From 59e099d7ce89e4b1c21499601e239474df6e39d7 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Thu, 7 Apr 2022 17:15:40 +0800 Subject: [PATCH] delete remote directory mypalletizer_260_moveit --- mypalletizer_260_moveit/CMakeLists.txt | 22 -- mypalletizer_260_moveit/LICENSE | 25 -- .../config/chomp_planning.yaml | 18 -- .../config/fake_controllers.yaml | 10 - .../config/firefighter.srdf | 47 ---- .../config/joint_limits.yaml | 39 --- .../config/kinematics.yaml | 5 - .../config/ompl_planning.yaml | 150 ----------- .../config/ros_controllers.yaml | 27 -- .../config/sensors_3d.yaml | 10 - .../launch/chomp_planning_pipeline.launch.xml | 10 - .../launch/default_warehouse_db.launch | 15 -- mypalletizer_260_moveit/launch/demo.launch | 57 ---- .../launch/demo_gazebo.launch | 70 ----- .../fake_moveit_controller_manager.launch.xml | 9 - ...ghter_moveit_controller_manager.launch.xml | 10 - ...refighter_moveit_sensor_manager.launch.xml | 3 - mypalletizer_260_moveit/launch/gazebo.launch | 23 -- .../launch/joystick_control.launch | 17 -- .../launch/move_group.launch | 77 ------ mypalletizer_260_moveit/launch/moveit.rviz | 244 ------------------ .../launch/moveit_rviz.launch | 16 -- .../launch/mypal_moveit.launch | 57 ---- .../launch/ompl_planning_pipeline.launch.xml | 22 -- .../launch/planning_context.launch | 24 -- .../launch/planning_pipeline.launch.xml | 10 - .../launch/ros_controllers.launch | 11 - .../launch/run_benchmark_ompl.launch | 22 -- .../launch/sensor_manager.launch.xml | 17 -- .../launch/setup_assistant.launch | 15 -- .../launch/trajectory_execution.launch.xml | 20 -- .../launch/warehouse.launch | 15 -- .../launch/warehouse_settings.launch.xml | 16 -- mypalletizer_260_moveit/package.xml | 40 --- ...th_planning_and_obstacle_avoidance_demo.py | 132 ---------- mypalletizer_260_moveit/scripts/sync_plan.py | 41 --- 36 files changed, 1346 deletions(-) delete mode 100644 mypalletizer_260_moveit/CMakeLists.txt delete mode 100644 mypalletizer_260_moveit/LICENSE delete mode 100644 mypalletizer_260_moveit/config/chomp_planning.yaml delete mode 100644 mypalletizer_260_moveit/config/fake_controllers.yaml delete mode 100644 mypalletizer_260_moveit/config/firefighter.srdf delete mode 100644 mypalletizer_260_moveit/config/joint_limits.yaml delete mode 100644 mypalletizer_260_moveit/config/kinematics.yaml delete mode 100644 mypalletizer_260_moveit/config/ompl_planning.yaml delete mode 100644 mypalletizer_260_moveit/config/ros_controllers.yaml delete mode 100644 mypalletizer_260_moveit/config/sensors_3d.yaml delete mode 100644 mypalletizer_260_moveit/launch/chomp_planning_pipeline.launch.xml delete mode 100644 mypalletizer_260_moveit/launch/default_warehouse_db.launch delete mode 100644 mypalletizer_260_moveit/launch/demo.launch delete mode 100644 mypalletizer_260_moveit/launch/demo_gazebo.launch delete mode 100644 mypalletizer_260_moveit/launch/fake_moveit_controller_manager.launch.xml delete mode 100644 mypalletizer_260_moveit/launch/firefighter_moveit_controller_manager.launch.xml delete mode 100644 mypalletizer_260_moveit/launch/firefighter_moveit_sensor_manager.launch.xml delete mode 100644 mypalletizer_260_moveit/launch/gazebo.launch delete mode 100644 mypalletizer_260_moveit/launch/joystick_control.launch delete mode 100644 mypalletizer_260_moveit/launch/move_group.launch delete mode 100644 mypalletizer_260_moveit/launch/moveit.rviz delete mode 100644 mypalletizer_260_moveit/launch/moveit_rviz.launch delete mode 100644 mypalletizer_260_moveit/launch/mypal_moveit.launch delete mode 100644 mypalletizer_260_moveit/launch/ompl_planning_pipeline.launch.xml delete mode 100644 mypalletizer_260_moveit/launch/planning_context.launch delete mode 100644 mypalletizer_260_moveit/launch/planning_pipeline.launch.xml delete mode 100644 mypalletizer_260_moveit/launch/ros_controllers.launch delete mode 100644 mypalletizer_260_moveit/launch/run_benchmark_ompl.launch delete mode 100644 mypalletizer_260_moveit/launch/sensor_manager.launch.xml delete mode 100644 mypalletizer_260_moveit/launch/setup_assistant.launch delete mode 100644 mypalletizer_260_moveit/launch/trajectory_execution.launch.xml delete mode 100644 mypalletizer_260_moveit/launch/warehouse.launch delete mode 100644 mypalletizer_260_moveit/launch/warehouse_settings.launch.xml delete mode 100644 mypalletizer_260_moveit/package.xml delete mode 100644 mypalletizer_260_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py delete mode 100755 mypalletizer_260_moveit/scripts/sync_plan.py diff --git a/mypalletizer_260_moveit/CMakeLists.txt b/mypalletizer_260_moveit/CMakeLists.txt deleted file mode 100644 index 67ac15b..0000000 --- a/mypalletizer_260_moveit/CMakeLists.txt +++ /dev/null @@ -1,22 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(mypalletizer_260_moveit) - -find_package(catkin REQUIRED - rospy - std_msgs - moveit_msgs -) - -catkin_package() - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -catkin_install_python(PROGRAMS - scripts/sync_plan.py - scripts/path_planning_and_obstacle_avoidance_demo.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} - PATTERN "setup_assistant.launch" EXCLUDE) -install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/mypalletizer_260_moveit/LICENSE b/mypalletizer_260_moveit/LICENSE deleted file mode 100644 index b8468e6..0000000 --- a/mypalletizer_260_moveit/LICENSE +++ /dev/null @@ -1,25 +0,0 @@ -BSD 2-Clause License - -Copyright (c) 2020, Elephant Robotics -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/mypalletizer_260_moveit/config/chomp_planning.yaml b/mypalletizer_260_moveit/config/chomp_planning.yaml deleted file mode 100644 index 75258e5..0000000 --- a/mypalletizer_260_moveit/config/chomp_planning.yaml +++ /dev/null @@ -1,18 +0,0 @@ -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: 0.01 -use_pseudo_inverse: false -pseudo_inverse_ridge_factor: 1e-4 -joint_update_limit: 0.1 -collision_clearence: 0.2 -collision_threshold: 0.07 -use_stochastic_descent: true -enable_failure_recovery: true -max_recovery_attempts: 5 \ No newline at end of file diff --git a/mypalletizer_260_moveit/config/fake_controllers.yaml b/mypalletizer_260_moveit/config/fake_controllers.yaml deleted file mode 100644 index bb2abb5..0000000 --- a/mypalletizer_260_moveit/config/fake_controllers.yaml +++ /dev/null @@ -1,10 +0,0 @@ -controller_list: - - name: fake_arm_group_controller - joints: - - joint1_to_base - - joint2_to_joint1 - - joint3_to_joint2 - - joint4_to_joint3 - - joint5_to_joint4 - - # - joint6output_to_joint6 \ No newline at end of file diff --git a/mypalletizer_260_moveit/config/firefighter.srdf b/mypalletizer_260_moveit/config/firefighter.srdf deleted file mode 100644 index 9781c25..0000000 --- a/mypalletizer_260_moveit/config/firefighter.srdf +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/config/joint_limits.yaml b/mypalletizer_260_moveit/config/joint_limits.yaml deleted file mode 100644 index f51037d..0000000 --- a/mypalletizer_260_moveit/config/joint_limits.yaml +++ /dev/null @@ -1,39 +0,0 @@ -# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed -# 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: - joint1_to_base: - 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 \ No newline at end of file diff --git a/mypalletizer_260_moveit/config/kinematics.yaml b/mypalletizer_260_moveit/config/kinematics.yaml deleted file mode 100644 index 031b273..0000000 --- a/mypalletizer_260_moveit/config/kinematics.yaml +++ /dev/null @@ -1,5 +0,0 @@ -arm_group: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 - kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/mypalletizer_260_moveit/config/ompl_planning.yaml b/mypalletizer_260_moveit/config/ompl_planning.yaml deleted file mode 100644 index 3f4d0c2..0000000 --- a/mypalletizer_260_moveit/config/ompl_planning.yaml +++ /dev/null @@ -1,150 +0,0 @@ -planner_configs: - SBL: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - EST: - type: geometric::EST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LBKPIECE: - type: geometric::LBKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - BKPIECE: - type: geometric::BKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - KPIECE: - type: geometric::KPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - RRT: - type: geometric::RRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - RRTConnect: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstar: - type: geometric::RRTstar - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 - TRRT: - type: geometric::TRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - max_states_failed: 10 # when to start increasing temp. default: 10 - temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 - min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 - init_temperature: 10e-6 # initial temperature. default: 10e-6 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() - frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 - k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() - PRM: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstar: - type: geometric::PRMstar - FMT: - type: geometric::FMT - num_samples: 1000 # number of states that the planner should sample. default: 1000 - radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 - nearest_k: 1 # use Knearest strategy. default: 1 - cache_cc: 1 # use collision checking cache. default: 1 - heuristics: 0 # activate cost to go heuristics. default: 0 - extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 - BFMT: - type: geometric::BFMT - num_samples: 1000 # number of states that the planner should sample. default: 1000 - radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 - nearest_k: 1 # use the Knearest strategy. default: 1 - balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 - optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 - heuristics: 1 # activates cost to go heuristics. default: 1 - cache_cc: 1 # use the collision checking cache. default: 1 - extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 - PDST: - type: geometric::PDST - STRIDE: - type: geometric::STRIDE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 - degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 - max_degree: 18 # max degree of a node in the GNAT. default: 12 - min_degree: 12 # min degree of a node in the GNAT. default: 12 - max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 - estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 - min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 - BiTRRT: - type: geometric::BiTRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 - init_temperature: 100 # initial temperature. default: 100 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() - frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 - cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf - LBTRRT: - type: geometric::LBTRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - epsilon: 0.4 # optimality approximation factor. default: 0.4 - BiEST: - type: geometric::BiEST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ProjEST: - type: geometric::ProjEST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LazyPRM: - type: geometric::LazyPRM - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - LazyPRMstar: - type: geometric::LazyPRMstar - SPARS: - type: geometric::SPARS - stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 - sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 - dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 - max_failures: 1000 # maximum consecutive failure limit. default: 1000 - SPARStwo: - type: geometric::SPARStwo - stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 - sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 - dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 - max_failures: 5000 # maximum consecutive failure limit. default: 5000 -arm_group: - default_planner_config: None - planner_configs: - - SBL - - EST - - LBKPIECE - - BKPIECE - - KPIECE - - RRT - - RRTConnect - - RRTstar - - TRRT - - PRM - - PRMstar - - FMT - - BFMT - - PDST - - STRIDE - - BiTRRT - - LBTRRT - - BiEST - - ProjEST - - LazyPRM - - LazyPRMstar - - SPARS - - SPARStwo - projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2) - longest_valid_segment_fraction: 0.005 \ No newline at end of file diff --git a/mypalletizer_260_moveit/config/ros_controllers.yaml b/mypalletizer_260_moveit/config/ros_controllers.yaml deleted file mode 100644 index 86c9156..0000000 --- a/mypalletizer_260_moveit/config/ros_controllers.yaml +++ /dev/null @@ -1,27 +0,0 @@ -# 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: - joints: - - vitual_joint - - joint1_to_base - - 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: - [] \ No newline at end of file diff --git a/mypalletizer_260_moveit/config/sensors_3d.yaml b/mypalletizer_260_moveit/config/sensors_3d.yaml deleted file mode 100644 index a4bb13e..0000000 --- a/mypalletizer_260_moveit/config/sensors_3d.yaml +++ /dev/null @@ -1,10 +0,0 @@ -# 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 - 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 diff --git a/mypalletizer_260_moveit/launch/chomp_planning_pipeline.launch.xml b/mypalletizer_260_moveit/launch/chomp_planning_pipeline.launch.xml deleted file mode 100644 index 29cc7ab..0000000 --- a/mypalletizer_260_moveit/launch/chomp_planning_pipeline.launch.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/default_warehouse_db.launch b/mypalletizer_260_moveit/launch/default_warehouse_db.launch deleted file mode 100644 index 83d8e9d..0000000 --- a/mypalletizer_260_moveit/launch/default_warehouse_db.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/demo.launch b/mypalletizer_260_moveit/launch/demo.launch deleted file mode 100644 index ef13292..0000000 --- a/mypalletizer_260_moveit/launch/demo.launch +++ /dev/null @@ -1,57 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - [move_group/fake_controller_joint_states] - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/demo_gazebo.launch b/mypalletizer_260_moveit/launch/demo_gazebo.launch deleted file mode 100644 index 925bfa1..0000000 --- a/mypalletizer_260_moveit/launch/demo_gazebo.launch +++ /dev/null @@ -1,70 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [/joint_states] - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/fake_moveit_controller_manager.launch.xml b/mypalletizer_260_moveit/launch/fake_moveit_controller_manager.launch.xml deleted file mode 100644 index 9b5c686..0000000 --- a/mypalletizer_260_moveit/launch/fake_moveit_controller_manager.launch.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/firefighter_moveit_controller_manager.launch.xml b/mypalletizer_260_moveit/launch/firefighter_moveit_controller_manager.launch.xml deleted file mode 100644 index 7aad413..0000000 --- a/mypalletizer_260_moveit/launch/firefighter_moveit_controller_manager.launch.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/firefighter_moveit_sensor_manager.launch.xml b/mypalletizer_260_moveit/launch/firefighter_moveit_sensor_manager.launch.xml deleted file mode 100644 index 5d02698..0000000 --- a/mypalletizer_260_moveit/launch/firefighter_moveit_sensor_manager.launch.xml +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/mypalletizer_260_moveit/launch/gazebo.launch b/mypalletizer_260_moveit/launch/gazebo.launch deleted file mode 100644 index a34b0ad..0000000 --- a/mypalletizer_260_moveit/launch/gazebo.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/joystick_control.launch b/mypalletizer_260_moveit/launch/joystick_control.launch deleted file mode 100644 index 9411f6e..0000000 --- a/mypalletizer_260_moveit/launch/joystick_control.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/move_group.launch b/mypalletizer_260_moveit/launch/move_group.launch deleted file mode 100644 index 1638533..0000000 --- a/mypalletizer_260_moveit/launch/move_group.launch +++ /dev/null @@ -1,77 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/moveit.rviz b/mypalletizer_260_moveit/launch/moveit.rviz deleted file mode 100644 index fea68f1..0000000 --- a/mypalletizer_260_moveit/launch/moveit.rviz +++ /dev/null @@ -1,244 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 84 - Name: Displays - Property Tree Widget: - Expanded: - - /MotionPlanning1 - - /MotionPlanning1/Scene Geometry1 - - /MotionPlanning1/Scene Robot1 - - /MotionPlanning1/Planning Request1 - - /MotionPlanning1/Planned Path1 - Splitter Ratio: 0.742560029 - Tree Height: 325 - - Class: rviz/Help - Name: Help - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -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: 0.0299999993 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Acceleration_Scaling_Factor: 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_Goal_Tolerance: 0 - MoveIt_Planning_Attempts: 10 - MoveIt_Planning_Time: 5 - MoveIt_Use_Constraint_Aware_IK: true - MoveIt_Warehouse_Host: 127.0.0.1 - MoveIt_Warehouse_Port: 33829 - MoveIt_Workspace: - Center: - X: 0 - Y: 0 - Z: 0 - Size: - X: 2 - Y: 2 - Z: 2 - Name: MotionPlanning - Planned Path: - Color Enabled: false - Interrupt Display: false - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link5: - 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 - Planning Metrics: - Payload: 1 - Show Joint Torques: false - Show Manipulability: false - Show Manipulability Index: false - Show Weight Limit: false - TextHeight: 0.0799999982 - Planning Request: - Colliding Link Color: 255; 0; 0 - Goal State Alpha: 1 - Goal State Color: 250; 128; 0 - Interactive Marker Size: 0 - Joint Violation Color: 255; 0; 255 - Planning Group: mycobot_arm - Query Goal State: true - Query Start State: true - Show Workspace: false - Start State Alpha: 1 - Start State Color: 0; 255; 0 - Planning Scene Topic: move_group/monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 1 - Scene Color: 50; 230; 50 - Scene Display Time: 0.200000003 - Show Scene Geometry: true - Voxel Coloring: Z-Axis - Voxel Rendering: Occupied Voxels - Scene Robot: - Attached Body Color: 150; 50; 150 - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - - - Robot Alpha: 0.5 - Show Robot Collision: false - Show Robot Visual: false - Value: true - Velocity_Scaling_Factor: 1 - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: base - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - Value: true - Views: - Current: - Class: rviz/XYOrbit - Distance: 1.39158678 - Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.113567002 - Y: 0.105920002 - Z: 2.23518001e-07 - Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.439796686 - Target Frame: link1 - Value: XYOrbit (rviz) - Yaw: 2.5317657 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1028 - Help: - collapsed: false - Hide Left Dock: false - Hide Right Dock: false - MotionPlanning: - collapsed: false - MotionPlanning - Trajectory Slider: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000002ad000003befc0200000007fb000000100044006900730070006c0061007900730100000028000001da000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000002080000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002580000018e0000018300ffffff00000471000003be00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Views: - collapsed: false - Width: 1828 - X: 92 - Y: 24 diff --git a/mypalletizer_260_moveit/launch/moveit_rviz.launch b/mypalletizer_260_moveit/launch/moveit_rviz.launch deleted file mode 100644 index effca9d..0000000 --- a/mypalletizer_260_moveit/launch/moveit_rviz.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/mypal_moveit.launch b/mypalletizer_260_moveit/launch/mypal_moveit.launch deleted file mode 100644 index ef13292..0000000 --- a/mypalletizer_260_moveit/launch/mypal_moveit.launch +++ /dev/null @@ -1,57 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - [move_group/fake_controller_joint_states] - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/ompl_planning_pipeline.launch.xml b/mypalletizer_260_moveit/launch/ompl_planning_pipeline.launch.xml deleted file mode 100644 index 635cb70..0000000 --- a/mypalletizer_260_moveit/launch/ompl_planning_pipeline.launch.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/planning_context.launch b/mypalletizer_260_moveit/launch/planning_context.launch deleted file mode 100644 index 2598e0c..0000000 --- a/mypalletizer_260_moveit/launch/planning_context.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/planning_pipeline.launch.xml b/mypalletizer_260_moveit/launch/planning_pipeline.launch.xml deleted file mode 100644 index 3d1875c..0000000 --- a/mypalletizer_260_moveit/launch/planning_pipeline.launch.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/ros_controllers.launch b/mypalletizer_260_moveit/launch/ros_controllers.launch deleted file mode 100644 index 3bb4041..0000000 --- a/mypalletizer_260_moveit/launch/ros_controllers.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/run_benchmark_ompl.launch b/mypalletizer_260_moveit/launch/run_benchmark_ompl.launch deleted file mode 100644 index 799e778..0000000 --- a/mypalletizer_260_moveit/launch/run_benchmark_ompl.launch +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/sensor_manager.launch.xml b/mypalletizer_260_moveit/launch/sensor_manager.launch.xml deleted file mode 100644 index 922d5a6..0000000 --- a/mypalletizer_260_moveit/launch/sensor_manager.launch.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/setup_assistant.launch b/mypalletizer_260_moveit/launch/setup_assistant.launch deleted file mode 100644 index 8191e48..0000000 --- a/mypalletizer_260_moveit/launch/setup_assistant.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/trajectory_execution.launch.xml b/mypalletizer_260_moveit/launch/trajectory_execution.launch.xml deleted file mode 100644 index fca6d89..0000000 --- a/mypalletizer_260_moveit/launch/trajectory_execution.launch.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/warehouse.launch b/mypalletizer_260_moveit/launch/warehouse.launch deleted file mode 100644 index e3ce98a..0000000 --- a/mypalletizer_260_moveit/launch/warehouse.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/launch/warehouse_settings.launch.xml b/mypalletizer_260_moveit/launch/warehouse_settings.launch.xml deleted file mode 100644 index e473b08..0000000 --- a/mypalletizer_260_moveit/launch/warehouse_settings.launch.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/mypalletizer_260_moveit/package.xml b/mypalletizer_260_moveit/package.xml deleted file mode 100644 index 1564b22..0000000 --- a/mypalletizer_260_moveit/package.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - mypalletizer_260_moveit - 0.3.0 - - An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework - - zachary - zachary - - BSD - - http://moveit.ros.org/ - https://github.com/ros-planning/moveit/issues - https://github.com/ros-planning/moveit - - catkin - - moveit_ros_move_group - moveit_fake_controller_manager - moveit_kinematics - moveit_planners_ompl - moveit_ros_visualization - moveit_setup_assistant - joint_state_publisher - robot_state_publisher - xacro - - - roscpp - rospy - std_msgs - actionlib - moveit_msgs - mycobot_description - - mycobot_description - - - diff --git a/mypalletizer_260_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/mypalletizer_260_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py deleted file mode 100644 index 3584da0..0000000 --- a/mypalletizer_260_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py +++ /dev/null @@ -1,132 +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 listen for 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) - - 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 參数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 end of the robotic arm to rotate 90 degrees in reverse, 0,1,2,3,4,5 represents 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") - - self.moving() - - # Add the 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 again if there is 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() diff --git a/mypalletizer_260_moveit/scripts/sync_plan.py b/mypalletizer_260_moveit/scripts/sync_plan.py deleted file mode 100755 index 75d59d4..0000000 --- a/mypalletizer_260_moveit/scripts/sync_plan.py +++ /dev/null @@ -1,41 +0,0 @@ -#!/usr/bin/env python2 -import time -import rospy -from sensor_msgs.msg import JointState - -# from pymycobot.mycobot import MyCobot -from pymycobot.mypalletizer import MyPalletizer - - -mc = None - - -def callback(data): - rospy.loginfo(rospy.get_caller_id() + "%s", data) - data_list = [] - for index, value in enumerate(data.position): - # if index != 2: - # value *= -1 - data_list.append(value) - # print("data_list:",data_list) - mc.send_radians(data_list, 80) - - -def listener(): - global mc - rospy.init_node("mypal_reciver", anonymous=True) - - port = rospy.get_param("~port", "/dev/ttyUSB0") - baud = rospy.get_param("~baud", 115200) - print(port, baud) - mc = MyPalletizer(port, baud) - - rospy.Subscriber("joint_states", JointState, callback) - - # spin() simply keeps python from exiting until this node is stopped - # spin()只是阻止python退出，直到该节点停止 - rospy.spin() - - -if __name__ == "__main__": - listener()