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY)
# detect aruco marker.检测 aruco 标记
ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params)
corners, ids = ret[0], ret[1]
# process marker data.处理标记数据
if len(corners) > 0:
if ids is not None:
# print('corners:', corners, 'ids:', ids)
# detect marker pose. 检测marker位姿。
# argument:
# marker corners,标记角
# marker size (meter),标记尺寸（米）
ret = cv.aruco.estimatePoseSingleMarkers(
corners, 0.05, self.camera_matrix, self.dist_coeffs
)
(rvec, tvec) = (ret[0], ret[1])
(rvec - tvec).any()
print("rvec:", rvec, "tvec:", tvec)
# just select first one detected marker.只需选择第一个检测到的标记。
for i in range(rvec.shape[0]):
cv.aruco.drawDetectedMarkers(cv_image, corners)
cv.aruco.drawAxis(
cv_image,
self.camera_matrix,
self.dist_coeffs,
rvec[i, :, :],
tvec[i, :, :],
0.03,
)
xyz = tvec[0, 0, :]
xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03]
# get quaternion for ros. 为ros获取四元数
euler = rvec[0, 0, :]
tf_change = tf.transformations.quaternion_from_euler(
euler[0], euler[1], euler[2]
)
print("tf_change:", tf_change)
# trans pose according [joint1]，根据 [joint1] 变换姿势
self.br.sendTransform(
xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange"
)
# [x, y, z, -172, 3, -46.8]
cv.imshow("Image", cv_image)
cv.waitKey(3)
try:
pass
except CvBridgeError as e:
print(e)
if __name__ == "__main__":
try:
rospy.init_node("detect_marker")
rospy.loginfo("Starting cv_bridge_test node")
ImageConverter()
rospy.spin()
except KeyboardInterrupt:
print("Shutting down cv_bridge_test node.")
cv.destroyAllWindows()

194
mycobot_280/mycobot_280jn/scripts/follow_and_pump.py
View file

@ -1,194 +0,0 @@
#!/usr/bin/env python2
# coding:utf-8
import rospy
from visualization_msgs.msg import Marker
import time
import os
# Type of message communicated with mycobot，与 mycobot 通信的消息类型
from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
rospy.init_node("gipper_subscriber", anonymous=True)
# Control the topic of mycobot, followed by angle, coordinates, gripper
# 控制 mycobot 的 topic，依次是角度、坐标、夹爪
angle_pub = rospy.Publisher("mycobot/angles_goal",
MycobotSetAngles, queue_size=5)
coord_pub = rospy.Publisher("mycobot/coords_goal",
MycobotSetCoords, queue_size=5)
# 判断设备：ttyUSB*为M5；ttyACM*为wio，Judging equipment: ttyUSB* is M5；ttyACM* is wio
robot = os.popen("ls /dev/ttyUSB*").readline()
if "dev" in robot:
Pin = [2, 5]
else:
Pin = [20, 21]
pump_pub = rospy.Publisher("mycobot/pump_status",
MycobotPumpStatus, queue_size=5)
# instantiate the message object，实例化消息对象
angles = MycobotSetAngles()
coords = MycobotSetCoords()
pump = MycobotPumpStatus()
# Deviation value from mycobot's real position,与 mycobot 真实位置的偏差值
x_offset = -20
y_offset = 20
z_offset = 110
# With this variable limit, the fetching behavior is only done once
# 通过该变量限制，抓取行为只做一次
flag = False
# In order to compare whether the QR code moves later,为了后面比较二维码是否移动
temp_x = temp_y = temp_z = 0.0
temp_time = time.time()
def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2):
"""Post coordinates,发布坐标"""
coords.x = x
coords.y = y
coords.z = z
coords.rx = rx
coords.ry = ry
coords.rz = rz
coords.speed = 70
coords.model = m
# print(coords)
coord_pub.publish(coords)
def pub_angles(a, b, c, d, e, f, sp):
"""Publishing angle,发布角度"""
angles.joint_1 = float(a)
angles.joint_2 = float(b)
angles.joint_3 = float(c)
angles.joint_4 = float(d)
angles.joint_5 = float(e)
angles.joint_6 = float(f)
angles.speed = sp
angle_pub.publish(angles)
def pub_pump(flag, Pin):
"""Publish gripper status,发布夹爪状态"""
pump.Status = flag
pump.Pin1 = Pin[0]
pump.Pin2 = Pin[1]
pump_pub.publish(pump)
def target_is_moving(x, y, z):
"""Determine whether the target moves"""
"""判断目标是否移动"""
count = 0
for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)):
print(o, n)
if abs(o - n) < 2:
count += 1
print(count)
if count == 3:
return False
return True
def grippercallback(data):
"""callback function,回调函数"""
global flag, temp_x, temp_y, temp_z
# rospy.loginfo('gripper_subscriber get date :%s', data)
if flag:
return
# Parse out the coordinate value,解析出坐标值
# pump length: 88mm
x = float(format(data.pose.position.x * 1000, ".2f"))
y = float(format(data.pose.position.y * 1000, ".2f"))
z = float(format(data.pose.position.z * 1000, ".2f"))
# When the running time is less than 30s, or the target position is still changing, perform tracking behavior
# 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为
if (
time.time() - temp_time < 30
or (temp_x == temp_y == temp_z == 0.0)
or target_is_moving(x - x_offset, y - y_offset, z)
):
x -= x_offset
y -= y_offset
pub_coords(x - 20, y, 280)
time.sleep(0.1)
temp_x, temp_y, temp_z = x, y, z
return
else: #Indicates that the target is stationary and can try to grab, 表示目标处于静止状态，可以尝试抓取
print(x, y, z)
# detect heigth + pump height + limit height + offset
x += x_offset
y += y_offset
z = z + 88 + z_offset
pub_coords(x, y, z)
time.sleep(2.5)
# down
for i in range(1, 17):
pub_coords(x, y, z - i * 5, rx=-160, sp=10)
time.sleep(0.1)
time.sleep(2)
pub_pump(True, Pin)
# pump on
pub_coords(x, y, z + 20, -165)
time.sleep(1.5)
pub_angles(0, 30, -50, -40, 0, 0, 50)
time.sleep(1.5)
put_z = 140
pub_coords(39.4, -174.7, put_z, -177.13, -4.13, -152.59, 70, 2)
time.sleep(1.5)
for i in range(1, 8):
pub_coords(39.4, -174.7, put_z - i * 5, -
177.13, -4.13, -152.59, 15, 2)
time.sleep(0.1)
pub_pump(False, Pin)
time.sleep(0.5)
pub_angles(0, 30, -50, -40, 0, 0, 50)
time.sleep(1.5)
# finally
flag = True
def main():
for _ in range(10):
# pub_coords(150, 20, 220, -175, 0, -90, 70, 2)
pub_angles(0, 30, -50, -40, 0, 0, 50)
# pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70)
time.sleep(0.5)
pub_pump(False, Pin)
# time.sleep(2.5)
# subscribers to mark information，mark 信息的订阅者
rospy.Subscriber("visualization_marker", Marker,
grippercallback, queue_size=1)
print("gripper test")
rospy.spin()
if __name__ == "__main__":
main()

64
mycobot_280/mycobot_280jn/scripts/following_marker.py
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@ -1,64 +0,0 @@
#!/usr/bin/env python2
import time
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import Header
from visualization_msgs.msg import Marker
import tf
def talker():
rospy.init_node("following_marker", anonymous=True)
pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
rate = rospy.Rate(20)
listener = tf.TransformListener()
marker_ = Marker()
marker_.header.frame_id = "/joint1"
marker_.ns = "basic_cube"
print("publishing ...")
while not rospy.is_shutdown():
now = rospy.Time.now() - rospy.Duration(0.1)
try:
trans, rot = listener.lookupTransform("joint1", "basic_shapes", now)
except Exception as e:
print(e)
continue
print(type(trans), trans)
print(type(rot), rot)
# marker
marker_.header.stamp = now
marker_.type = marker_.CUBE
marker_.action = marker_.ADD
marker_.scale.x = 0.04
marker_.scale.y = 0.04
marker_.scale.z = 0.04
# marker position initial,标记位置初始化
marker_.pose.position.x = trans[0]
marker_.pose.position.y = trans[1]
marker_.pose.position.z = trans[2]
marker_.pose.orientation.x = rot[0]
marker_.pose.orientation.y = rot[1]
marker_.pose.orientation.z = rot[2]
marker_.pose.orientation.w = rot[3]
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

57
mycobot_280/mycobot_280jn/scripts/slider_control_gripper.py Executable file
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#!/usr/bin/env python3
# encoding: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/ttyTHS1'
baud: serial prot baudrate. Defaults is 1000000.
"""
import time
import math
import rospy
from sensor_msgs.msg import JointState
from pymycobot.mycobot import MyCobot
mc = None
def callback(data):
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
data_list = []
for index, value in enumerate(data.position):
data_list.append(round(value,3))
# print(data_list[6:])
data_list = data_list[:7]
print("radians:%s"%data_list[:6])
mc.send_radians(data_list[:6], 25)
gripper_value = int(abs(-0.7-data_list[6])* 117)
print("gripper_value:%s"%gripper_value)
mc.set_gripper_value(gripper_value, 80, 1)
def listener():
global mc
rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback)
port = rospy.get_param("~port", "/dev/ttyTHS1")
baud = rospy.get_param("~baud", 1000000)
print(port, baud)
mc = MyCobot(port, baud)
time.sleep(0.05)
mc.set_fresh_mode(1)
time.sleep(0.05)
# spin() simply keeps python from exiting until this node is stopped
# spin()只是阻止python退出，直到该节点停止
print("spin ...")
rospy.spin()
if __name__ == "__main__":
listener()

11
mycobot_280/mycobot_280jn_gripper_moveit/.setup_assistant Normal file
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moveit_setup_assistant_config:
URDF:
package: mycobot_description
relative_path: urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf
xacro_args: ""
SRDF:
relative_path: config/firefighter.srdf
CONFIG:
author_name: wwj
author_email: weijian.wang@elephantrobotics.com
generated_timestamp: 1726133132

15
mycobot_280/mycobot_280jn_gripper_moveit/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.1.3)
project(mycobot_280jn_gripper_moveit)
find_package(catkin REQUIRED)
catkin_package()
catkin_install_python(PROGRAMS
scripts/sync_plan.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

5
mycobot_280/mycobot_280jn_gripper_moveit/config/cartesian_limits.yaml Normal file
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cartesian_limits:
max_trans_vel: 1
max_trans_acc: 2.25
max_trans_dec: -5
max_rot_vel: 1.57

18
mycobot_280/mycobot_280jn_gripper_moveit/config/chomp_planning.yaml Normal file
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planning_time_limit: 10.0
max_iterations: 200
max_iterations_after_collision_free: 5
smoothness_cost_weight: 0.1
obstacle_cost_weight: 1.0
learning_rate: 0.01
smoothness_cost_velocity: 0.0
smoothness_cost_acceleration: 1.0
smoothness_cost_jerk: 0.0
ridge_factor: 0.0
use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4
joint_update_limit: 0.1
collision_clearance: 0.2
collision_threshold: 0.07
use_stochastic_descent: true
enable_failure_recovery: false
max_recovery_attempts: 5

17
mycobot_280/mycobot_280jn_gripper_moveit/config/fake_controllers.yaml Normal file
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controller_list:
- name: fake_arm_group_controller
type: $(arg fake_execution_type)
joints:
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
- joint6output_to_joint6
- name: fake_gripper_group_controller
type: $(arg fake_execution_type)
joints:
- gripper_controller
initial: # Define initial robot poses per group
- group: arm_group
pose: init_pose

142
mycobot_280/mycobot_280jn_gripper_moveit/config/firefighter.srdf Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="firefighter">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="arm_group">
<joint name="joint2_to_joint1"/>
<joint name="joint3_to_joint2"/>
<joint name="joint4_to_joint3"/>
<joint name="joint5_to_joint4"/>
<joint name="joint6_to_joint5"/>
<joint name="joint6output_to_joint6"/>
<chain base_link="g_base" tip_link="gripper_base"/>
</group>
<group name="gripper">
<chain base_link="gripper_base" tip_link="gripper_left3"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="init_pose" group="arm_group">
<joint name="joint2_to_joint1" value="0"/>
<joint name="joint3_to_joint2" value="0"/>
<joint name="joint4_to_joint3" value="0"/>
<joint name="joint5_to_joint4" value="0"/>
<joint name="joint6_to_joint5" value="0"/>
<joint name="joint6output_to_joint6" value="0"/>
</group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="g_base"/>
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<passive_joint name="gripper_right3_to_gripper_right1"/>
<passive_joint name="gripper_left3_to_gripper_left1"/>
<passive_joint name="gripper_base_to_gripper_right2"/>
<passive_joint name="gripper_base_to_gripper_right3"/>
<passive_joint name="gripper_base_to_gripper_left2"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="g_base" link2="gripper_base" reason="Default"/>
<disable_collisions link1="g_base" link2="gripper_left1" reason="Default"/>
<disable_collisions link1="g_base" link2="gripper_left2" reason="Default"/>
<disable_collisions link1="g_base" link2="gripper_left3" reason="Default"/>
<disable_collisions link1="g_base" link2="gripper_right1" reason="Default"/>
<disable_collisions link1="g_base" link2="gripper_right2" reason="Default"/>
<disable_collisions link1="g_base" link2="gripper_right3" reason="Default"/>
<disable_collisions link1="g_base" link2="joint1" reason="Adjacent"/>
<disable_collisions link1="g_base" link2="joint2" reason="Never"/>
<disable_collisions link1="g_base" link2="joint3" reason="Never"/>
<disable_collisions link1="g_base" link2="joint4" reason="Never"/>
<disable_collisions link1="g_base" link2="joint5" reason="Default"/>
<disable_collisions link1="g_base" link2="joint6" reason="Never"/>
<disable_collisions link1="g_base" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="joint1" link2="joint2" reason="Adjacent"/>
<disable_collisions link1="joint1" link2="joint3" reason="Never"/>
<disable_collisions link1="joint1" link2="joint4" reason="Never"/>
<disable_collisions link1="joint1" link2="joint5" reason="Default"/>
<disable_collisions link1="joint1" link2="joint6" reason="Never"/>
<disable_collisions link1="joint1" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="joint2" link2="joint3" reason="Adjacent"/>
<disable_collisions link1="joint2" link2="joint5" reason="Never"/>
<disable_collisions link1="joint3" link2="joint4" reason="Adjacent"/>
<disable_collisions link1="joint3" link2="joint5" reason="Never"/>
<disable_collisions link1="joint4" link2="joint5" reason="Adjacent"/>
<disable_collisions link1="joint4" link2="joint6" reason="Never"/>
<disable_collisions link1="joint5" link2="joint6" reason="Adjacent"/>
<disable_collisions link1="joint5" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_base" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_base" link2="joint6_flange" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_base" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_base" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Default"/>
<disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
<disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Default"/>
<disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
<disable_collisions link1="gripper_right1" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint1" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint2" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint3" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint4" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint5" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint6" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="joint6_flange" reason="Never"/>
</robot>

4
mycobot_280/mycobot_280jn_gripper_moveit/config/gazebo_controllers.yaml Normal file
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# Publish joint_states
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

527
mycobot_280/mycobot_280jn_gripper_moveit/config/gazebo_firefighter.urdf Normal file
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<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
<xacro:property name="width" value=".2" />
<link name="g_base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae" />
</geometry>
<origin xyz="0.0 0 -0.032" rpy="0 0 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae" />
</geometry>
<origin xyz="0.0 0 -0.032" 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="joint1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae" />
</geometry>
<origin xyz="0.0 0 0 " rpy=" 0 0 3.14159" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae" />
</geometry>
<origin xyz="0.0 0 0" rpy="0 0 3.14159" />
</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="joint2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae" />
</geometry>
<origin xyz="0.0 0 -0.06096 " rpy=" 0 0 -1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae" />
</geometry>
<origin xyz="0.0 0 -0.06096" 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="joint3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae" />
</geometry>
<origin xyz="0.0 0 0.03256 " rpy=" 0 -1.5708 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae" />
</geometry>
<origin xyz="0.0 0 0.03256" rpy="0 -1.5708 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="joint4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae" />
</geometry>
<origin xyz="0.0 0 0.03056 " rpy=" 0 -1.5708 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae" />
</geometry>
<origin xyz="0.0 0 0.03056" rpy="0 -1.5708 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="joint5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae" />
</geometry>
<origin xyz="0.0 0 -0.03356 " rpy=" 0 -1.5708 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae" />
</geometry>
<origin xyz="0.0 0 -0.03356" rpy="0 -1.5708 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="joint6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae" />
</geometry>
<origin xyz="0 0.00 -0.038 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae" />
</geometry>
<origin xyz="0 0.00 -0.038" 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="joint6_flange">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae" />
</geometry>
<origin xyz="0.0 0 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae" />
</geometry>
<origin xyz="0.0 0 -0.012" 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="gripper_base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_base.dae" />
</geometry>
<origin xyz="0.0 0 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_base.dae" />
</geometry>
<origin xyz="0.0 0 -0.012 " 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="gripper_left1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left1.dae" />
</geometry>
<origin xyz="0.039 -0.0133 -0.012 " rpy=" 0 0 0" />
<!-- <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> -->
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left1.dae" />
</geometry>
<origin xyz="0.039 -0.0133 -0.012 " 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="gripper_left2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left2.dae" />
</geometry>
<origin xyz="0.005 -0.0195 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left2.dae" />
</geometry>
<origin xyz="0.005 -0.0195 -0.012 " 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="gripper_left3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left3.dae" />
</geometry>
<origin xyz="0.012 0.0025 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_left3.dae" />
</geometry>
<origin xyz="0.012 0.0025 -0.012 " 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="gripper_right1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right1.dae" />
</geometry>
<origin xyz="-0.039 -0.0133 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right1.dae" />
</geometry>
<origin xyz="-0.039 -0.0133 -0.012 " 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="gripper_right2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right2.dae" />
</geometry>
<origin xyz="-0.005 -0.0195 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right2.dae" />
</geometry>
<origin xyz="-0.005 -0.0195 -0.012 " 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="gripper_right3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right3.dae" />
</geometry>
<origin xyz="-0.012 0.0025 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/gripper_right3.dae" />
</geometry>
<origin xyz="-0.012 0.0025 -0.012" 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>
<joint name="g_base_to_joint1" type="fixed">
<axis xyz="0 0 0" />
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
<parent link="g_base" />
<child link="joint1" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.9321" upper="2.9321" velocity="0" />
<parent link="joint1" />
<child link="joint2" />
<origin xyz="0 0 0.15756" rpy="0 0 0" />
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.0943" upper="2.0943" velocity="0" />
<parent link="joint2" />
<child link="joint3" />
<origin xyz="0 0 -0.001" rpy="0 1.5708 -1.5708" />
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1" />
<limit effort="1000.0" lower="-2.6179" upper="2.6179" velocity="0" />
<parent link="joint3" />
<child link="joint4" />
<origin xyz=" -0.1104 0 0 " rpy="0 0 0" />
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1" />
<limit effort="1000.0" lower="-2.5307" upper="2.5307" velocity="0" />
<parent link="joint4" />
<child link="joint5" />
<origin xyz="-0.096 0 0.06462" rpy="0 0 -1.5708" />
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.8797" upper="2.8797" velocity="0" />
<parent link="joint5" />
<child link="joint6" />
<origin xyz="0 -0.07318 0" rpy="1.5708 -1.5708 0" />
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
<parent link="joint6" />
<child link="joint6_flange" />
<origin xyz="0 0.0456 0" rpy="-1.5708 0 0" />
</joint>
<joint name="joint6output_to_gripper_base" type="fixed">
<!-- <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
<parent link="joint6_flange" />
<child link="gripper_base" />
<origin xyz="0 0 0.034" rpy="1.579 0 0" />
</joint>
<joint name="gripper_controller" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.7" upper="0.15" velocity="0" />
<parent link="gripper_base" />
<child link="gripper_left3" />
<origin xyz="-0.012 0.005 0" rpy="0 0 0" />
</joint>
<joint name="gripper_base_to_gripper_left2" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.8" upper="0.5" velocity="0" />
<parent link="gripper_base" />
<child link="gripper_left2" />
<origin xyz="-0.005 0.027 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<joint name="gripper_left3_to_gripper_left1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
<parent link="gripper_left3" />
<child link="gripper_left1" />
<origin xyz="-0.027 0.016 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right3" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.15" upper="0.7" velocity="0" />
<parent link="gripper_base" />
<child link="gripper_right3" />
<origin xyz="0.012 0.005 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right2" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.5" upper="0.8" velocity="0" />
<parent link="gripper_base" />
<child link="gripper_right2" />
<origin xyz="0.005 0.027 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_right3_to_gripper_right1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
<parent link="gripper_right3" />
<child link="gripper_right1" />
<origin xyz="0.027 0.016 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<transmission name="trans_joint2_to_joint1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2_to_joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint2_to_joint1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint3_to_joint2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3_to_joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint3_to_joint2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint4_to_joint3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4_to_joint3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint4_to_joint3_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint5_to_joint4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5_to_joint4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint5_to_joint4_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6_to_joint5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6_to_joint5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint6_to_joint5_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6output_to_joint6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6output_to_joint6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint6output_to_joint6_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<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">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
</robot>

45
mycobot_280/mycobot_280jn_gripper_moveit/config/joint_limits.yaml Normal file
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@ -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

14
mycobot_280/mycobot_280jn_gripper_moveit/config/kinematics.yaml Normal file
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@ -0,0 +1,14 @@
arm_group:
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
gripper_group:
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

224
mycobot_280/mycobot_280jn_gripper_moveit/config/ompl_planning.yaml Normal file
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planner_configs:
AnytimePathShortening:
type: geometric::AnytimePathShortening
shortcut: true # Attempt to shortcut all new solution paths
hybridize: true # Compute hybrid solution trajectories
max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
num_planners: 4 # The number of default planners to use for planning
planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
SBL:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
EST:
type: geometric::EST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LBKPIECE:
type: geometric::LBKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECE:
type: geometric::BKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
KPIECE:
type: geometric::KPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
RRT:
type: geometric::RRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
RRTConnect:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstar:
type: geometric::RRTstar
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
TRRT:
type: geometric::TRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
max_states_failed: 10 # when to start increasing temp. default: 10
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
init_temperature: 10e-6 # initial temperature. default: 10e-6
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
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
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
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
AITstar:
type: geometric::AITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
set_max_num_goals: 1 # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1
ABITstar:
type: geometric::ABITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0
use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
initial_inflation_factor: 1000000 # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000
inflation_scaling_parameter: 10 # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
truncation_scaling_parameter: 5.0 # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
BITstar:
type: geometric::BITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0
use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
arm_group:
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
- AITstar
- ABITstar
- BITstar
gripper_group:
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
- AITstar
- ABITstar
- BITstar

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

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sensors:
[]

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controller_list:
- name: arm_group_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
- joint6output_to_joint6
- name: gripper_group_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- gripper_controller

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mycobot_280/mycobot_280jn_gripper_moveit/config/stomp_planning.yaml Normal file
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stomp/arm_group:
group_name: arm_group
optimization:
num_timesteps: 60
num_iterations: 40
num_iterations_after_valid: 0
num_rollouts: 30
max_rollouts: 30
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
control_cost_weight: 0.0
task:
noise_generator:
- class: stomp_moveit/NormalDistributionSampling
stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
cost_functions:
- class: stomp_moveit/CollisionCheck
collision_penalty: 1.0
cost_weight: 1.0
kernel_window_percentage: 0.2
longest_valid_joint_move: 0.05
noisy_filters:
- class: stomp_moveit/JointLimits
lock_start: True
lock_goal: True
- class: stomp_moveit/MultiTrajectoryVisualization
line_width: 0.02
rgb: [255, 255, 0]
marker_array_topic: stomp_trajectories
marker_namespace: noisy
update_filters:
- class: stomp_moveit/PolynomialSmoother
poly_order: 6
- class: stomp_moveit/TrajectoryVisualization
line_width: 0.05
rgb: [0, 191, 255]
error_rgb: [255, 0, 0]
publish_intermediate: True
marker_topic: stomp_trajectory
marker_namespace: optimized
stomp/gripper_group:
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

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mycobot_280/mycobot_280jn_gripper_moveit/launch/chomp_planning_pipeline.launch.xml Normal file
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<launch>
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<param name="planning_plugin" value="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="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find mycobot_280jn_gripper_moveit)/config/chomp_planning.yaml" />
</launch>

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<launch>
<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
<arg name="moveit_warehouse_database_path" default="$(find mycobot_280jn_gripper_moveit)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include>
<!-- If we want to reset the database, run this node -->
<node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
</launch>

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<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find mycobot_280jn_gripper_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" default="fake" />
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world g_base" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

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<?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"/>
<!-- Launch Gazebo and spawn the robot -->
<include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
<!-- Launch MoveIt -->
<include file="$(dirname)/demo.launch" pass_all_args="true">
<!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
<arg name="load_robot_description" value="false" />
<arg name="moveit_controller_manager" value="ros_control" />
</include>
</launch>

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<launch>
<!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
<arg name="fake_execution_type" default="interpolate" />
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin -->
<rosparam subst_value="true" file="$(find mycobot_280jn_gripper_moveit)/config/fake_controllers.yaml"/>
</launch>

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<launch>
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/gazebo.launch Normal file
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<?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=" -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" doc="Initial joint configuration of the robot"/>
<!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
<include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
<arg name="paused" value="true"/>
</include>
<!-- Set the robot urdf on the parameter server -->
<param name="robot_description" textfile="$(find mycobot_280jn_gripper_moveit)/config/gazebo_firefighter.urdf" />
<!-- Unpause the simulation after loading the robot model -->
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<!-- Spawn the robot in Gazebo -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
respawn="false" output="screen" />
<!-- Load the controller parameters onto the parameter server -->
<rosparam file="$(find mycobot_280jn_gripper_moveit)/config/gazebo_controllers.yaml" />
<include file="$(dirname)/ros_controllers.launch"/>
<!-- Spawn the Gazebo ROS controllers -->
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</launch>

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

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<launch>
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
<arg unless="$(arg info)" name="command_args" value="" />
<arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings -->
<arg name="pipeline" default="ompl" />
<arg name="allow_trajectory_execution" default="true"/>
<arg name="moveit_controller_manager" default="simple" />
<arg name="fake_execution_type" default="interpolate"/>
<arg name="max_safe_path_cost" default="1"/>
<arg name="publish_monitored_planning_scene" default="true"/>
<arg name="capabilities" default=""/>
<arg name="disable_capabilities" default=""/>
<!-- load these non-default MoveGroup capabilities (space seperated) -->
<!--
<arg name="capabilities" value="
a_package/AwsomeMotionPlanningCapability
another_package/GraspPlanningPipeline
" />
-->
<!-- inhibit these default MoveGroup capabilities (space seperated) -->
<!--
<arg name="disable_capabilities" value="
move_group/MoveGroupKinematicsService
move_group/ClearOctomapService
" />
-->
<arg name="load_robot_description" default="false" />
<!-- load URDF, SRDF and joint_limits configuration -->
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="$(arg load_robot_description)" />
</include>
<!-- Planning Pipelines -->
<group ns="move_group/planning_pipelines">
<!-- OMPL -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" />
</include>
<!-- CHOMP -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="chomp" />
</include>
<!-- Pilz Industrial Motion -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="pilz_industrial_motion_planner" />
</include>
<!-- Support custom planning pipeline -->
<include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg pipeline)" />
</include>
</group>
<!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)" />
</include>
<!-- Sensors Functionality -->
<include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="firefighter" />
</include>
<!-- Start the actual move_group node/action server -->
<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
<!-- Set the display variable, in case OpenGL code is used internally -->
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="default_planning_pipeline" value="$(arg pipeline)" />
<param name="capabilities" value="$(arg capabilities)" />
<param name="disable_capabilities" value="$(arg disable_capabilities)" />
<!-- 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)" />
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
</node>
</launch>

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Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.5
Tree Height: 209
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
g_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6_flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.11999999731779099
Joint Violation Color: 255; 0; 255
Planning Group: arm_group
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
g_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint6_flange:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: g_base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.75
Focal Point:
X: -0.10000000149011612
Y: 0.25
Z: 0.30000001192092896
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.21000005304813385
Target Frame: g_base
Yaw: 5.264951229095459
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 906
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000162000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001a5000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ec000001810000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1848
X: 72
Y: 27

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mycobot_280/mycobot_280jn_gripper_moveit/launch/moveit_rviz.launch Normal file
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<launch>
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="rviz_config" default="" />
<arg if="$(eval rviz_config=='')" name="command_args" value="" />
<arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
</node>
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/mycobot_moveit.launch Normal file
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<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find mycobot_280jn_gripper_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" default="fake" />
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world g_base" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml Normal file
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<launch>
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
<include file="$(find mycobot_280jn_gripper_moveit)/launch/ompl_planning_pipeline.launch.xml">
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
chomp/OptimizerAdapter"
/>
</include>
<!-- load chomp config -->
<rosparam command="load" file="$(find mycobot_280jn_gripper_moveit)/config/chomp_planning.yaml" />
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
<param name="trajectory_initialization_method" value="fillTrajectory"/>
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/ompl_planning_pipeline.launch.xml Normal file
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<launch>
<!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find mycobot_280jn_gripper_moveit)/config/ompl_planning.yaml"/>
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml Normal file
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<launch>
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters" default="" />
<param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<!-- Define default planner (for all groups) -->
<param name="default_planner_config" value="PTP" />
<!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
<param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceService" />
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/planning_context.launch Normal file
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<launch>
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
<arg name="load_robot_description" default="false"/>
<!-- The name of the parameter under which the URDF is loaded -->
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf"/>
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find mycobot_280jn_gripper_moveit)/config/firefighter.srdf" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find mycobot_280jn_gripper_moveit)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find mycobot_280jn_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_280jn_gripper_moveit)/config/kinematics.yaml"/>
</group>
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/planning_pipeline.launch.xml Normal file
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<launch>
<!-- This file makes it easy to include different planning pipelines;
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
<arg name="pipeline" default="ompl" />
<include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/ros_control_moveit_controller_manager.launch.xml Normal file
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<launch>
<!-- Define MoveIt controller manager plugin -->
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/ros_controllers.launch Normal file
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<?xml version="1.0"?>
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find mycobot_280jn_gripper_moveit)/config/ros_controllers.yaml" command="load"/>
<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="arm_group_controller gripper_group_controller "/>
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/run_benchmark_ompl.launch Normal file
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<launch>
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
<arg name="cfg" />
<!-- Load URDF -->
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>
<!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find mycobot_280jn_gripper_moveit)/config/ompl_planning.yaml"/>
</node>
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/sensor_manager.launch.xml Normal file
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<launch>
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for 3D sensors config -->
<rosparam command="load" file="$(find mycobot_280jn_gripper_moveit)/config/sensors_3d.yaml" />
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="firefighter" />
<include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/setup_assistant.launch Normal file
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<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
<launch>
<!-- Debug Info -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<!-- Run -->
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=mycobot_280jn_gripper_moveit"
launch-prefix="$(arg launch_prefix)"
required="true"
output="screen" />
</launch>

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mycobot_280/mycobot_280jn_gripper_moveit/launch/simple_moveit_controller_manager.launch.xml Normal file
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<launch>
<!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<!-- Load controller list to the parameter server -->
<rosparam file="$(find mycobot_280jn_gripper_moveit)/config/simple_moveit_controllers.yaml" />
<rosparam file="$(find mycobot_280jn_gripper_moveit)/config/ros_controllers.yaml" />
</launch>

23
mycobot_280/mycobot_280jn_gripper_moveit/launch/stomp_planning_pipeline.launch.xml Normal file
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@ -0,0 +1,23 @@
<launch>
<!-- Stomp Plugin for MoveIt -->
<arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
<arg name="start_state_max_bounds_error" value="0.1" />
<arg name="jiggle_fraction" value="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find mycobot_280jn_gripper_moveit)/config/stomp_planning.yaml"/>
</launch>

23
mycobot_280/mycobot_280jn_gripper_moveit/launch/trajectory_execution.launch.xml Normal file
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@ -0,0 +1,23 @@
<launch>
<!-- This file summarizes all settings required for trajectory execution -->
<!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" />
<arg name="fake_execution_type" default="interpolate" />
<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
<include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
</launch>

15
mycobot_280/mycobot_280jn_gripper_moveit/launch/warehouse.launch Normal file
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@ -0,0 +1,15 @@
<launch>
<!-- The path to the database must be specified -->
<arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters -->
<include file="$(dirname)/warehouse_settings.launch.xml" />
<!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
<param name="overwrite" value="false"/>
<param name="database_path" value="$(arg moveit_warehouse_database_path)" />
</node>
</launch>

16
mycobot_280/mycobot_280jn_gripper_moveit/launch/warehouse_settings.launch.xml Normal file
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@ -0,0 +1,16 @@
<launch>
<!-- Set the parameters for the warehouse and run the mongodb server. -->
<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
<arg name="moveit_warehouse_port" default="33829" />
<!-- The default DB host for moveit -->
<arg name="moveit_warehouse_host" default="localhost" />
<!-- Set parameters for the warehouse -->
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
<param name="warehouse_exec" value="mongod" />
<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
</launch>

41
mycobot_280/mycobot_280jn_gripper_moveit/package.xml Normal file
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@ -0,0 +1,41 @@
<package>
<name>mycobot_280jn_gripper_moveit</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
</description>
<author email="weijian.wang@elephantrobotics.com">wwj</author>
<maintainer email="weijian.wang@elephantrobotics.com">wwj</maintainer>
<license>BSD</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
<url type="repository">https://github.com/ros-planning/moveit</url>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners</run_depend>
<run_depend>moveit_ros_visualization</run_depend>
<run_depend>moveit_setup_assistant</run_depend>
<run_depend>moveit_simple_controller_manager</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>joint_state_publisher_gui</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>xacro</run_depend>
<!-- The next 2 packages are required for the gazebo simulation.
We don't include them by default to prevent installing gazebo and all its dependencies. -->
<!-- <run_depend>joint_trajectory_controller</run_depend> -->
<!-- <run_depend>gazebo_ros_control</run_depend> -->
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
<run_depend>mycobot_description</run_depend>
</package>

57
mycobot_280/mycobot_280jn_gripper_moveit/scripts/sync_plan.py Normal file
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@ -0,0 +1,57 @@
#!/usr/bin/env python3
# encoding: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/ttyTHS1'
baud: serial prot baudrate. Defaults is 1000000.
"""
import time
import math
import rospy
from sensor_msgs.msg import JointState
from pymycobot.mycobot import MyCobot
mc = None
def callback(data):
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
data_list = []
for index, value in enumerate(data.position):
data_list.append(round(value,3))
# print(data_list[6:])
data_list = data_list[:7]
print("radians:%s"%data_list[:6])
mc.send_radians(data_list[:6], 25)
gripper_value = int(abs(-0.7-data_list[6])* 117)
print("gripper_value:%s"%gripper_value)
mc.set_gripper_value(gripper_value, 80, 1)
def listener():
global mc
rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback)
port = rospy.get_param("~port", "/dev/ttyTHS1")
baud = rospy.get_param("~baud", 1000000)
print(port, baud)
mc = MyCobot(port, baud)
time.sleep(0.05)
mc.set_fresh_mode(1)
time.sleep(0.05)
# spin() simply keeps python from exiting until this node is stopped
# spin()只是阻止python退出，直到该节点停止
print("spin ...")
rospy.spin()
if __name__ == "__main__":
listener()

2
mycobot_280/mycobot_280jn_moveit/.setup_assistant
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@ -8,4 +8,4 @@ moveit_setup_assistant_config:
CONFIG:
author_name: zachary
author_email: lijun.zhang@elephantrobotics.com
generated_timestamp: 1626074107
generated_timestamp: 1726131211

11
mycobot_280/mycobot_280jn_moveit/CMakeLists.txt
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@ -1,19 +1,12 @@
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.1.3)
project(mycobot_280jn_moveit)
find_package(catkin REQUIRED
rospy
std_msgs
moveit_msgs
)
find_package(catkin REQUIRED)
catkin_package()
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
scripts/sync_plan.py
scripts/path_planning_and_obstacle_avoidance_demo.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

5
mycobot_280/mycobot_280jn_moveit/config/cartesian_limits.yaml Normal file
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@ -0,0 +1,5 @@
cartesian_limits:
max_trans_vel: 1
max_trans_acc: 2.25
max_trans_dec: -5
max_rot_vel: 1.57

6
mycobot_280/mycobot_280jn_moveit/config/chomp_planning.yaml
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@ -7,12 +7,12 @@ learning_rate: 0.01
smoothness_cost_velocity: 0.0
smoothness_cost_acceleration: 1.0
smoothness_cost_jerk: 0.0
ridge_factor: 0.01
ridge_factor: 0.0
use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4
joint_update_limit: 0.1
collision_clearence: 0.2
collision_clearance: 0.2
collision_threshold: 0.07
use_stochastic_descent: true
enable_failure_recovery: true
enable_failure_recovery: false
max_recovery_attempts: 5

4
mycobot_280/mycobot_280jn_moveit/config/fake_controllers.yaml
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@ -1,5 +1,6 @@
controller_list:
- name: fake_arm_group_controller
type: $(arg fake_execution_type)
joints:
- joint2_to_joint1
- joint3_to_joint2
@ -7,3 +8,6 @@ controller_list:
- joint5_to_joint4
- joint6_to_joint5
- joint6output_to_joint6
initial: # Define initial robot poses per group
- group: arm_group
pose: init_pose

18
mycobot_280/mycobot_280jn_moveit/config/firefighter.srdf
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@ -1,4 +1,4 @@
<?xml version="1.0" ?>
<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This 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
@ -27,15 +27,27 @@
<joint name="joint6output_to_joint6" value="0"/>
</group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" />
<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="g_base"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="g_base" link2="joint1" reason="Adjacent"/>
<disable_collisions link1="g_base" link2="joint2" reason="Never"/>
<disable_collisions link1="g_base" link2="joint3" reason="Never"/>
<disable_collisions link1="g_base" link2="joint4" reason="Never"/>
<disable_collisions link1="g_base" link2="joint5" reason="Default"/>
<disable_collisions link1="g_base" link2="joint6" reason="Never"/>
<disable_collisions link1="g_base" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="joint1" link2="joint2" reason="Adjacent"/>
<disable_collisions link1="joint1" link2="joint5" reason="Never" />
<disable_collisions link1="joint1" link2="joint3" reason="Never"/>
<disable_collisions link1="joint1" link2="joint4" reason="Never"/>
<disable_collisions link1="joint1" link2="joint5" reason="Default"/>
<disable_collisions link1="joint1" link2="joint6" reason="Never"/>
<disable_collisions link1="joint1" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="joint2" link2="joint3" reason="Adjacent"/>
<disable_collisions link1="joint2" link2="joint5" reason="Never"/>
<disable_collisions link1="joint3" link2="joint4" reason="Adjacent"/>
<disable_collisions link1="joint3" link2="joint5" reason="Never"/>
<disable_collisions link1="joint4" link2="joint5" reason="Adjacent"/>
<disable_collisions link1="joint4" link2="joint6" reason="Never"/>
<disable_collisions link1="joint5" link2="joint6" reason="Adjacent"/>
<disable_collisions link1="joint5" link2="joint6_flange" reason="Never"/>
<disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent"/>

4
mycobot_280/mycobot_280jn_moveit/config/gazebo_controllers.yaml Normal file
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@ -0,0 +1,4 @@
# Publish joint_states
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

276
mycobot_280/mycobot_280jn_moveit/config/gazebo_firefighter.urdf Normal file
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@ -0,0 +1,276 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
<xacro:property name="width" value=".2" />
<link name="g_base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae" />
</geometry>
<origin xyz="0.0 0 -0.032" rpy="0 0 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/G_base.dae" />
</geometry>
<origin xyz="0.0 0 -0.032" 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="joint1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae" />
</geometry>
<origin xyz="0.0 0 0 " rpy=" 0 0 3.14159" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint1_jet.dae" />
</geometry>
<origin xyz="0.0 0 0" rpy="0 0 3.14159" />
</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="joint2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae" />
</geometry>
<origin xyz="0.0 0 -0.06096 " rpy=" 0 0 -1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint2.dae" />
</geometry>
<origin xyz="0.0 0 -0.06096" 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="joint3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae" />
</geometry>
<origin xyz="0.0 0 0.03256 " rpy=" 0 -1.5708 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint3.dae" />
</geometry>
<origin xyz="0.0 0 0.03256" rpy="0 -1.5708 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="joint4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae" />
</geometry>
<origin xyz="0.0 0 0.03056 " rpy=" 0 -1.5708 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint4.dae" />
</geometry>
<origin xyz="0.0 0 0.03056" rpy="0 -1.5708 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="joint5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae" />
</geometry>
<origin xyz="0.0 0 -0.03356 " rpy=" 0 -1.5708 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint5.dae" />
</geometry>
<origin xyz="0.0 0 -0.03356" rpy="0 -1.5708 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="joint6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae" />
</geometry>
<origin xyz="0 0.00 -0.038 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint6.dae" />
</geometry>
<origin xyz="0 0.00 -0.038" 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="joint6_flange">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae" />
</geometry>
<origin xyz="0.0 0 -0.012 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_jn/joint7.dae" />
</geometry>
<origin xyz="0.0 0 -0.012" 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>
<joint name="g_base_to_joint1" type="fixed">
<axis xyz="0 0 0" />
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
<parent link="g_base" />
<child link="joint1" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.9321" upper="2.9321" velocity="0" />
<parent link="joint1" />
<child link="joint2" />
<origin xyz="0 0 0.15756" rpy="0 0 0" />
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.0943" upper="2.0943" velocity="0" />
<parent link="joint2" />
<child link="joint3" />
<origin xyz="0 0 -0.001" rpy="0 1.5708 -1.5708" />
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1" />
<limit effort="1000.0" lower="-2.6179" upper="2.6179" velocity="0" />
<parent link="joint3" />
<child link="joint4" />
<origin xyz=" -0.1104 0 0 " rpy="0 0 0" />
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1" />
<limit effort="1000.0" lower="-2.5307" upper="2.5307" velocity="0" />
<parent link="joint4" />
<child link="joint5" />
<origin xyz="-0.096 0 0.06462" rpy="0 0 -1.5708" />
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-2.8797" upper="2.8797" velocity="0" />
<parent link="joint5" />
<child link="joint6" />
<origin xyz="0 -0.07318 0" rpy="1.5708 -1.5708 0" />
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
<parent link="joint6" />
<child link="joint6_flange" />
<origin xyz="0 0.0456 0" rpy="-1.5708 0 0" />
</joint>
<transmission name="trans_joint2_to_joint1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2_to_joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint2_to_joint1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint3_to_joint2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3_to_joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint3_to_joint2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint4_to_joint3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4_to_joint3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint4_to_joint3_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint5_to_joint4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5_to_joint4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint5_to_joint4_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6_to_joint5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6_to_joint5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint6_to_joint5_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6output_to_joint6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6output_to_joint6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint6output_to_joint6_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
</robot>

6
mycobot_280/mycobot_280jn_moveit/config/joint_limits.yaml
View file

@ -1,4 +1,10 @@
# 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:

4
mycobot_280/mycobot_280jn_moveit/config/kinematics.yaml
View file

@ -2,4 +2,6 @@ arm_group:
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

57
mycobot_280/mycobot_280jn_moveit/config/ompl_planning.yaml
View file

@ -1,4 +1,11 @@
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()
@ -44,8 +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
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
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
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
PRM:
type: geometric::PRM
@ -88,8 +95,8 @@ planner_configs:
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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
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
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
LBTRRT:
type: geometric::LBTRRT
@ -120,9 +127,46 @@ 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_group:
default_planner_config: None
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
@ -146,5 +190,8 @@ arm_group:
- LazyPRMstar
- SPARS
- SPARStwo
- AITstar
- ABITstar
- BITstar
projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
longest_valid_segment_fraction: 0.005

52
mycobot_280/mycobot_280jn_moveit/config/ros_controllers.yaml
View file

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

1
mycobot_280/mycobot_280jn_moveit/config/sensors_3d.yaml
View file

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

12
mycobot_280/mycobot_280jn_moveit/config/simple_moveit_controllers.yaml Normal file
View file

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

39
mycobot_280/mycobot_280jn_moveit/config/stomp_planning.yaml Normal file
View file

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

19
mycobot_280/mycobot_280jn_moveit/launch/chomp_planning_pipeline.launch.xml
View file

@ -1,10 +1,21 @@
<launch>
<!-- CHOMP Plugin for MoveIt! -->
<arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<arg name="start_state_max_bounds_error" value="0.1" />
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/chomp_planning.yaml" />
</launch>

2
mycobot_280/mycobot_280jn_moveit/launch/default_warehouse_db.launch
View file

@ -5,7 +5,7 @@
<arg name="moveit_warehouse_database_path" default="$(find mycobot_280jn_moveit)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(find mycobot_280jn_moveit)/launch/warehouse.launch">
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include>

63
mycobot_280/mycobot_280jn_moveit/launch/demo.launch
View file

@ -1,65 +1,66 @@
<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<!-- 允许用户指定数据库位置 -->
<arg name="db_path" default="$(find mycobot_280jn_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<!-- 默认情况下，我们不处于调试模式 -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" default="fake" />
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<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 basic g_base" />
<!-- We do not have a robot connected, so publish fake joint states -->
<!-- 我们没有连接机器人，所以发布假关节状态 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<group if="$(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 -->
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
<include file="$(find mycobot_280jn_moveit)/launch/move_group.launch">
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
<include file="$(find mycobot_280jn_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<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 -->
<!-- 如果启用了数据库加载，也启动 mongodb -->
<include file="$(find mycobot_280jn_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>

77
mycobot_280/mycobot_280jn_moveit/launch/demo_gazebo.launch
View file

@ -1,70 +1,21 @@
<?xml version="1.0"?>
<launch>
<!-- MoveIt options -->
<arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find mycobot_280jn_moveit)/default_warehouse_mongo_db" />
<!-- Gazebo options -->
<arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
<arg name="paused" default="false" doc="Start Gazebo paused"/>
<arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- Launch Gazebo and spawn the robot -->
<include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Gazebo specific options -->
<arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/>
<!-- By default, use the urdf location provided from the package -->
<arg name="urdf_path" default="$(find mycobot_description)/urdf/jetsonNano/mycobot_urdf.urdf"/>
<!-- launch the gazebo simulator and spawn the robot -->
<include file="$(find mycobot_280jn_moveit)/launch/gazebo.launch" >
<arg name="paused" value="$(arg paused)"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
<arg name="urdf_path" value="$(arg urdf_path)"/>
</include>
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch">
<!-- Launch MoveIt -->
<include file="$(dirname)/demo.launch" pass_all_args="true">
<!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
<arg name="load_robot_description" value="false" />
<arg name="moveit_controller_manager" value="ros_control" />
</include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[/joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find mycobot_280jn_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="false"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find mycobot_280jn_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find mycobot_280jn_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

5
mycobot_280/mycobot_280jn_moveit/launch/fake_moveit_controller_manager.launch.xml
View file

@ -1,9 +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 file="$(find mycobot_280jn_moveit)/config/fake_controllers.yaml"/>
<rosparam subst_value="true" file="$(find mycobot_280jn_moveit)/config/fake_controllers.yaml"/>
</launch>

37
mycobot_280/mycobot_280jn_moveit/launch/gazebo.launch
View file

@ -1,23 +1,34 @@
<?xml version="1.0"?>
<launch>
<arg name="paused" default="false"/>
<arg name="gazebo_gui" default="true"/>
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn.urdf"/>
<!-- Gazebo options -->
<arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
<arg name="paused" default="false" doc="Start Gazebo paused"/>
<arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
<arg name="initial_joint_positions" default=" -J joint2_to_joint1 0 -J joint3_to_joint2 0 -J joint4_to_joint3 0 -J joint5_to_joint4 0 -J joint6_to_joint5 0 -J joint6output_to_joint6 0" doc="Initial joint configuration of the robot"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gazebo_gui)"/>
<!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
<include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
<arg name="paused" value="true"/>
</include>
<!-- send robot urdf to param server -->
<param name="robot_description" textfile="$(arg urdf_path)" />
<!-- Set the robot urdf on the parameter server -->
<param name="robot_description" textfile="$(find mycobot_280jn_moveit)/config/gazebo_firefighter.urdf" />
<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
<!-- Unpause the simulation after loading the robot model -->
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<!-- Spawn the robot in Gazebo -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
respawn="false" output="screen" />
<include file="$(find mycobot_280jn_moveit)/launch/ros_controllers.launch"/>
<!-- Load the controller parameters onto the parameter server -->
<rosparam file="$(find mycobot_280jn_moveit)/config/gazebo_controllers.yaml" />
<include file="$(dirname)/ros_controllers.launch"/>
<!-- Spawn the Gazebo ROS controllers -->
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</launch>

54
mycobot_280/mycobot_280jn_moveit/launch/move_group.launch
View file

@ -1,12 +1,10 @@
<launch>
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch" />
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(find mycobot_280jn_moveit)/launch/gdb_settings.gdb --ex run --args" />
value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
@ -14,10 +12,11 @@
<arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings -->
<arg name="pipeline" default="ompl" />
<arg name="allow_trajectory_execution" default="true"/>
<arg name="fake_execution" default="false"/>
<arg name="moveit_controller_manager" default="simple" />
<arg name="fake_execution_type" default="interpolate"/>
<arg name="max_safe_path_cost" default="1"/>
<arg name="jiggle_fraction" default="0.05" />
<arg name="publish_monitored_planning_scene" default="true"/>
<arg name="capabilities" default=""/>
@ -38,20 +37,46 @@
" />
-->
<!-- Planning Functionality -->
<include ns="move_group" file="$(find mycobot_280jn_moveit)/launch/planning_pipeline.launch.xml">
<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="$(find mycobot_280jn_moveit)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/>
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
<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="$(find mycobot_280jn_moveit)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="firefighter" />
</include>
@ -61,11 +86,14 @@
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<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)" />
<!-- 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)" />

56
mycobot_280/mycobot_280jn_moveit/launch/moveit.rviz
View file

@ -5,12 +5,10 @@ Panels:
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.7425600290298462
Tree Height: 172
Splitter Ratio: 0.5
Tree Height: 209
- Class: rviz/Help
Name: Help
- Class: rviz/Views
@ -43,18 +41,18 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.5
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: true
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Workspace:
Center:
X: 0
@ -74,6 +72,11 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
g_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint1:
Alpha: 1
Show Axes: false
@ -130,11 +133,11 @@ Visualization Manager:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.12999999523162842
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: arm_group
Query Goal State: true
Query Start State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
@ -143,7 +146,7 @@ Visualization Manager:
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.20000000298023224
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
@ -155,6 +158,11 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
g_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint1:
Alpha: 1
Show Axes: false
@ -192,14 +200,14 @@ Visualization Manager:
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.5
Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: joint1
Fixed Frame: g_base
Frame Rate: 30
Name: root
Tools:
@ -210,31 +218,31 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 1.3915867805480957
Class: rviz/Orbit
Distance: 1.1993907690048218
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Field of View: 0.75
Focal Point:
X: 0.11356700211763382
Y: 0.10592000186443329
Z: 2.2351800055275817e-07
X: -0.10000000149011612
Y: 0.25
Z: 0.30000001192092896
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.0647968053817749
Target Frame: joint1
Yaw: 3.026766300201416
Pitch: 0.7100000381469727
Target Frame: g_base
Yaw: 2.124948024749756
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 876
Height: 906
Help:
collapsed: false
Hide Left Dock: false
@ -243,7 +251,7 @@ Window Geometry:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f300000312fc0200000007fb000000100044006900730070006c006100790073010000003d0000013d000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000180000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001c7000001880000017d00ffffff0000053f0000031200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000162000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001a5000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ec000001810000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1848

7
mycobot_280/mycobot_280jn_moveit/launch/moveit_rviz.launch
View file

@ -4,13 +4,12 @@
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="config" default="false" />
<arg unless="$(arg config)" name="command_args" value="" />
<arg if="$(arg config)" name="command_args" value="-d $(find mycobot_280jn_moveit)/launch/moveit.rviz" />
<arg name="rviz_config" default="" />
<arg if="$(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">
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/kinematics.yaml"/>
</node>
</launch>

64
mycobot_280/mycobot_280jn_moveit/launch/mycobot_moveit.launch
View file

@ -1,64 +1,66 @@
<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<!-- 默认情况下，我们不启动数据库（它可能很大） -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<!-- 允许用户指定数据库位置 -->
<arg name="db_path" default="$(find mycobot_280jn_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode --> <!-- 默认情况下，我们不处于调试模式 -->
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" default="fake" />
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<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 basic g_base" />
<!-- We do not have a robot connected, so publish fake joint states -->
<!-- 我们没有连接机器人，所以发布假关节状态 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<group if="$(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 -->
<!-- 给定已发布的关节状态，为机器人链接发布 tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
<include file="$(find mycobot_280jn_moveit)/launch/move_group.launch">
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
<include file="$(find mycobot_280jn_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<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 -->
<!-- 如果启用了数据库加载，也启动 mongodb -->
<include file="$(find mycobot_280jn_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>

20
mycobot_280/mycobot_280jn_moveit/launch/ompl-chomp_planning_pipeline.launch.xml Normal file
View file

@ -0,0 +1,20 @@
<launch>
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
<include file="$(find mycobot_280jn_moveit)/launch/ompl_planning_pipeline.launch.xml">
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
chomp/OptimizerAdapter"
/>
</include>
<!-- load chomp config -->
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/chomp_planning.yaml" />
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
<param name="trajectory_initialization_method" value="fillTrajectory"/>
</launch>

20
mycobot_280/mycobot_280jn_moveit/launch/ompl_planning_pipeline.launch.xml
View file

@ -1,21 +1,23 @@
<launch>
<!-- OMPL Plugin for MoveIt! -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
<!-- 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_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<arg name="start_state_max_bounds_error" value="0.1" />
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/ompl_planning.yaml"/>

15
mycobot_280/mycobot_280jn_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml Normal file
View file

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

2
mycobot_280/mycobot_280jn_moveit/launch/planning_context.launch
View file

@ -14,11 +14,13 @@
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/cartesian_limits.yaml"/>
</group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/kinematics.yaml"/>
</group>
</launch>

2
mycobot_280/mycobot_280jn_moveit/launch/planning_pipeline.launch.xml
View file

@ -5,6 +5,6 @@
<arg name="pipeline" default="ompl" />
<include file="$(find mycobot_280jn_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
<include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch>

4
mycobot_280/mycobot_280jn_moveit/launch/ros_control_moveit_controller_manager.launch.xml Normal file
View file

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

2
mycobot_280/mycobot_280jn_moveit/launch/ros_controllers.launch
View file

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

5
mycobot_280/mycobot_280jn_moveit/launch/run_benchmark_ompl.launch
View file

@ -4,18 +4,17 @@
<arg name="cfg" />
<!-- Load URDF -->
<include file="$(find mycobot_280jn_moveit)/launch/planning_context.launch">
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(find mycobot_280jn_moveit)/launch/warehouse.launch">
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>
<!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/kinematics.yaml"/>
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/ompl_planning.yaml"/>
</node>

2
mycobot_280/mycobot_280jn_moveit/launch/sensor_manager.launch.xml
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@ -12,6 +12,6 @@
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="firefighter" />
<include file="$(find mycobot_280jn_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
<include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>

3
mycobot_280/mycobot_280jn_moveit/launch/setup_assistant.launch
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@ -1,4 +1,4 @@
<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
<launch>
<!-- Debug Info -->
@ -10,6 +10,7 @@
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=mycobot_280jn_moveit"
launch-prefix="$(arg launch_prefix)"
required="true"
output="screen" />
</launch>

8
mycobot_280/mycobot_280jn_moveit/launch/simple_moveit_controller_manager.launch.xml Normal file
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@ -0,0 +1,8 @@
<launch>
<!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<!-- Load controller list to the parameter server -->
<rosparam file="$(find mycobot_280jn_moveit)/config/simple_moveit_controllers.yaml" />
<rosparam file="$(find mycobot_280jn_moveit)/config/ros_controllers.yaml" />
</launch>

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mycobot_280/mycobot_280jn_moveit/launch/stomp_planning_pipeline.launch.xml Normal file
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@ -0,0 +1,23 @@
<launch>
<!-- Stomp Plugin for MoveIt -->
<arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
<arg name="start_state_max_bounds_error" value="0.1" />
<arg name="jiggle_fraction" value="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find mycobot_280jn_moveit)/config/stomp_planning.yaml"/>
</launch>

13
mycobot_280/mycobot_280jn_moveit/launch/trajectory_execution.launch.xml
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@ -1,8 +1,11 @@
<launch>
<!-- This file summarizes all settings required for trajectory execution -->
<!-- This file makes it easy to include the settings for trajectory execution -->
<!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" />
<arg name="fake_execution_type" default="interpolate" />
<!-- Flag indicating whether MoveIt! is allowed to load/unload or switch controllers -->
<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
@ -13,8 +16,8 @@
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
<arg name="moveit_controller_manager" default="firefighter" />
<include file="$(find mycobot_280jn_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
<!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
<include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
</launch>

2
mycobot_280/mycobot_280jn_moveit/launch/warehouse.launch
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@ -4,7 +4,7 @@
<arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters -->
<include file="$(find mycobot_280jn_moveit)/launch/warehouse_settings.launch.xml" />
<include file="$(dirname)/warehouse_settings.launch.xml" />
<!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">

19
mycobot_280/mycobot_280jn_moveit/package.xml
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@ -3,7 +3,7 @@
<name>mycobot_280jn_moveit</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
</description>
<author email="lijun.zhang@elephantrobotics.com">zachary</author>
<maintainer email="lijun.zhang@elephantrobotics.com">zachary</maintainer>
@ -19,21 +19,22 @@
<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners_ompl</run_depend>
<run_depend>moveit_planners</run_depend>
<run_depend>moveit_ros_visualization</run_depend>
<run_depend>moveit_setup_assistant</run_depend>
<run_depend>moveit_simple_controller_manager</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>joint_state_publisher_gui</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>xacro</run_depend>
<!-- The next 2 packages are required for the gazebo simulation.
We don't include them by default to prevent installing gazebo and all its dependencies. -->
<!-- <run_depend>joint_trajectory_controller</run_depend> -->
<!-- <run_depend>gazebo_ros_control</run_depend> -->
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>moveit_msgs</build_depend>
<build_depend>mycobot_description</build_depend>
<run_depend>mycobot_description</run_depend>

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mycobot_280/mycobot_280jn_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py
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@ -1,137 +0,0 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy, roslib, sys
import moveit_commander
from moveit_msgs.msg import RobotTrajectory
from trajectory_msgs.msg import JointTrajectoryPoint
from geometry_msgs.msg import PoseStamped, Pose
from tf.transformations import euler_from_quaternion, quaternion_from_euler
class MoveItPlanningDemo:
def __init__(self):
# API to initialize move_group,初始化move_group的API
moveit_commander.roscpp_initialize(sys.argv)
# Initialize the ROS node,初始化ROS节点
rospy.init_node("moveit_ik_demo")
# Initialize the scene object to monitor changes in the external environment
# 初始化场景对象，用来监听外部环境的变化
self.scene = moveit_commander.PlanningSceneInterface()
rospy.sleep(1)
# Initialize self.arm group in the robotic arm that needs to be controlled by move group
# 初始化需要使用move group控制的机械臂中的self.arm group
self.arm = moveit_commander.MoveGroupCommander("arm_group")
# Get the name of the terminal link,获取终端link的名称
self.end_effector_link = self.arm.get_end_effector_link()
# Set the reference coordinate system used for the target position
# 设置目标位置所使用的参考坐标系
self.reference_frame = "joint1"
self.arm.set_pose_reference_frame(self.reference_frame)
# Allow replanning when motion planning fails,当运动规划失败后，允许重新规划
self.arm.allow_replanning(True)
# Set the allowable error of position (unit: meter) and attitude (unit: radian)
# 设置位置(单位：米)和姿态（单位：弧度）的允许误差
self.arm.set_goal_position_tolerance(0.01)
self.arm.set_goal_orientation_tolerance(0.05)
def moving(self):
# # Control the robotic arm to return to the initialization position first
# 控制机械臂先回到初始化位置
self.arm.set_named_target("init_pose")
self.arm.go()
rospy.sleep(2)
# Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates,
# 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述，
# Pose is described by quaternion, based on base_link coordinate system
# 姿态使用四元数描述，基于base_link坐标系
target_pose = PoseStamped()
target_pose.header.frame_id = self.reference_frame
target_pose.header.stamp = rospy.Time.now()
target_pose.pose.position.x = 0.132
target_pose.pose.position.y = -0.150
target_pose.pose.position.z = 0.075
target_pose.pose.orientation.x = 0.026
target_pose.pose.orientation.y = 1.0
target_pose.pose.orientation.z = 0.0
target_pose.pose.orientation.w = 0.014
# Set the current state of the robot arm as the initial state of motion
# 设置机器臂当前的状态作为运动初始状态
self.arm.set_start_state_to_current_state()
# Set the target pose of the terminal motion of the robotic arm
# 设置机械臂终端运动的目标位姿
self.arm.set_pose_target(target_pose, self.end_effector_link)
# Plan the movement path,规划运动路径
traj = self.arm.plan()
# Control the motion of the robotic arm according to the planned motion path
# 按照规划的运动路径控制机械臂运动
self.arm.execute(traj)
rospy.sleep(1)
# Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy
# 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy
self.arm.shift_pose_target(1, 0.12, self.end_effector_link)
self.arm.go()
rospy.sleep(1)
self.arm.shift_pose_target(1, 0.1, self.end_effector_link)
self.arm.go()
rospy.sleep(1)
# Control the terminal of the robotic arm to rotate 90 degrees in the opposite direction. 0,1,2,3,4,5 represent xyzrpy
# 控制机械臂终端反向旋转90度 0,1,2,3,4,5 代表xyzrpy
# self.arm.shift_pose_target(3, -1.57, end_effector_link)
# self.arm.go()
# rospy.sleep(1)
def run(self):
self.scene.remove_world_object("suit")
# Run once without obstacles,没有障碍物运行一次
self.moving()
# Add environment,添加环境
quat = quaternion_from_euler(3.1415, 0, -1.57)
suit_post = PoseStamped()
suit_post.header.frame_id = self.reference_frame
suit_post.pose.position.x = 0.0
suit_post.pose.position.y = 0.0
suit_post.pose.position.z = -0.02
suit_post.pose.orientation.x = quat[0]
suit_post.pose.orientation.y = quat[1]
suit_post.pose.orientation.z = quat[2]
suit_post.pose.orientation.w = quat[3]
suit_path = (
roslib.packages.get_pkg_dir("mycobot_description")
+ "/urdf/mycobot/suit_env.dae"
)
# need `pyassimp==3.3`
self.scene.add_mesh("suit", suit_post, suit_path)
rospy.sleep(2)
# Run it again if there is an environmental impact,有环境影响后再运行一次
self.moving()
# close and exit moveit，关闭并退出moveit
moveit_commander.roscpp_shutdown()
moveit_commander.os._exit(0)
if __name__ == "__main__":
o = MoveItPlanningDemo()
o.run()

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