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update myarm_moveit setup_V20230628

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wangWking 2023-06-27 19:22:04 +08:00
parent 58fc23276b
commit 7063aa9308
4 changed files with 20 additions and 14 deletions
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2
myArm/myarm_moveit/.setup_assistant
View file

@ -8,4 +8,4 @@ moveit_setup_assistant_config:
CONFIG:
author_name: zachary
author_email: lijun.zhang@elephantrobotics.com
generated_timestamp: 1687147323
generated_timestamp: 1687660389

9
myArm/myarm_moveit/config/firefighter.srdf
View file

@ -10,7 +10,14 @@
<!--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">
<chain base_link="base" tip_link="joint7"/>
<!-- <joint name="vitual_joint"/> -->
<joint name="joint1_to_base"/>
<joint name="joint2_to_joint1"/>
<joint name="joint3_to_joint2"/>
<joint name="joint4_to_joint3"/>
<joint name="joint5_to_joint4"/>
<joint name="joint6_to_joint5"/>
<joint name="joint7_to_joint6"/>
</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">

3
myArm/myarm_moveit/config/ompl_planning.yaml
View file

@ -165,7 +165,6 @@ planner_configs:
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:
- AnytimePathShortening
- SBL
@ -194,5 +193,3 @@ arm_group:
- AITstar
- ABITstar
- BITstar
projection_evaluator: joints(joint1_to_base,joint2_to_joint1)
longest_valid_segment_fraction: 0.005

20
myArm/myarm_moveit/launch/moveit.rviz
View file

@ -5,9 +5,11 @@ Panels:
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planning Metrics1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.5
Tree Height: 155
Tree Height: 215
- Class: rviz/Help
Name: Help
- Class: rviz/Views
@ -44,7 +46,7 @@ Visualization Manager:
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
@ -111,10 +113,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Loop Animation: true
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Collision: true
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
@ -136,7 +138,7 @@ Visualization Manager:
Joint Violation Color: 255; 0; 255
Planning Group: arm_group
Query Goal State: true
Query Start State: false
Query Start State: true
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
@ -218,7 +220,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 1.7599999904632568
Distance: 2
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
@ -234,9 +236,9 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.44000014662742615
Pitch: 0.5
Target Frame: base
Yaw: 2.44994854927063
Yaw: -0.6232355833053589
Saved: ~
Window Geometry:
Displays:
@ -250,7 +252,7 @@ Window Geometry:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d0000012c000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072010000016f000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017d0000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000168000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ab000001880000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1291