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update mira_moveit

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weijian 2022-09-07 11:12:03 +08:00
parent 01862d3658
commit d2797510cd
41 changed files with 433 additions and 330 deletions
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11
Mira/mira_moveit/.setup_assistant Normal file
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@ -0,0 +1,11 @@
moveit_setup_assistant_config:
URDF:
package: mycobot_description
relative_path: urdf/mira_urdf/mira.urdf
xacro_args: ""
SRDF:
relative_path: config/firefighter.srdf
CONFIG:
author_name: weijian.wang
author_email: weijian.wang@elephanticrobots.com
generated_timestamp: 1662518830

2
Mira/mira_moveit/CMakeLists.txt
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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 2.8.3) cmake_minimum_required(VERSION 3.1.3)
project(mira_moveit) project(mira_moveit)
find_package(catkin REQUIRED find_package(catkin REQUIRED

25
Mira/mira_moveit/LICENSE
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@ -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.

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

8
Mira/mira_moveit/config/fake_controllers.yaml
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@ -1,10 +1,10 @@
controller_list: controller_list:
- name: fake_arm_group_controller - name: fake_arm_group_controller
type: $(arg fake_execution_type)
joints: joints:
- joint1_to_base - joint1_to_base
- joint2_to_joint1 - joint2_to_joint1
- joint3_to_joint2 - joint3_to_joint2
# - joint4_to_joint3 initial: # Define initial robot poses per group
# - joint5_to_joint4 - group: arm_group
pose: init_pose
# - joint6output_to_joint6

24
Mira/mira_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 does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure. 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 A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
@ -10,38 +10,20 @@
<!--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--> <!--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--> <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="arm_group"> <group name="arm_group">
<joint name="joint1_to_base" /> <chain base_link="base" tip_link="link3"/>
<joint name="joint2_to_joint1" />
<joint name="joint3_to_joint2" />
<!-- <joint name="joint4_to_joint3" /> -->
<!-- <joint name="joint5_to_joint4" /> -->
<!-- <joint name="joint6output_to_joint6" /> -->
</group> </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 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"> <group_state name="init_pose" group="arm_group">
<joint name="joint1_to_base" value="0"/> <joint name="joint1_to_base" value="0"/>
<joint name="joint2_to_joint1" value="0"/> <joint name="joint2_to_joint1" value="0"/>
<joint name="joint3_to_joint2" value="0"/> <joint name="joint3_to_joint2" value="0"/>
<!-- <joint name="joint4_to_joint3" value="0" /> -->
<!-- <joint name="joint5_to_joint4" value="0" /> -->
<!-- <joint name="joint6_to_joint5" value="0" />
<joint name="joint6output_to_joint6" value="0" /> -->
</group_state> </group_state>
<!--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: 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="virtual_joint" type="fixed" parent_frame="basic" child_link="base"/>
<virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="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: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base" link2="link1" reason="Adjacent"/> <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
<disable_collisions link1="base" link2="link3" reason="Never"/> <disable_collisions link1="base" link2="link3" reason="Never"/>
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/> <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link3" reason="Never"/> <disable_collisions link1="link1" link2="link3" reason="Never"/>
<disable_collisions link1="link2" link2="link3" reason="Adjacent"/> <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
<!-- <disable_collisions link1="link2" link2="link5" reason="Never" /> -->
<!-- <disable_collisions link1="link3" link2="link4" reason="Adjacent" /> -->
<!-- <disable_collisions link1="link3" link2="link5" reason="Never" /> -->
<!-- <disable_collisions link1="link4" link2="link5" reason="Adjacent" /> -->
<!-- <disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent" /> -->
</robot> </robot>

4
Mira/mira_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

26
Mira/mira_moveit/config/joint_limits.yaml
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@ -1,4 +1,10 @@
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # 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] # 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 can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits: joint_limits:
@ -17,23 +23,3 @@ joint_limits:
max_velocity: 0 max_velocity: 0
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 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

1
Mira/mira_moveit/config/kinematics.yaml
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@ -2,4 +2,3 @@ arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005 kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005 kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3

12
Mira/mira_moveit/config/ompl_planning.yaml
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@ -1,4 +1,11 @@
planner_configs: 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: SBL:
type: geometric::SBL type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
@ -121,8 +128,9 @@ planner_configs:
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000 max_failures: 5000 # maximum consecutive failure limit. default: 5000
arm_group: arm_group:
default_planner_config: RRT default_planner_config: RRTConnect
planner_configs: planner_configs:
- AnytimePathShortening
- SBL - SBL
- EST - EST
- LBKPIECE - LBKPIECE
@ -146,5 +154,5 @@ arm_group:
- LazyPRMstar - LazyPRMstar
- SPARS - SPARS
- SPARStwo - SPARStwo
projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2) projection_evaluator: joints(joint1_to_base,joint2_to_joint1)
longest_valid_segment_fraction: 0.005 longest_valid_segment_fraction: 0.005

41
Mira/mira_moveit/config/ros_controllers.yaml
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@ -1,27 +1,22 @@
# Simulation settings for using moveit_sim_controllers arm_group_controller:
moveit_sim_hw_interface: type: effort_controllers/JointTrajectoryController
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: joints:
- vitual_joint
- joint1_to_base - joint1_to_base
- joint2_to_joint1 - joint2_to_joint1
- joint3_to_joint2 - joint3_to_joint2
# - joint4_to_joint3 gains:
# - joint5_to_joint4 joint1_to_base:
# - joint6_to_joint5 p: 100
# - joint6output_to_joint6 d: 1
sim_control_mode: 1 # 0: position, 1: velocity i: 1
# Publish all joint states i_clamp: 1
# Creates the /joint_states topic necessary in ROS joint2_to_joint1:
joint_state_controller: p: 100
type: joint_state_controller/JointStateController d: 1
publish_rate: 50 i: 1
controller_list: i_clamp: 1
[] joint3_to_joint2:
p: 100
d: 1
i: 1
i_clamp: 1

1
Mira/mira_moveit/config/sensors_3d.yaml
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@ -1,4 +1,3 @@
# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
sensors: sensors:
- filtered_cloud_topic: filtered_cloud - filtered_cloud_topic: filtered_cloud
max_range: 5.0 max_range: 5.0

9
Mira/mira_moveit/config/simple_moveit_controllers.yaml Normal file
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@ -0,0 +1,9 @@
controller_list:
- name: arm_group_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- joint1_to_base
- joint2_to_joint1
- joint3_to_joint2

39
Mira/mira_moveit/config/stomp_planning.yaml Normal file
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@ -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]
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

21
Mira/mira_moveit/launch/chomp_planning_pipeline.launch.xml
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@ -1,10 +1,23 @@
<launch> <launch>
<!-- CHOMP Plugin for MoveIt! --> <arg name="start_state_max_bounds_error" default="0.1" />
<arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" /> <arg name="jiggle_fraction" default="0.05" />
<arg name="start_state_max_bounds_error" value="0.1" /> <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<param name="planning_plugin" value="$(arg planning_plugin)" /> <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find mira_moveit)/config/chomp_planning.yaml" /> <rosparam command="load" file="$(find mira_moveit)/config/chomp_planning.yaml" />
</launch> </launch>

2
Mira/mira_moveit/launch/default_warehouse_db.launch
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@ -5,7 +5,7 @@
<arg name="moveit_warehouse_database_path" default="$(find mira_moveit)/default_warehouse_mongo_db" /> <arg name="moveit_warehouse_database_path" default="$(find mira_moveit)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location --> <!-- Launch the warehouse with the configured database location -->
<include file="$(find mira_moveit)/launch/warehouse.launch"> <include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" /> <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include> </include>

54
Mira/mira_moveit/launch/demo.launch
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@ -1,5 +1,8 @@
<launch> <launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) --> <!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" /> <arg name="db" default="false" />
<!-- Allow user to specify database location --> <!-- Allow user to specify database location -->
@ -8,49 +11,58 @@
<!-- By default, we are not in debug mode --> <!-- By default, we are not in debug mode -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<!-- <!-- By default, we will load or override the robot_description -->
By default, hide joint_state_publisher's GUI <arg name="load_robot_description" default="true"/>
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher. <!-- Choose controller manager: fake, simple, or ros_control -->
The latter one maintains and publishes the current joint configuration of the simulated robot. <arg name="moveit_controller_manager" default="fake" />
It also provides a GUI to move the simulated robot around "manually". <!-- Set execution mode for fake execution controllers -->
This corresponds to moving around the real robot without the use of MoveIt. <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_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find mira_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root --> <!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic base" />
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> <group if="$(eval arg('moveit_controller_manager') == 'fake')">
<param name="use_gui" value="$(arg use_gui)"/> <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(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="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node> </node>
<!-- Given the published joint states, publish tf for the robot links --> <!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" /> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) --> <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find mira_moveit)/launch/move_group.launch"> <include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/> <arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/> <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/> <arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include> </include>
<!-- Run Rviz and load the default config to see the state of the move_group node --> <!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find mira_moveit)/launch/moveit_rviz.launch"> <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="config" value="true"/> <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
</include> </include>
<!-- If database loading was enabled, start mongodb as well --> <!-- If database loading was enabled, start mongodb as well -->
<include file="$(find mira_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)"/> <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include> </include>

61
Mira/mira_moveit/launch/demo_gazebo.launch
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@ -1,70 +1,21 @@
<launch> <launch>
<!-- By default, we do not start a database (it can be large) --> <!-- specify the planning pipeline -->
<arg name="db" default="false" /> <arg name="pipeline" default="ompl" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find mira_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Gazebo specific options --> <!-- Gazebo specific options -->
<arg name="gazebo_gui" default="true"/> <arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/> <arg name="paused" default="false"/>
<!-- By default, use the urdf location provided from the package -->
<arg name="urdf_path" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
<!-- launch the gazebo simulator and spawn the robot --> <!-- launch the gazebo simulator and spawn the robot -->
<include file="$(find mira_moveit)/launch/gazebo.launch" > <include file="$(dirname)/gazebo.launch" >
<arg name="paused" value="$(arg paused)"/> <arg name="paused" value="$(arg paused)"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/> <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
<arg name="urdf_path" value="$(arg urdf_path)"/>
</include> </include>
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server --> <include file="$(dirname)/demo.launch" pass_all_args="true">
<include file="$(find mira_moveit)/launch/planning_context.launch"> <!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
<arg name="load_robot_description" value="false" /> <arg name="load_robot_description" value="false" />
<arg name="moveit_controller_manager" value="ros_control" />
</include> </include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(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="$(find mira_moveit)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="false"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find mira_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find mira_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch> </launch>

5
Mira/mira_moveit/launch/fake_moveit_controller_manager.launch.xml
View file

@ -1,9 +1,12 @@
<launch> <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 --> <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/> <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin --> <!-- The rest of the params are specific to this plugin -->
<rosparam file="$(find mira_moveit)/config/fake_controllers.yaml"/> <rosparam subst_value="true" file="$(find mira_moveit)/config/fake_controllers.yaml"/>
</launch> </launch>

10
Mira/mira_moveit/launch/firefighter_moveit_controller_manager.launch.xml
View file

@ -1,10 +0,0 @@
<launch>
<!-- loads moveit_controller_manager on the parameter server which is taken as argument
if no argument is passed, moveit_simple_controller_manager will be set -->
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<!-- loads ros_controllers to the param server -->
<rosparam file="$(find mira_moveit)/config/ros_controllers.yaml"/>
</launch>

19
Mira/mira_moveit/launch/gazebo.launch
View file

@ -2,22 +2,31 @@
<launch> <launch>
<arg name="paused" default="false"/> <arg name="paused" default="false"/>
<arg name="gazebo_gui" default="true"/> <arg name="gazebo_gui" default="true"/>
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mira_urdf/mira.urdf"/> <arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
default=" -J joint1_to_base 0 -J joint2_to_joint1 0 -J joint3_to_joint2 0"/>
<!-- startup simulated world --> <!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch"> <include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/> <arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/> <arg name="paused" value="true"/>
<arg name="gui" value="$(arg gazebo_gui)"/> <arg name="gui" value="$(arg gazebo_gui)"/>
</include> </include>
<!-- send robot urdf to param server --> <!-- send robot urdf to param server -->
<param name="robot_description" textfile="$(arg urdf_path)" /> <param name="robot_description" textfile="$(find mycobot_description)/urdf/mira_urdf/mira.urdf" />
<!-- unpause only after loading robot model -->
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position --> <!-- 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" <arg name="world_pose" value="-x 0 -y 0 -z 0" />
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
respawn="false" output="screen" /> respawn="false" output="screen" />
<include file="$(find mira_moveit)/launch/ros_controllers.launch"/> <!-- Load joint controller parameters for Gazebo -->
<rosparam file="$(find mira_moveit)/config/gazebo_controllers.yaml" />
<!-- Spawn Gazebo ROS controllers -->
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
<!-- Load ROS controllers -->
<include file="$(dirname)/ros_controllers.launch"/>
</launch> </launch>

54
Mira/mira_moveit/launch/mira_moveit.launch
View file

@ -1,5 +1,8 @@
<launch> <launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) --> <!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" /> <arg name="db" default="false" />
<!-- Allow user to specify database location --> <!-- Allow user to specify database location -->
@ -8,49 +11,58 @@
<!-- By default, we are not in debug mode --> <!-- By default, we are not in debug mode -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<!-- <!-- By default, we will load or override the robot_description -->
By default, hide joint_state_publisher's GUI <arg name="load_robot_description" default="true"/>
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher. <!-- Choose controller manager: fake, simple, or ros_control -->
The latter one maintains and publishes the current joint configuration of the simulated robot. <arg name="moveit_controller_manager" default="fake" />
It also provides a GUI to move the simulated robot around "manually". <!-- Set execution mode for fake execution controllers -->
This corresponds to moving around the real robot without the use of MoveIt. <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_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find mira_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root --> <!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic base" />
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> <group if="$(eval arg('moveit_controller_manager') == 'fake')">
<param name="use_gui" value="$(arg use_gui)"/> <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(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="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node> </node>
<!-- Given the published joint states, publish tf for the robot links --> <!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" /> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) --> <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find mira_moveit)/launch/move_group.launch"> <include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/> <arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/> <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/> <arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include> </include>
<!-- Run Rviz and load the default config to see the state of the move_group node --> <!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find mira_moveit)/launch/moveit_rviz.launch"> <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="config" value="true"/> <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/> <arg name="debug" value="$(arg debug)"/>
</include> </include>
<!-- If database loading was enabled, start mongodb as well --> <!-- If database loading was enabled, start mongodb as well -->
<include file="$(find mira_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)"/> <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include> </include>

52
Mira/mira_moveit/launch/move_group.launch
View file

@ -1,12 +1,10 @@
<launch> <launch>
<include file="$(find mira_moveit)/launch/planning_context.launch" />
<!-- GDB Debug Option --> <!-- GDB Debug Option -->
<arg name="debug" default="false" /> <arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" /> <arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" <arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(find mira_moveit)/launch/gdb_settings.gdb --ex run --args" /> value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option --> <!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" /> <arg name="info" default="$(arg debug)" />
@ -14,10 +12,11 @@
<arg if="$(arg info)" name="command_args" value="--debug" /> <arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings --> <!-- move_group settings -->
<arg name="pipeline" default="ompl" />
<arg name="allow_trajectory_execution" default="true"/> <arg name="allow_trajectory_execution" default="true"/>
<arg name="fake_execution" default="false"/> <arg name="moveit_controller_manager" default="simple" />
<arg name="fake_execution_type" default="interpolate"/>
<arg name="max_safe_path_cost" default="1"/> <arg name="max_safe_path_cost" default="1"/>
<arg name="jiggle_fraction" default="0.05" />
<arg name="publish_monitored_planning_scene" default="true"/> <arg name="publish_monitored_planning_scene" default="true"/>
<arg name="capabilities" default=""/> <arg name="capabilities" default=""/>
@ -38,20 +37,46 @@
" /> " />
--> -->
<!-- Planning Functionality --> <arg name="load_robot_description" default="false" />
<include ns="move_group" file="$(find mira_moveit)/launch/planning_pipeline.launch.xml"> <!-- 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="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" /> <arg name="pipeline" value="ompl" />
</include> </include>
<!-- CHOMP -->
<include file="$(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 --> <!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(find mira_moveit)/launch/trajectory_execution.launch.xml" if="$(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_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/> <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/> <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
</include> </include>
<!-- Sensors Functionality --> <!-- Sensors Functionality -->
<include ns="move_group" file="$(find mira_moveit)/launch/sensor_manager.launch.xml" if="$(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" /> <arg name="moveit_sensor_manager" value="firefighter" />
</include> </include>
@ -61,12 +86,11 @@
<env name="DISPLAY" value="$(optenv DISPLAY :0)" /> <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/> <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/> <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" /> <param name="default_planning_pipeline" value="$(arg pipeline)" />
<param name="capabilities" value="$(arg capabilities)" /> <param name="capabilities" value="$(arg capabilities)" />
<param name="disable_capabilities" value="$(arg disable_capabilities)" /> <param name="disable_capabilities" value="$(arg disable_capabilities)" />
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot --> <!-- 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="$(arg publish_monitored_planning_scene)" /> <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" /> <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />

51
Mira/mira_moveit/launch/moveit.rviz
View file

@ -1,17 +1,14 @@
Panels: Panels:
- Class: rviz/Displays - Class: rviz/Displays
Help Height: 70 Help Height: 84
Name: Displays Name: Displays
Property Tree Widget: Property Tree Widget:
Expanded: Expanded:
- /MotionPlanning1 - /MotionPlanning1
- /MotionPlanning1/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planning Metrics1
- /MotionPlanning1/Planned Path1 - /MotionPlanning1/Planned Path1
Splitter Ratio: 0.7425600290298462 - /MotionPlanning1/Planned Path1/Links1
Tree Height: 186 Splitter Ratio: 0.5
Tree Height: 215
- Class: rviz/Help - Class: rviz/Help
Name: Help Name: Help
- Class: rviz/Views - Class: rviz/Views
@ -44,7 +41,7 @@ Visualization Manager:
Plane Cell Count: 10 Plane Cell Count: 10
Reference Frame: <Fixed Frame> Reference Frame: <Fixed Frame>
Value: true Value: true
- Acceleration_Scaling_Factor: 1 - Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning Class: moveit_rviz_plugin/MotionPlanning
Enabled: true Enabled: true
Move Group Namespace: "" Move Group Namespace: ""
@ -98,7 +95,7 @@ Visualization Manager:
Loop Animation: false Loop Animation: false
Robot Alpha: 0.5 Robot Alpha: 0.5
Robot Color: 150; 50; 150 Robot Color: 150; 50; 150
Show Robot Collision: false Show Robot Collision: true
Show Robot Visual: true Show Robot Visual: true
Show Trail: false Show Trail: false
State Display Time: 0.05 s State Display Time: 0.05 s
@ -116,11 +113,11 @@ Visualization Manager:
Colliding Link Color: 255; 0; 0 Colliding Link Color: 255; 0; 0
Goal State Alpha: 1 Goal State Alpha: 1
Goal State Color: 250; 128; 0 Goal State Color: 250; 128; 0
Interactive Marker Size: 0.07999999821186066 Interactive Marker Size: 0.10000000149011612
Joint Violation Color: 255; 0; 255 Joint Violation Color: 255; 0; 255
Planning Group: arm_group Planning Group: arm_group
Query Goal State: true Query Goal State: true
Query Start State: true Query Start State: false
Show Workspace: false Show Workspace: false
Start State Alpha: 1 Start State Alpha: 1
Start State Color: 0; 255; 0 Start State Color: 0; 255; 0
@ -129,7 +126,7 @@ Visualization Manager:
Scene Geometry: Scene Geometry:
Scene Alpha: 1 Scene Alpha: 1
Scene Color: 50; 230; 50 Scene Color: 50; 230; 50
Scene Display Time: 0.20000000298023224 Scene Display Time: 0.009999999776482582
Show Scene Geometry: true Show Scene Geometry: true
Voxel Coloring: Z-Axis Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels Voxel Rendering: Occupied Voxels
@ -163,9 +160,9 @@ Visualization Manager:
Value: true Value: true
Robot Alpha: 0.5 Robot Alpha: 0.5
Show Robot Collision: false Show Robot Collision: false
Show Robot Visual: false Show Robot Visual: true
Value: true Value: true
Velocity_Scaling_Factor: 1 Velocity_Scaling_Factor: 0.1
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
@ -181,31 +178,31 @@ Visualization Manager:
Value: true Value: true
Views: Views:
Current: Current:
Class: rviz/XYOrbit Class: rviz/Orbit
Distance: 1.3915867805480957 Distance: 2
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Field of View: 0.7853981852531433 Field of View: 0.75
Focal Point: Focal Point:
X: 0.11356700211763382 X: -0.10000000149011612
Y: 0.10592000186443329 Y: 0.25
Z: 2.2351800055275817e-07 Z: 0.30000001192092896
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.08979679644107819 Pitch: 0.1249999925494194
Target Frame: link1 Target Frame: base
Yaw: 2.2435832023620605 Yaw: 2.0417633056640625
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 876 Height: 848
Help: Help:
collapsed: false collapsed: false
Hide Left Dock: false Hide Left Dock: false
@ -214,9 +211,9 @@ Window Geometry:
collapsed: false collapsed: false
MotionPlanning - Trajectory Slider: MotionPlanning - Trajectory Slider:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f300000312fc0200000007fb000000100044006900730070006c006100790073010000003d0000013d000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000180000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001c7000001880000017d00ffffff0000053f0000031200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000168000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ab000001880000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views: Views:
collapsed: false collapsed: false
Width: 1848 Width: 1291
X: 72 X: 454
Y: 27 Y: 27

7
Mira/mira_moveit/launch/moveit_rviz.launch
View file

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

19
Mira/mira_moveit/launch/ompl-chomp_planning_pipeline.launch.xml Normal file
View file

@ -0,0 +1,19 @@
<launch>
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
<include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
<arg name="planning_adapters" value="
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
chomp/OptimizerAdapter"
/>
</include>
<!-- load chomp config -->
<rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
<param name="trajectory_initialization_method" value="fillTrajectory"/>
</launch>

22
Mira/mira_moveit/launch/ompl_planning_pipeline.launch.xml
View file

@ -1,21 +1,25 @@
<launch> <launch>
<!-- OMPL Plugin for MoveIt! --> <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" /> <arg name="planning_adapters"
default="default_planner_request_adapters/AddTimeParameterization
<!-- The request adapters (plugins) used when planning with OMPL. default_planner_request_adapters/ResolveConstraintFrames
ORDER MATTERS -->
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision 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="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find mira_moveit)/config/ompl_planning.yaml"/> <rosparam command="load" file="$(find mira_moveit)/config/ompl_planning.yaml"/>

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

2
Mira/mira_moveit/launch/planning_pipeline.launch.xml
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@ -5,6 +5,6 @@
<arg name="pipeline" default="ompl" /> <arg name="pipeline" default="ompl" />
<include file="$(find mira_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" /> <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch> </launch>

4
Mira/mira_moveit/launch/ros_control_moveit_controller_manager.launch.xml Normal file
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@ -0,0 +1,4 @@
<launch>
<!-- Define MoveIt controller manager plugin -->
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
</launch>

2
Mira/mira_moveit/launch/ros_controllers.launch
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@ -6,6 +6,6 @@
<!-- Load the controllers --> <!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args=""/> output="screen" args="arm_group_controller "/>
</launch> </launch>

5
Mira/mira_moveit/launch/run_benchmark_ompl.launch
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@ -4,18 +4,17 @@
<arg name="cfg" /> <arg name="cfg" />
<!-- Load URDF --> <!-- Load URDF -->
<include file="$(find mira_moveit)/launch/planning_context.launch"> <include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="true"/> <arg name="load_robot_description" value="true"/>
</include> </include>
<!-- Start the database --> <!-- Start the database -->
<include file="$(find mira_moveit)/launch/warehouse.launch"> <include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/> <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include> </include>
<!-- Start Benchmark Executable --> <!-- 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"> <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="$(find mira_moveit)/config/kinematics.yaml"/>
<rosparam command="load" file="$(find mira_moveit)/config/ompl_planning.yaml"/> <rosparam command="load" file="$(find mira_moveit)/config/ompl_planning.yaml"/>
</node> </node>

2
Mira/mira_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 --> <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="firefighter" /> <arg name="moveit_sensor_manager" default="firefighter" />
<include file="$(find mira_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" /> <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch> </launch>

3
Mira/mira_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> <launch>
<!-- Debug Info --> <!-- Debug Info -->
@ -10,6 +10,7 @@
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=mira_moveit" args="--config_pkg=mira_moveit"
launch-prefix="$(arg launch_prefix)" launch-prefix="$(arg launch_prefix)"
required="true"
output="screen" /> output="screen" />
</launch> </launch>

8
Mira/mira_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="$(find mira_moveit)/config/simple_moveit_controllers.yaml" />
<rosparam file="$(find mira_moveit)/config/ros_controllers.yaml" />
</launch>

25
Mira/mira_moveit/launch/stomp_planning_pipeline.launch.xml Normal file
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@ -0,0 +1,25 @@
<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/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)" />
<!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find mira_moveit)/config/stomp_planning.yaml"/>
</launch>

13
Mira/mira_moveit/launch/trajectory_execution.launch.xml
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@ -1,8 +1,11 @@
<launch> <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"/> <arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/> <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
@ -13,8 +16,8 @@
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state --> <!-- 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 --> <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 --> <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
<arg name="moveit_controller_manager" default="firefighter" /> 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="$(find mira_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" /> <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
</launch> </launch>

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

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Mira/mira_moveit/package.xml
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@ -3,10 +3,10 @@
<name>mira_moveit</name> <name>mira_moveit</name>
<version>0.3.0</version> <version>0.3.0</version>
<description> <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> </description>
<author email="lijun.zhang@elephantrobotics.com">zachary</author> <author email="weijian.wang@elephanticrobots.com">weijian.wang</author>
<maintainer email="lijun.zhang@elephantrobotics.com">zachary</maintainer> <maintainer email="weijian.wang@elephanticrobots.com">weijian.wang</maintainer>
<license>BSD</license> <license>BSD</license>
@ -22,18 +22,19 @@
<run_depend>moveit_planners_ompl</run_depend> <run_depend>moveit_planners_ompl</run_depend>
<run_depend>moveit_ros_visualization</run_depend> <run_depend>moveit_ros_visualization</run_depend>
<run_depend>moveit_setup_assistant</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</run_depend>
<run_depend>joint_state_publisher_gui</run_depend>
<run_depend>robot_state_publisher</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> <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. --> <!-- 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>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> <run_depend>mycobot_description</run_depend>