diff --git a/myArm/myarm_moveit/.setup_assistant b/myArm/myarm_moveit/.setup_assistant index db6fa2b..680d675 100644 --- a/myArm/myarm_moveit/.setup_assistant +++ b/myArm/myarm_moveit/.setup_assistant @@ -8,4 +8,4 @@ moveit_setup_assistant_config: CONFIG: author_name: zachary author_email: lijun.zhang@elephantrobotics.com - generated_timestamp: 1686548761 \ No newline at end of file + generated_timestamp: 1687147323 \ No newline at end of file diff --git a/myArm/myarm_moveit/config/kinematics.yaml b/myArm/myarm_moveit/config/kinematics.yaml index 299808f..2f06d6e 100644 --- a/myArm/myarm_moveit/config/kinematics.yaml +++ b/myArm/myarm_moveit/config/kinematics.yaml @@ -1,4 +1,7 @@ arm_group: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 \ No newline at end of file + kinematics_solver_timeout: 0.005 + goal_joint_tolerance: 0.0001 + goal_position_tolerance: 0.0001 + goal_orientation_tolerance: 0.001 \ No newline at end of file diff --git a/myArm/myarm_moveit/config/ompl_planning.yaml b/myArm/myarm_moveit/config/ompl_planning.yaml index f0ea23f..1387e59 100644 --- a/myArm/myarm_moveit/config/ompl_planning.yaml +++ b/myArm/myarm_moveit/config/ompl_planning.yaml @@ -127,6 +127,43 @@ 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: RRTConnect planner_configs: @@ -154,5 +191,8 @@ arm_group: - LazyPRMstar - SPARS - SPARStwo + - AITstar + - ABITstar + - BITstar projection_evaluator: joints(joint1_to_base,joint2_to_joint1) longest_valid_segment_fraction: 0.005 diff --git a/myArm/myarm_moveit/config/sensors_3d.yaml b/myArm/myarm_moveit/config/sensors_3d.yaml index 01538cc..51010a3 100644 --- a/myArm/myarm_moveit/config/sensors_3d.yaml +++ b/myArm/myarm_moveit/config/sensors_3d.yaml @@ -1,9 +1,2 @@ sensors: - - filtered_cloud_topic: filtered_cloud - max_range: 5.0 - max_update_rate: 1.0 - padding_offset: 0.1 - padding_scale: 1.0 - point_cloud_topic: /head_mount_kinect/depth_registered/points - point_subsample: 1 - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater \ No newline at end of file + [] \ No newline at end of file diff --git a/myArm/myarm_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/myArm/myarm_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py index cd4024d..56dfe12 100755 --- a/myArm/myarm_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py +++ b/myArm/myarm_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 # -*- coding: utf-8 -*- import rospy, roslib, sys @@ -32,7 +32,7 @@ class MoveItPlanningDemo: # 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.reference_frame = "base" 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 @@ -72,10 +72,9 @@ class MoveItPlanningDemo: # 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() - + print('traj:', traj) # 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) diff --git a/mycobot_description/urdf/myarm/myarm_urdf.urdf b/mycobot_description/urdf/myarm/myarm_urdf.urdf index 9d7a756..ff4fd77 100644 --- a/mycobot_description/urdf/myarm/myarm_urdf.urdf +++ b/mycobot_description/urdf/myarm/myarm_urdf.urdf @@ -30,7 +30,7 @@ - + @@ -59,10 +59,9 @@ - - + @@ -78,7 +77,7 @@ - + @@ -96,7 +95,7 @@ - + @@ -131,7 +130,7 @@ - + @@ -139,7 +138,7 @@ - + @@ -157,7 +156,7 @@ - + @@ -176,7 +175,7 @@ - + @@ -193,7 +192,7 @@ - +