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Merge pull request #117 from elephantrobotics/old-320_gripper

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Old 320 gripper
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wangWking 2023-05-30 09:31:28 +08:00 • committed by GitHub
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57 changed files with 7821 additions and 25988 deletions
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1
mycobot_320/mycobot_320/CMakeLists.txt
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@ -32,6 +32,7 @@ include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
catkin_install_python(PROGRAMS
scripts/mycobot_320_follow_display.py
scripts/mycobot_320_slider.py
scripts/mycobot_320_gripper_slider.py
scripts/mycobot_320_teleop_keyboard.py
scripts/mycobot_320_listen_real.py
scripts/mycobot_320_listen_real_of_topic.py

270
mycobot_320/mycobot_320/config/mycobot_320_gripper.rviz Normal file
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@ -0,0 +1,270 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /RobotModel1/Links1
- /TF1
- /TF1/Frames1
- /TF1/Tree1
Splitter Ratio: 0.5
Tree Height: 591
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
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
gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
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
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
base:
Value: true
gripper_base:
Value: true
gripper_left1:
Value: true
gripper_left2:
Value: true
gripper_left3:
Value: true
gripper_right1:
Value: true
gripper_right2:
Value: true
gripper_right3:
Value: true
link1:
Value: true
link2:
Value: true
link3:
Value: true
link4:
Value: true
link5:
Value: true
link6:
Value: true
Marker Alpha: 1
Marker Scale: 0.20000000298023224
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base:
link1:
link2:
link3:
link4:
link5:
link6:
gripper_base:
gripper_left2:
{}
gripper_left3:
gripper_left1:
{}
gripper_right2:
{}
gripper_right3:
gripper_right1:
{}
Update Interval: 0
Value: true
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
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.5781474113464355
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5597966313362122
Target Frame: <Fixed Frame>
Yaw: 2.7535898685455322
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 888
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002da000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c8000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1848
X: 72
Y: 27

31
mycobot_320/mycobot_320/launch/mycobot_320_gripper_slider.launch Normal file
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@ -0,0 +1,31 @@
<launch>
<arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="115200" />
<arg name="model" default="$(find mycobot_description)/urdf/320_urdf/mycobot_pro_320_gripper.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_320)/config/mycobot_320_gripper.rviz" />
<arg name="gui" default="true" />
<!-- <include file="$(find mycobot_280)/launch/slider_control.launch">
<arg name="model" value="$(arg model)" />
<arg name="rvizconfig" value="$(arg rvizconfig)" />
<arg name="gui" value="$(arg gui)" />
</include> -->
<!-- new -->
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<!-- <param name="use_gui" value="$(arg gui)" /> -->
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Open control script -->
<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
<param name="port" type="string" value="$(arg port)" />
<param name="baud" type="int" value="$(arg baud)" />
</node> -->
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

17
mycobot_320/mycobot_320/launch/mycobot_320_gripper_test.launch Normal file
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@ -0,0 +1,17 @@
<launch>
<arg name="model" default="$(find mycobot_description)/urdf/320_urdf/mycobot_pro_320_gripper.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_320)/config/mycobot_320_gripper.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<param name="use_gui" value="$(arg gui)" />
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
</node>
<!-- Show in Rviz ，显示在Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>

56
mycobot_320/mycobot_320/scripts/mycobot_320_gripper_slider.py Executable file
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@ -0,0 +1,56 @@
#!/usr/bin/env python3
# -*- coding:utf-8 -*-
"""[summary]
This file obtains the joint angle of the manipulator in ROS,
and then sends it directly to the real manipulator using `pymycobot` API.
This file is [slider_control.launch] related script.
Passable parameters:
port: serial prot string. Defaults is '/dev/ttyUSB0'
baud: serial prot baudrate. Defaults is 115200.
"""
import rospy
import time
from sensor_msgs.msg import JointState
from pymycobot.mycobot import MyCobot
mc = None
gripper_value = []
def callback(data):
global mc
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
data_list = []
for index, value in enumerate(data.position):
data_list.append(round(value, 3))
data_list = data_list[:7]
print("radians:%s"%data_list[:6])
mc.send_radians(data_list[:6], 80)
gripper_value = int(abs(-0.7-data_list[6])* 117)
print("gripper_value:%s"%gripper_value)
# mc.set_gripper_mode(0)
# time.sleep(1)
mc.set_gripper_value(gripper_value, 100)
def listener():
global mc
global gripper_value
rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback)
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mc = MyCobot(port, baud)
# spin() simply keeps python from exiting until this node is stopped
print("spin ...")
rospy.spin()
if __name__ == "__main__":
listener()

11
mycobot_320/mycobot_320_gripper_moveit/.setup_assistant Normal file
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@ -0,0 +1,11 @@
moveit_setup_assistant_config:
URDF:
package: mycobot_description
relative_path: urdf/320_urdf/mycobot_pro_320_gripper.urdf
xacro_args: ""
SRDF:
relative_path: config/firefighter.srdf
CONFIG:
author_name: wwj
author_email: wwj@elephantrobot.com
generated_timestamp: 1683628879

10
mycobot_320/mycobot_320_gripper_moveit/CMakeLists.txt Normal file
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@ -0,0 +1,10 @@
cmake_minimum_required(VERSION 3.1.3)
project(mycobot_320_gripper_moveit)
find_package(catkin REQUIRED)
catkin_package()
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

5
mycobot_320/mycobot_320_gripper_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

18
mycobot_320/mycobot_320_gripper_moveit/config/chomp_planning.yaml Normal file
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@ -0,0 +1,18 @@
planning_time_limit: 10.0
max_iterations: 200
max_iterations_after_collision_free: 5
smoothness_cost_weight: 0.1
obstacle_cost_weight: 1.0
learning_rate: 0.01
smoothness_cost_velocity: 0.0
smoothness_cost_acceleration: 1.0
smoothness_cost_jerk: 0.0
ridge_factor: 0.0
use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4
joint_update_limit: 0.1
collision_clearance: 0.2
collision_threshold: 0.07
use_stochastic_descent: true
enable_failure_recovery: false
max_recovery_attempts: 5

19
mycobot_320/mycobot_320_gripper_moveit/config/fake_controllers.yaml Normal file
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@ -0,0 +1,19 @@
controller_list:
- name: fake_arm_group_controller
type: $(arg fake_execution_type)
joints:
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
- joint6output_to_joint6
- name: fake_gripper_group_controller
type: $(arg fake_execution_type)
joints:
- gripper_controller
initial: # Define initial robot poses per group
- group: arm_group
pose: init_pose
- group: gripper_group
pose: init_gripper

131
mycobot_320/mycobot_320_gripper_moveit/config/firefighter.srdf Normal file
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@ -0,0 +1,131 @@
<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="firefighter">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="arm_group">
<chain base_link="base" tip_link="link6"/>
</group>
<group name="gripper_group">
<chain base_link="gripper_base" tip_link="gripper_left3"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="init_pose" group="arm_group">
<joint name="joint2_to_joint1" value="0"/>
<joint name="joint3_to_joint2" value="0"/>
<joint name="joint4_to_joint3" value="0"/>
<joint name="joint5_to_joint4" value="0"/>
<joint name="joint6_to_joint5" value="0"/>
<joint name="joint6output_to_joint6" value="0"/>
</group_state>
<group_state name="init_gripper" group="gripper_group">
<joint name="gripper_controller" value="0"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="gripper" parent_link="link6" group="gripper_group" parent_group="arm_group"/>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base_footprint"/>
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<passive_joint name="gripper_base_to_gripper_left2"/>
<passive_joint name="gripper_base_to_gripper_right2"/>
<passive_joint name="gripper_base_to_gripper_right3"/>
<passive_joint name="gripper_right3_to_gripper_right1"/>
<passive_joint name="gripper_left3_to_gripper_left1"/>
<!--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="gripper_base" reason="Default"/>
<disable_collisions link1="base" link2="gripper_left1" reason="Default"/>
<disable_collisions link1="base" link2="gripper_left2" reason="Default"/>
<disable_collisions link1="base" link2="gripper_left3" reason="Default"/>
<disable_collisions link1="base" link2="gripper_right1" reason="Default"/>
<disable_collisions link1="base" link2="gripper_right2" reason="Default"/>
<disable_collisions link1="base" link2="gripper_right3" reason="Default"/>
<disable_collisions link1="base" link2="link1" reason="Adjacent"/>
<disable_collisions link1="base" link2="link2" reason="Never"/>
<disable_collisions link1="base" link2="link3" reason="Never"/>
<disable_collisions link1="base" link2="link4" reason="Never"/>
<disable_collisions link1="base" link2="link5" reason="Never"/>
<disable_collisions link1="base" link2="link6" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_base" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_base" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_base" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_base" link2="link6" reason="Adjacent"/>
<disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Default"/>
<disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
<disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link6" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
<disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link6" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Default"/>
<disable_collisions link1="gripper_left3" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="link6" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Default"/>
<disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
<disable_collisions link1="gripper_right1" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="link6" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link6" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="link6" reason="Never"/>
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link3" reason="Never"/>
<disable_collisions link1="link1" link2="link4" reason="Never"/>
<disable_collisions link1="link1" link2="link5" reason="Never"/>
<disable_collisions link1="link1" link2="link6" reason="Never"/>
<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
<disable_collisions link1="link2" link2="link4" reason="Never"/>
<disable_collisions link1="link2" link2="link5" reason="Never"/>
<disable_collisions link1="link2" link2="link6" reason="Never"/>
<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
<disable_collisions link1="link3" link2="link5" reason="Never"/>
<disable_collisions link1="link3" link2="link6" reason="Never"/>
<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
</robot>

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# Publish joint_states
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
gripper_controller:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint2_to_joint1:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint3_to_joint2:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint4_to_joint3:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint5_to_joint4:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint6_to_joint5:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint6output_to_joint6:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0

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arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
gripper_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005

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planner_configs:
AnytimePathShortening:
type: geometric::AnytimePathShortening
shortcut: true # Attempt to shortcut all new solution paths
hybridize: true # Compute hybrid solution trajectories
max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
num_planners: 4 # The number of default planners to use for planning
planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
SBL:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
EST:
type: geometric::EST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LBKPIECE:
type: geometric::LBKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECE:
type: geometric::BKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
KPIECE:
type: geometric::KPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
RRT:
type: geometric::RRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
RRTConnect:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstar:
type: geometric::RRTstar
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
TRRT:
type: geometric::TRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
max_states_failed: 10 # when to start increasing temp. default: 10
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
init_temperature: 10e-6 # initial temperature. default: 10e-6
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: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo
projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
longest_valid_segment_fraction: 0.005
gripper_group:
default_planner_config: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo

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

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sensors:
[]

18
mycobot_320/mycobot_320_gripper_moveit/config/simple_moveit_controllers.yaml Normal file
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controller_list:
- name: arm_group_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
- joint6output_to_joint6
- name: gripper_group_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- gripper_controller

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mycobot_320/mycobot_320_gripper_moveit/config/stomp_planning.yaml Normal file
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stomp/arm_group:
group_name: arm_group
optimization:
num_timesteps: 60
num_iterations: 40
num_iterations_after_valid: 0
num_rollouts: 30
max_rollouts: 30
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
control_cost_weight: 0.0
task:
noise_generator:
- class: stomp_moveit/NormalDistributionSampling
stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
cost_functions:
- class: stomp_moveit/CollisionCheck
collision_penalty: 1.0
cost_weight: 1.0
kernel_window_percentage: 0.2
longest_valid_joint_move: 0.05
noisy_filters:
- class: stomp_moveit/JointLimits
lock_start: True
lock_goal: True
- class: stomp_moveit/MultiTrajectoryVisualization
line_width: 0.02
rgb: [255, 255, 0]
marker_array_topic: stomp_trajectories
marker_namespace: noisy
update_filters:
- class: stomp_moveit/PolynomialSmoother
poly_order: 6
- class: stomp_moveit/TrajectoryVisualization
line_width: 0.05
rgb: [0, 191, 255]
error_rgb: [255, 0, 0]
publish_intermediate: True
marker_topic: stomp_trajectory
marker_namespace: optimized
stomp/gripper_group:
group_name: gripper_group
optimization:
num_timesteps: 60
num_iterations: 40
num_iterations_after_valid: 0
num_rollouts: 30
max_rollouts: 30
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
control_cost_weight: 0.0
task:
noise_generator:
- class: stomp_moveit/NormalDistributionSampling
stddev: [0.05]
cost_functions:
- class: stomp_moveit/CollisionCheck
collision_penalty: 1.0
cost_weight: 1.0
kernel_window_percentage: 0.2
longest_valid_joint_move: 0.05
noisy_filters:
- class: stomp_moveit/JointLimits
lock_start: True
lock_goal: True
- class: stomp_moveit/MultiTrajectoryVisualization
line_width: 0.02
rgb: [255, 255, 0]
marker_array_topic: stomp_trajectories
marker_namespace: noisy
update_filters:
- class: stomp_moveit/PolynomialSmoother
poly_order: 6
- class: stomp_moveit/TrajectoryVisualization
line_width: 0.05
rgb: [0, 191, 255]
error_rgb: [255, 0, 0]
publish_intermediate: True
marker_topic: stomp_trajectory
marker_namespace: optimized

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mycobot_320/mycobot_320_gripper_moveit/launch/chomp_planning_pipeline.launch.xml Normal file
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<launch>
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find mycobot_320_gripper_moveit)/config/chomp_planning.yaml" />
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/default_warehouse_db.launch Normal file
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<launch>
<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
<arg name="moveit_warehouse_database_path" default="$(find mycobot_320_gripper_moveit)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include>
<!-- If we want to reset the database, run this node -->
<node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
</launch>

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<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find mycobot_320_gripper_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" default="fake" />
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

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<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- Gazebo specific options -->
<arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/>
<!-- launch the gazebo simulator and spawn the robot -->
<include file="$(dirname)/gazebo.launch" >
<arg name="paused" value="$(arg paused)"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
</include>
<include file="$(dirname)/demo.launch" pass_all_args="true">
<!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
<arg name="load_robot_description" value="false" />
<arg name="moveit_controller_manager" value="ros_control" />
</include>
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/fake_moveit_controller_manager.launch.xml Normal file
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<launch>
<!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
<arg name="fake_execution_type" default="interpolate" />
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin -->
<rosparam subst_value="true" file="$(find mycobot_320_gripper_moveit)/config/fake_controllers.yaml"/>
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/firefighter_moveit_sensor_manager.launch.xml Normal file
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<launch>
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/gazebo.launch Normal file
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<?xml version="1.0"?>
<launch>
<arg name="paused" default="false"/>
<arg name="gazebo_gui" default="true"/>
<arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
default=" -J gripper_controller 0 -J joint2_to_joint1 0 -J joint3_to_joint2 0 -J joint4_to_joint3 0 -J joint5_to_joint4 0 -J joint6_to_joint5 0 -J joint6output_to_joint6 0"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="true"/>
<arg name="gui" value="$(arg gazebo_gui)"/>
</include>
<!-- send robot urdf to param server -->
<param name="robot_description" textfile="$(find mycobot_description)/urdf/320_urdf/mycobot_pro_320_gripper.urdf" />
<!-- unpause only after loading robot model -->
<arg name="unpause" value="$(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 -->
<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) $(arg initial_joint_positions)"
respawn="false" output="screen" />
<!-- Load joint controller parameters for Gazebo -->
<rosparam file="$(find mycobot_320_gripper_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>

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

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

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mycobot_320/mycobot_320_gripper_moveit/launch/moveit.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.5
Tree Height: 109
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: true
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_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
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
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
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.15000000596046448
Joint Violation Color: 255; 0; 255
Planning Group: arm_group
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
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
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
- Class: rviz/Marker
Enabled: true
Marker Topic: visualization_marker
Name: Marker
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/InteractiveMarkers
Enable Transparency: true
Enabled: true
Name: InteractiveMarkers
Show Axes: false
Show Descriptions: true
Show Visual Aids: false
Update Topic: ""
Value: true
- Class: rviz/InteractiveMarkers
Enable Transparency: true
Enabled: true
Name: InteractiveMarkers
Show Axes: false
Show Descriptions: true
Show Visual Aids: false
Update Topic: ""
Value: true
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/Orbit
Distance: 2
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.75
Focal Point:
X: -0.10000000149011612
Y: 0.25
Z: 0.30000001192092896
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.3399999737739563
Target Frame: base
Yaw: 2.9449498653411865
Saved:
- Class: rviz/Orbit
Distance: 2
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.75
Focal Point:
X: -0.10000000149011612
Y: 0.25
Z: 0.30000001192092896
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Orbit
Near Clip Distance: 0.009999999776482582
Pitch: 0.3399999737739563
Target Frame: base
Yaw: 2.9449498653411865
Window Geometry:
Displays:
collapsed: false
Height: 919
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f30000033dfc0200000007fb000000100044006900730070006c006100790073010000003d000000fe000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000141000000520000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000199000001e10000017d00ffffff000003120000033d00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1291
X: 454
Y: 27

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

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mycobot_320/mycobot_320_gripper_moveit/launch/mycobot320_gripper_moveit.launch Normal file
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<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find mycobot_320_gripper_moveit)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" default="fake" />
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml Normal file
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<launch>
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
<include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
<arg name="planning_adapters" value="
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
chomp/OptimizerAdapter"
/>
</include>
<!-- load chomp config -->
<rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
<param name="trajectory_initialization_method" value="fillTrajectory"/>
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/ompl_planning_pipeline.launch.xml Normal file
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<launch>
<!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find mycobot_320_gripper_moveit)/config/ompl_planning.yaml"/>
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml Normal file
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<launch>
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters" default="" />
<param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<!-- Define default planner (for all groups) -->
<param name="default_planner_config" value="PTP" />
<!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
<param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceService" />
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/planning_context.launch Normal file
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<launch>
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
<arg name="load_robot_description" default="false"/>
<!-- The name of the parameter under which the URDF is loaded -->
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/320_urdf/mycobot_pro_320_gripper.urdf"/>
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find mycobot_320_gripper_moveit)/config/firefighter.srdf" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find mycobot_320_gripper_moveit)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find mycobot_320_gripper_moveit)/config/cartesian_limits.yaml"/>
</group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find mycobot_320_gripper_moveit)/config/kinematics.yaml"/>
</group>
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/planning_pipeline.launch.xml Normal file
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<launch>
<!-- This file makes it easy to include different planning pipelines;
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
<arg name="pipeline" default="ompl" />
<include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/ros_control_moveit_controller_manager.launch.xml Normal file
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<launch>
<!-- Define MoveIt controller manager plugin -->
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
</launch>

11
mycobot_320/mycobot_320_gripper_moveit/launch/ros_controllers.launch Normal file
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<?xml version="1.0"?>
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find mycobot_320_gripper_moveit)/config/ros_controllers.yaml" command="load"/>
<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="arm_group_controller gripper_group_controller "/>
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/run_benchmark_ompl.launch Normal file
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<launch>
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
<arg name="cfg" />
<!-- Load URDF -->
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>
<!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find mycobot_320_gripper_moveit)/config/ompl_planning.yaml"/>
</node>
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/sensor_manager.launch.xml Normal file
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<launch>
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for 3D sensors config -->
<rosparam command="load" file="$(find mycobot_320_gripper_moveit)/config/sensors_3d.yaml" />
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="firefighter" />
<include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/setup_assistant.launch Normal file
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<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
<launch>
<!-- Debug Info -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<!-- Run -->
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=mycobot_320_gripper_moveit"
launch-prefix="$(arg launch_prefix)"
required="true"
output="screen" />
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/simple_moveit_controller_manager.launch.xml Normal file
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<launch>
<!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<!-- Load controller list to the parameter server -->
<rosparam file="$(find mycobot_320_gripper_moveit)/config/simple_moveit_controllers.yaml" />
<rosparam file="$(find mycobot_320_gripper_moveit)/config/ros_controllers.yaml" />
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/stomp_planning_pipeline.launch.xml Normal file
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<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 mycobot_320_gripper_moveit)/config/stomp_planning.yaml"/>
</launch>

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mycobot_320/mycobot_320_gripper_moveit/launch/trajectory_execution.launch.xml Normal file
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<launch>
<!-- This file summarizes all settings required for trajectory execution -->
<!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" />
<arg name="fake_execution_type" default="interpolate" />
<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
<include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
</launch>

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

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mycobot_320/mycobot_320_gripper_moveit/launch/warehouse_settings.launch.xml Normal file
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<launch>
<!-- Set the parameters for the warehouse and run the mongodb server. -->
<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
<arg name="moveit_warehouse_port" default="33829" />
<!-- The default DB host for moveit -->
<arg name="moveit_warehouse_host" default="localhost" />
<!-- Set parameters for the warehouse -->
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
<param name="warehouse_exec" value="mongod" />
<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
</launch>

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mycobot_320/mycobot_320_gripper_moveit/package.xml Normal file
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<package>
<name>mycobot_320_gripper_moveit</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
</description>
<author email="wwj@elephantrobot.com">wwj</author>
<maintainer email="wwj@elephantrobot.com">wwj</maintainer>
<license>BSD</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
<url type="repository">https://github.com/ros-planning/moveit</url>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners_ompl</run_depend>
<run_depend>moveit_ros_visualization</run_depend>
<run_depend>moveit_setup_assistant</run_depend>
<run_depend>moveit_simple_controller_manager</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>joint_state_publisher_gui</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>xacro</run_depend>
<!-- The next 2 packages are required for the gazebo simulation.
We don't include them by default to prevent installing gazebo and all its dependencies. -->
<!-- <run_depend>joint_trajectory_controller</run_depend> -->
<!-- <run_depend>gazebo_ros_control</run_depend> -->
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
<run_depend>mycobot_description</run_depend>
</package>

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mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan.py Executable file
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
"""[summary]
This file obtains the joint angle of the manipulator in ROS,
and then sends it directly to the real manipulator using `pymycobot` API.
This file is [slider_control.launch] related script.
Passable parameters:
port: serial prot string. Defaults is '/dev/ttyUSB0'
baud: serial prot baudrate. Defaults is 115200.
"""
import rospy
import time
from sensor_msgs.msg import JointState
from pymycobot.mycobot import MyCobot
mc = None
gripper_value = []
def callback(data):
global mc
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
data_list = []
for index, value in enumerate(data.position):
data_list.append(round(value, 3))
data_list = data_list[:7]
print("radians:%s"%data_list[:6])
mc.send_radians(data_list[:6], 80)
gripper_value = int(abs(-0.7-data_list[6])* 117)
print("gripper_value:%s"%gripper_value)
# mc.set_gripper_mode(0)
# time.sleep(1)
mc.set_gripper_value(gripper_value, 100)
def listener():
global mc
global gripper_value
rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback)
port = rospy.get_param("~port", "/dev/ttyUSB0")
baud = rospy.get_param("~baud", 115200)
print(port, baud)
mc = MyCobot(port, baud)
# spin() simply keeps python from exiting until this node is stopped
print("spin ...")
rospy.spin()
if __name__ == "__main__":
listener()

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mycobot_description/urdf/320_urdf/mycobot_pro_320_gripper.urdf Normal file
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<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
<xacro:property name="width" value=".2" />
<link name="base_footprint" />
<link name="base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/320_urdf/base.dae" />
</geometry>
<origin xyz="0.0 0 0 " rpy=" 0 0 3.1415926" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/320_urdf/base.dae" />
</geometry>
<origin xyz="0.0 0 0 " rpy=" 0 0 3.1415926" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link1.dae" />
</geometry>
<origin xyz="0 0 0 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link1.dae" />
</geometry>
<origin xyz="0 0 0 " rpy=" 0 0 0" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae" />
</geometry>
<origin xyz="0 0 0.0587 " rpy=" 0 0 3.1415926" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae" />
</geometry>
<origin xyz="0 0 0.0587 " rpy=" 0 0 3.1415926" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link3">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae" />
</geometry>
<origin xyz="0 0 0.038 " rpy=" 0 0 3.1415926" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae" />
</geometry>
<origin xyz="0 0 0.038 " rpy=" 0 0 3.1415926" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae" />
</geometry>
<origin xyz="0 -0.001 0 " rpy=" 0 0 0" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae" />
</geometry>
<origin xyz="0 -0.001 0 " rpy=" 0 0 0" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae" />
</geometry>
<origin xyz="0 0.002 0 " rpy=" 0 0 3.1415926" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae" />
</geometry>
<origin xyz="0 0.002 0 " rpy=" 0 0 3.1415926" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="link6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link6.dae" />
</geometry>
<origin xyz="-0.502 -0.090 -0.096 " rpy=" 0 1.5708 0" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/link6.dae" />
</geometry>
<origin xyz="-0.502 -0.090 -0.096 " rpy=" 0 1.5708 0" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_base.dae" />
</geometry>
<origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_base.dae" />
</geometry>
<origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_left1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_left1.dae" />
</geometry>
<origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_left1.dae" />
</geometry>
<origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_left2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_left2.dae" />
</geometry>
<origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_left2.dae" />
</geometry>
<origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_left3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_left3.dae" />
</geometry>
<origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_left3.dae" />
</geometry>
<origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_right1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_right1.dae" />
</geometry>
<origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_right1.dae" />
</geometry>
<origin xyz="-0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_right2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_right2.dae" />
</geometry>
<origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_right2.dae" />
</geometry>
<origin xyz="-0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_right3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_right3.dae" />
</geometry>
<origin xyz="0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper_right3.dae" />
</geometry>
<origin xyz="-0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<joint name="base_footprint_joint" type="fixed">
<parent link="base_footprint" />
<child link="base" />
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
<parent link="base" />
<child link="link1" />
<origin xyz="0 0 0.17846" rpy="0 0 0" />
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
<parent link="link1" />
<child link="link2" />
<origin xyz="0 0 0" rpy="0 -1.5708 1.5708" />
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1" />
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
<parent link="link2" />
<child link="link3" />
<origin xyz="0.13635 0 0 " rpy="0 0 0" />
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1" />
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
<parent link="link3" />
<child link="link4" />
<origin xyz="0.1 0 0.09 " rpy=" 0 0 1.57080" />
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
<parent link="link4" />
<child link="link5" />
<origin xyz="0 -0.07318 0" rpy="1.5708 -1.5708 0" />
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
<parent link="link5" />
<child link="link6" />
<origin xyz="0.00 0.06635 0" rpy="-1.5708 0 0" />
</joint>
<joint name="joint6output_to_gripper_base" type="fixed">
<!-- <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> -->
<parent link="link6" />
<child link="gripper_base" />
<origin xyz="0 0.0 0.034" rpy="1.5708 0 2.6178" />
</joint>
<joint name="gripper_controller" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.7" upper="0.3" velocity="0" />
<parent link="gripper_base" />
<child link="gripper_left3" />
<origin xyz="-0.018 0.016 0" rpy="0 0 0" />
</joint>
<joint name="gripper_base_to_gripper_left2" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.8" upper="0.5" velocity="0" />
<parent link="gripper_base" />
<child link="gripper_left2" />
<origin xyz="-0.05 -0.01 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<joint name="gripper_left3_to_gripper_left1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
<parent link="gripper_left3" />
<child link="gripper_left1" />
<origin xyz="-0.0356 0.051 -0.018" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right3" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.3" upper="0.7" velocity="0" />
<parent link="gripper_base" />
<child link="gripper_right3" />
<origin xyz="0.018 0.016 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right2" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.5" upper="0.8" velocity="0" />
<parent link="gripper_base" />
<child link="gripper_right2" />
<origin xyz="0.046 -0.01 0" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_right3_to_gripper_right1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
<parent link="gripper_right3" />
<child link="gripper_right1" />
<origin xyz="0.033 0.051 -0.018" rpy="0 0 0" />
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<transmission name="trans_joint2_to_joint1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2_to_joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint2_to_joint1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint3_to_joint2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3_to_joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint3_to_joint2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint4_to_joint3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4_to_joint3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint4_to_joint3_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint5_to_joint4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5_to_joint4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint5_to_joint4_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6_to_joint5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6_to_joint5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint6_to_joint5_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6output_to_joint6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6output_to_joint6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint6output_to_joint6_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_controller">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_controller">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_controller_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_base_to_gripper_left2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_base_to_gripper_left2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_base_to_gripper_left2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_left3_to_gripper_left1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_left3_to_gripper_left1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_left3_to_gripper_left1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_base_to_gripper_right3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_base_to_gripper_right3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_base_to_gripper_right3_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_base_to_gripper_right2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_base_to_gripper_right2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_base_to_gripper_right2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_right3_to_gripper_right1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_right3_to_gripper_right1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_right3_to_gripper_right1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
</robot>