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update mybuddy_moveit to noetic

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This commit is contained in:
weijian 2022-08-25 17:19:27 +08:00
parent 9be7f039c1
commit ef2fd2dc1a
39 changed files with 630 additions and 441 deletions
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8
Mybuddy/mybuddy_moveit/.setup_assistant
View file

@ -2,10 +2,10 @@ moveit_setup_assistant_config:
URDF:
package: mycobot_description
relative_path: urdf/mybuddy/mybuddy.urdf
xacro_args: "--inorder "
xacro_args: ""
SRDF:
relative_path: config/firefighter.srdf
CONFIG:
author_name: hzj
author_email: zijun.huang@elephantrobotics.com
generated_timestamp: 1655121131
author_name: wangweijian
author_email: weijian.wang@elephatrobotics.com
generated_timestamp: 1661409645

2
Mybuddy/mybuddy_moveit/CMakeLists.txt
View file

@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.1.3)
project(mybuddy_moveit)
find_package(catkin REQUIRED)

5
Mybuddy/mybuddy_moveit/config/cartesian_limits.yaml Normal file
View file

@ -0,0 +1,5 @@
cartesian_limits:
max_trans_vel: 1
max_trans_acc: 2.25
max_trans_dec: -5
max_rot_vel: 1.57

8
Mybuddy/mybuddy_moveit/config/chomp_planning.yaml
View file

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

25
Mybuddy/mybuddy_moveit/config/fake_controllers.yaml
View file

@ -1,5 +1,6 @@
controller_list:
- name: fake_right_arm_controller
type: $(arg fake_execution_type)
joints:
- base_link1
- joint1_R
@ -9,6 +10,7 @@ controller_list:
- joint5_R
- joint6_R
- name: fake_left_arm_controller
type: $(arg fake_execution_type)
joints:
- base_link1
- joint1_L
@ -18,20 +20,13 @@ controller_list:
- joint5_L
- joint6_L
- name: fake_waist_controller
type: $(arg fake_execution_type)
joints:
- base_link1
- name: fake_all_controller
joints:
- base_link1
- joint1_L
- joint2_L
- joint3_L
- joint4_L
- joint5_L
- joint6_L
- joint1_R
- joint2_R
- joint3_R
- joint4_R
- joint5_R
- joint6_R
initial: # Define initial robot poses per group
- group: right_arm
pose: init_right
- group: left_arm
pose: init_left
- group: waist
pose: init_waist

160
Mybuddy/mybuddy_moveit/config/firefighter.srdf
View file

@ -1,4 +1,4 @@
<?xml version="1.0" ?>
<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This 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
@ -10,107 +10,87 @@
<!--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="right_arm">
<chain base_link="base" tip_link="link6_R" />
<chain base_link="base" tip_link="link6_R"/>
</group>
<group name="left_arm">
<chain base_link="base" tip_link="link6_L" />
<chain base_link="base" tip_link="link6_L"/>
</group>
<group name="waist">
<chain base_link="base" tip_link="link1" />
</group>
<group name="all">
<group name="left_arm" />
<group name="right_arm" />
<group name="waist" />
<chain base_link="base" tip_link="link1"/>
</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_right" group="right_arm">
<joint name="base_link1" value="0" />
<joint name="joint1_R" value="0" />
<joint name="joint2_R" value="0" />
<joint name="joint3_R" value="0" />
<joint name="joint4_R" value="0" />
<joint name="joint5_R" value="0" />
<joint name="joint6_R" value="0" />
<joint name="base_link1" value="0"/>
<joint name="joint1_R" value="0"/>
<joint name="joint2_R" value="0"/>
<joint name="joint3_R" value="0"/>
<joint name="joint4_R" value="0"/>
<joint name="joint5_R" value="0"/>
<joint name="joint6_R" value="0"/>
</group_state>
<group_state name="init_left" group="left_arm">
<joint name="base_link1" value="0" />
<joint name="joint1_L" value="0" />
<joint name="joint2_L" value="0" />
<joint name="joint3_L" value="0" />
<joint name="joint4_L" value="0" />
<joint name="joint5_L" value="0" />
<joint name="joint6_L" value="0" />
</group_state>
<group_state name="init_both" group="all">
<joint name="base_link1" value="0" />
<joint name="joint1_L" value="0" />
<joint name="joint1_R" value="0" />
<joint name="joint2_L" value="0" />
<joint name="joint2_R" value="0" />
<joint name="joint3_L" value="0" />
<joint name="joint3_R" value="0" />
<joint name="joint4_L" value="0" />
<joint name="joint4_R" value="0" />
<joint name="joint5_L" value="0" />
<joint name="joint5_R" value="0" />
<joint name="joint6_L" value="0" />
<joint name="joint6_R" value="0" />
<joint name="base_link1" value="0"/>
<joint name="joint1_L" value="0"/>
<joint name="joint2_L" value="0"/>
<joint name="joint3_L" value="0"/>
<joint name="joint4_L" value="0"/>
<joint name="joint5_L" value="0"/>
<joint name="joint6_L" value="0"/>
</group_state>
<group_state name="init_waist" group="waist">
<joint name="base_link1" value="0" />
<joint name="base_link1" value="0"/>
</group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_left" type="fixed" parent_frame="world" child_link="base" />
<virtual_joint name="virtual_right" type="fixed" parent_frame="world" child_link="base" />
<virtual_joint name="virtual_left" type="fixed" parent_frame="world" child_link="base"/>
<virtual_joint name="virtual_right" type="fixed" parent_frame="world" child_link="base"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base" link2="link1" reason="Adjacent" />
<disable_collisions link1="base" link2="link1_L" reason="Never" />
<disable_collisions link1="base" link2="link1_R" reason="Never" />
<disable_collisions link1="base" link2="link2_L" reason="Never" />
<disable_collisions link1="base" link2="link2_R" reason="Never" />
<disable_collisions link1="base" link2="link4_L" reason="Default" />
<disable_collisions link1="base" link2="link4_R" reason="Default" />
<disable_collisions link1="link1" link2="link1_L" reason="Adjacent" />
<disable_collisions link1="link1" link2="link1_R" reason="Adjacent" />
<disable_collisions link1="link1" link2="link2_L" reason="Never" />
<disable_collisions link1="link1" link2="link2_R" reason="Never" />
<disable_collisions link1="link1" link2="link3_L" reason="Never" />
<disable_collisions link1="link1" link2="link3_R" reason="Never" />
<disable_collisions link1="link1" link2="link4_L" reason="Never" />
<disable_collisions link1="link1" link2="link4_R" reason="Never" />
<disable_collisions link1="link1" link2="link5_L" reason="Never" />
<disable_collisions link1="link1" link2="link5_R" reason="Never" />
<disable_collisions link1="link1" link2="link6_L" reason="Never" />
<disable_collisions link1="link1" link2="link6_R" reason="Never" />
<disable_collisions link1="link1_L" link2="link1_R" reason="Never" />
<disable_collisions link1="link1_L" link2="link2_L" reason="Adjacent" />
<disable_collisions link1="link1_L" link2="link2_R" reason="Never" />
<disable_collisions link1="link1_L" link2="link4_L" reason="Never" />
<disable_collisions link1="link1_L" link2="link4_R" reason="Never" />
<disable_collisions link1="link1_R" link2="link2_L" reason="Never" />
<disable_collisions link1="link1_R" link2="link2_R" reason="Adjacent" />
<disable_collisions link1="link1_R" link2="link4_L" reason="Never" />
<disable_collisions link1="link1_R" link2="link4_R" reason="Never" />
<disable_collisions link1="link2_L" link2="link3_L" reason="Adjacent" />
<disable_collisions link1="link2_L" link2="link4_L" reason="Never" />
<disable_collisions link1="link2_L" link2="link4_R" reason="Never" />
<disable_collisions link1="link2_R" link2="link3_R" reason="Adjacent" />
<disable_collisions link1="link2_R" link2="link4_L" reason="Never" />
<disable_collisions link1="link2_R" link2="link4_R" reason="Never" />
<disable_collisions link1="link3_L" link2="link4_L" reason="Adjacent" />
<disable_collisions link1="link3_L" link2="link4_R" reason="Never" />
<disable_collisions link1="link3_R" link2="link4_L" reason="Never" />
<disable_collisions link1="link3_R" link2="link4_R" reason="Adjacent" />
<disable_collisions link1="link4_L" link2="link4_R" reason="Default" />
<disable_collisions link1="link4_L" link2="link5_L" reason="Adjacent" />
<disable_collisions link1="link4_L" link2="link5_R" reason="Never" />
<disable_collisions link1="link4_L" link2="link6_L" reason="Never" />
<disable_collisions link1="link4_L" link2="link6_R" reason="Never" />
<disable_collisions link1="link4_R" link2="link5_L" reason="Never" />
<disable_collisions link1="link4_R" link2="link5_R" reason="Adjacent" />
<disable_collisions link1="link4_R" link2="link6_L" reason="Never" />
<disable_collisions link1="link4_R" link2="link6_R" reason="Never" />
<disable_collisions link1="link5_L" link2="link6_L" reason="Adjacent" />
<disable_collisions link1="link5_R" link2="link6_R" reason="Adjacent" />
<disable_collisions link1="base" link2="link1" reason="Adjacent"/>
<disable_collisions link1="base" link2="link1_L" reason="Never"/>
<disable_collisions link1="base" link2="link1_R" reason="Never"/>
<disable_collisions link1="base" link2="link2_L" reason="Never"/>
<disable_collisions link1="base" link2="link2_R" reason="Never"/>
<disable_collisions link1="base" link2="link4_L" reason="Default"/>
<disable_collisions link1="base" link2="link4_R" reason="Default"/>
<disable_collisions link1="link1" link2="link1_L" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link1_R" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link2_L" reason="Never"/>
<disable_collisions link1="link1" link2="link2_R" reason="Never"/>
<disable_collisions link1="link1" link2="link3_L" reason="Never"/>
<disable_collisions link1="link1" link2="link3_R" reason="Never"/>
<disable_collisions link1="link1" link2="link4_L" reason="Never"/>
<disable_collisions link1="link1" link2="link4_R" reason="Never"/>
<disable_collisions link1="link1" link2="link5_L" reason="Never"/>
<disable_collisions link1="link1" link2="link5_R" reason="Never"/>
<disable_collisions link1="link1" link2="link6_L" reason="Never"/>
<disable_collisions link1="link1" link2="link6_R" reason="Never"/>
<disable_collisions link1="link1_L" link2="link1_R" reason="Never"/>
<disable_collisions link1="link1_L" link2="link2_L" reason="Adjacent"/>
<disable_collisions link1="link1_L" link2="link2_R" reason="Never"/>
<disable_collisions link1="link1_L" link2="link4_L" reason="Never"/>
<disable_collisions link1="link1_L" link2="link4_R" reason="Never"/>
<disable_collisions link1="link1_R" link2="link2_L" reason="Never"/>
<disable_collisions link1="link1_R" link2="link2_R" reason="Adjacent"/>
<disable_collisions link1="link1_R" link2="link4_L" reason="Never"/>
<disable_collisions link1="link1_R" link2="link4_R" reason="Never"/>
<disable_collisions link1="link2_L" link2="link3_L" reason="Adjacent"/>
<disable_collisions link1="link2_L" link2="link4_L" reason="Never"/>
<disable_collisions link1="link2_L" link2="link4_R" reason="Never"/>
<disable_collisions link1="link2_R" link2="link3_R" reason="Adjacent"/>
<disable_collisions link1="link2_R" link2="link4_L" reason="Never"/>
<disable_collisions link1="link2_R" link2="link4_R" reason="Never"/>
<disable_collisions link1="link3_L" link2="link4_L" reason="Adjacent"/>
<disable_collisions link1="link3_L" link2="link4_R" reason="Never"/>
<disable_collisions link1="link3_R" link2="link4_L" reason="Never"/>
<disable_collisions link1="link3_R" link2="link4_R" reason="Adjacent"/>
<disable_collisions link1="link4_L" link2="link4_R" reason="Default"/>
<disable_collisions link1="link4_L" link2="link5_L" reason="Adjacent"/>
<disable_collisions link1="link4_L" link2="link5_R" reason="Never"/>
<disable_collisions link1="link4_L" link2="link6_L" reason="Never"/>
<disable_collisions link1="link4_L" link2="link6_R" reason="Never"/>
<disable_collisions link1="link4_R" link2="link5_L" reason="Never"/>
<disable_collisions link1="link4_R" link2="link5_R" reason="Adjacent"/>
<disable_collisions link1="link4_R" link2="link6_L" reason="Never"/>
<disable_collisions link1="link4_R" link2="link6_R" reason="Never"/>
<disable_collisions link1="link5_L" link2="link6_L" reason="Adjacent"/>
<disable_collisions link1="link5_R" link2="link6_R" reason="Adjacent"/>
</robot>

4
Mybuddy/mybuddy_moveit/config/gazebo_controllers.yaml Normal file
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@ -0,0 +1,4 @@
# Publish joint_states
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

6
Mybuddy/mybuddy_moveit/config/joint_limits.yaml
View file

@ -1,4 +1,10 @@
# 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:

10
Mybuddy/mybuddy_moveit/config/kinematics.yaml
View file

@ -2,19 +2,11 @@ right_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
left_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
waist:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
all:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
kinematics_solver_timeout: 0.005

38
Mybuddy/mybuddy_moveit/config/ompl_planning.yaml
View file

@ -1,4 +1,11 @@
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()
@ -123,6 +130,7 @@ planner_configs:
right_arm:
default_planner_config: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
@ -151,6 +159,7 @@ right_arm:
left_arm:
default_planner_config: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
@ -179,6 +188,7 @@ left_arm:
waist:
default_planner_config: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
@ -202,31 +212,3 @@ waist:
- LazyPRMstar
- SPARS
- SPARStwo
all:
default_planner_config: RRTConnect
planner_configs:
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo
projection_evaluator: joints(base_link1,joint1_L)
longest_valid_segment_fraction: 0.005

201
Mybuddy/mybuddy_moveit/config/ros_controllers.yaml
View file

@ -1,13 +1,51 @@
# Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
joint_model_group: right_arm
joint_model_group_pose: init_right
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
loop_hz: 300
cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
right_arm_controller:
type: effort_controllers/JointTrajectoryController
joints:
- base_link1
- joint1_R
- joint2_R
- joint3_R
- joint4_R
- joint5_R
- joint6_R
gains:
base_link1:
p: 100
d: 1
i: 1
i_clamp: 1
joint1_R:
p: 100
d: 1
i: 1
i_clamp: 1
joint2_R:
p: 100
d: 1
i: 1
i_clamp: 1
joint3_R:
p: 100
d: 1
i: 1
i_clamp: 1
joint4_R:
p: 100
d: 1
i: 1
i_clamp: 1
joint5_R:
p: 100
d: 1
i: 1
i_clamp: 1
joint6_R:
p: 100
d: 1
i: 1
i_clamp: 1
left_arm_controller:
type: effort_controllers/JointTrajectoryController
joints:
- base_link1
- joint1_L
@ -16,100 +54,49 @@ hardware_interface:
- joint4_L
- joint5_L
- joint6_L
- joint1_R
- joint2_R
- joint3_R
- joint4_R
- joint5_R
- joint6_R
sim_control_mode: 1 # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
controller_list:
- name: plan_group_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- base_link1
- joint1_L
- joint2_L
- joint3_L
- joint4_L
- joint5_L
- joint6_L
- joint1_R
- joint2_R
- joint3_R
- joint4_R
- joint5_R
- joint6_R
- name: right_arm_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- base_link1
- joint1_R
- joint2_R
- joint3_R
- joint4_R
- joint5_R
- joint6_R
- name: left_arm_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- base_link1
- joint1_L
- joint2_L
- joint3_L
- joint4_L
- joint5_L
- joint6_L
- name: both_arms_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- base_link1
- joint1_L
- joint2_L
- joint3_L
- joint4_L
- joint5_L
- joint6_L
- joint1_R
- joint2_R
- joint3_R
- joint4_R
- joint5_R
- joint6_R
- name: waist_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
[]
- name: all_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- base_link1
- joint1_L
- joint2_L
- joint3_L
- joint4_L
- joint5_L
- joint6_L
- joint1_R
- joint2_R
- joint3_R
- joint4_R
- joint5_R
- joint6_R
gains:
base_link1:
p: 100
d: 1
i: 1
i_clamp: 1
joint1_L:
p: 100
d: 1
i: 1
i_clamp: 1
joint2_L:
p: 100
d: 1
i: 1
i_clamp: 1
joint3_L:
p: 100
d: 1
i: 1
i_clamp: 1
joint4_L:
p: 100
d: 1
i: 1
i_clamp: 1
joint5_L:
p: 100
d: 1
i: 1
i_clamp: 1
joint6_L:
p: 100
d: 1
i: 1
i_clamp: 1
waist_controller:
type: effort_controllers/JointTrajectoryController
joints:
- base_link1
gains:
base_link1:
p: 100
d: 1
i: 1
i_clamp: 1

10
Mybuddy/mybuddy_moveit/config/sensors_3d.yaml
View file

@ -1,10 +1,2 @@
# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
sensors:
- filtered_cloud_topic: filtered_cloud
max_range: 5.0
max_update_rate: 1.0
padding_offset: 0.1
padding_scale: 1.0
point_cloud_topic: /head_mount_kinect/depth_registered/points
point_subsample: 1
sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
[]

31
Mybuddy/mybuddy_moveit/config/simple_moveit_controllers.yaml Normal file
View file

@ -0,0 +1,31 @@
controller_list:
- name: right_arm_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- base_link1
- joint1_R
- joint2_R
- joint3_R
- joint4_R
- joint5_R
- joint6_R
- name: left_arm_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- base_link1
- joint1_L
- joint2_L
- joint3_L
- joint4_L
- joint5_L
- joint6_L
- name: waist_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- base_link1

117
Mybuddy/mybuddy_moveit/config/stomp_planning.yaml Normal file
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@ -0,0 +1,117 @@
stomp/right_arm:
group_name: right_arm
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, 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/left_arm:
group_name: left_arm
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, 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/waist:
group_name: waist
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

25
Mybuddy/mybuddy_moveit/launch/chomp_planning_pipeline.launch.xml
View file

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

2
Mybuddy/mybuddy_moveit/launch/default_warehouse_db.launch
View file

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

65
Mybuddy/mybuddy_moveit/launch/demo.launch
View file

@ -1,5 +1,8 @@
<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 -->
@ -8,49 +11,59 @@
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<!-- 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" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find mybuddy_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<arg name="use_rviz" default="true" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world base" />
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(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" />
<!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find mybuddy_moveit)/launch/move_group.launch">
<group if="$(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="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(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="$(find mybuddy_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find mybuddy_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>

63
Mybuddy/mybuddy_moveit/launch/demo_gazebo.launch
View file

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

5
Mybuddy/mybuddy_moveit/launch/fake_moveit_controller_manager.launch.xml
View file

@ -1,9 +1,12 @@
<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 file="$(find mybuddy_moveit)/config/fake_controllers.yaml"/>
<rosparam subst_value="true" file="$(find mybuddy_moveit)/config/fake_controllers.yaml"/>
</launch>

19
Mybuddy/mybuddy_moveit/launch/gazebo.launch
View file

@ -2,22 +2,31 @@
<launch>
<arg name="paused" default="false"/>
<arg name="gazebo_gui" default="true"/>
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mybuddy/mybuddy.urdf"/>
<arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
default=" -J base_link1 0 -J joint1_L 0 -J joint1_R 0 -J joint2_L 0 -J joint2_R 0 -J joint3_L 0 -J joint3_R 0 -J joint4_L 0 -J joint4_R 0 -J joint5_L 0 -J joint5_R 0 -J joint6_L 0 -J joint6_R 0"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="paused" value="true"/>
<arg name="gui" value="$(arg gazebo_gui)"/>
</include>
<!-- send robot urdf to param server -->
<param name="robot_description" textfile="$(arg urdf_path)" />
<param name="robot_description" textfile="$(find mycobot_description)/urdf/mybuddy/mybuddy.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 -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
<arg name="world_pose" value="-x 0 -y 0 -z 0" />
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
respawn="false" output="screen" />
<include file="$(find mybuddy_moveit)/launch/ros_controllers.launch"/>
<!-- Load joint controller parameters for Gazebo -->
<rosparam file="$(find mybuddy_moveit)/config/gazebo_controllers.yaml" />
<!-- Spawn Gazebo ROS controllers -->
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
<!-- Load ROS controllers -->
<include file="$(dirname)/ros_controllers.launch"/>
</launch>

58
Mybuddy/mybuddy_moveit/launch/move_group.launch
View file

@ -1,12 +1,10 @@
<launch>
<include file="$(find mybuddy_moveit)/launch/planning_context.launch" />
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(find mybuddy_moveit)/launch/gdb_settings.gdb --ex run --args" />
value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
@ -14,10 +12,11 @@
<arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings -->
<arg name="pipeline" default="ompl" />
<arg name="allow_trajectory_execution" default="true"/>
<arg name="fake_execution" default="false"/>
<arg name="moveit_controller_manager" default="simple" />
<arg name="fake_execution_type" default="interpolate"/>
<arg name="max_safe_path_cost" default="1"/>
<arg name="jiggle_fraction" default="0.05" />
<arg name="publish_monitored_planning_scene" default="true"/>
<arg name="capabilities" default=""/>
@ -38,20 +37,46 @@
" />
-->
<!-- Planning Functionality -->
<include ns="move_group" file="$(find mybuddy_moveit)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" />
<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="$(find mybuddy_moveit)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/>
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
<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="$(find mybuddy_moveit)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="firefighter" />
</include>
@ -61,11 +86,10 @@
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<param name="capabilities" value="$(arg capabilities)"/>
<param name="disable_capabilities" value="$(arg disable_capabilities)"/>
<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)" />

46
Mybuddy/mybuddy_moveit/launch/moveit.rviz
View file

@ -5,12 +5,10 @@ Panels:
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planning Metrics1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.7425600290298462
Tree Height: 255
Splitter Ratio: 0.5
Tree Height: 135
- Class: rviz/Help
Name: Help
- Class: rviz/Views
@ -43,18 +41,18 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 1
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: true
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Workspace:
Center:
X: 0
@ -165,9 +163,9 @@ Visualization Manager:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.20000000298023224
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: right_arm
Planning Group: left_arm
Query Goal State: true
Query Start State: false
Show Workspace: false
@ -178,7 +176,7 @@ Visualization Manager:
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.20000000298023224
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
@ -264,7 +262,7 @@ Visualization Manager:
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 1
Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
@ -280,31 +278,31 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 2.996500015258789
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: 0.7853981852531433
Field of View: 0.75
Focal Point:
X: 0.11356700211763382
Y: 0.10592000186443329
Z: 2.2351800055275817e-07
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: 0.5197969675064087
Pitch: 0.5
Target Frame: base
Yaw: 2.9199492931365967
Yaw: -0.6232355833053589
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 888
Height: 848
Help:
collapsed: false
Hide Left Dock: false
@ -313,9 +311,9 @@ Window Geometry:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000031efc0200000007fb000000100044006900730070006c006100790073010000003d00000190000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d3000001880000017d00ffffff000004850000031e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000010000000000000203000002f1fc0200000007fb000000100044006900730070006c00610079007301000000410000011c000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a00560069006500770073000000010c000000a4000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001630000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b30000017f0000017400ffffff00000302000002f100000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1848
X: 72
Y: 27
Width: 1291
X: 452
Y: 28

9
Mybuddy/mybuddy_moveit/launch/moveit_rviz.launch
View file

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

19
Mybuddy/mybuddy_moveit/launch/ompl-chomp_planning_pipeline.launch.xml Normal file
View file

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

28
Mybuddy/mybuddy_moveit/launch/ompl_planning_pipeline.launch.xml
View file

@ -1,21 +1,25 @@
<launch>
<!-- OMPL Plugin for MoveIt! -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<!-- 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"
/>
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<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" />
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="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 mybuddy_moveit)/config/ompl_planning.yaml"/>

15
Mybuddy/mybuddy_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml Normal file
View file

@ -0,0 +1,15 @@
<launch>
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters" default="" />
<param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<!-- Define default planner (for all groups) -->
<param name="default_planner_config" value="PTP" />
<!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
<param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceService" />
</launch>

2
Mybuddy/mybuddy_moveit/launch/planning_context.launch
View file

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

2
Mybuddy/mybuddy_moveit/launch/planning_pipeline.launch.xml
View file

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

4
Mybuddy/mybuddy_moveit/launch/ros_control_moveit_controller_manager.launch.xml Normal file
View file

@ -0,0 +1,4 @@
<launch>
<!-- Define MoveIt controller manager plugin -->
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
</launch>

2
Mybuddy/mybuddy_moveit/launch/ros_controllers.launch
View file

@ -6,6 +6,6 @@
<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args=""/>
output="screen" args="right_arm_controller left_arm_controller waist_controller "/>
</launch>

5
Mybuddy/mybuddy_moveit/launch/run_benchmark_ompl.launch
View file

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

2
Mybuddy/mybuddy_moveit/launch/sensor_manager.launch.xml
View file

@ -12,6 +12,6 @@
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="firefighter" />
<include file="$(find mybuddy_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
<include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>

7
Mybuddy/mybuddy_moveit/launch/setup_assistant.launch
View file

@ -1,4 +1,4 @@
<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
<launch>
<!-- Debug Info -->
@ -8,8 +8,9 @@
<!-- Run -->
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=mybuddy_moveit"
launch-prefix="$(arg launch_prefix)"
args="--config_pkg=mybuddy_moveit"
launch-prefix="$(arg launch_prefix)"
required="true"
output="screen" />
</launch>

8
Mybuddy/mybuddy_moveit/launch/simple_moveit_controller_manager.launch.xml Normal file
View file

@ -0,0 +1,8 @@
<launch>
<!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<!-- Load controller list to the parameter server -->
<rosparam file="$(find mybuddy_moveit)/config/simple_moveit_controllers.yaml" />
<rosparam file="$(find mybuddy_moveit)/config/ros_controllers.yaml" />
</launch>

25
Mybuddy/mybuddy_moveit/launch/stomp_planning_pipeline.launch.xml Normal file
View file

@ -0,0 +1,25 @@
<launch>
<!-- Stomp Plugin for MoveIt -->
<arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
<arg name="start_state_max_bounds_error" value="0.1" />
<arg name="jiggle_fraction" value="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find mybuddy_moveit)/config/stomp_planning.yaml"/>
</launch>

13
Mybuddy/mybuddy_moveit/launch/trajectory_execution.launch.xml
View file

@ -1,8 +1,11 @@
<launch>
<!-- This file summarizes all settings required for trajectory execution -->
<!-- This file makes it easy to include the settings for trajectory execution -->
<!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" />
<arg name="fake_execution_type" default="interpolate" />
<!-- Flag indicating whether MoveIt! is allowed to load/unload or switch controllers -->
<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
@ -13,8 +16,8 @@
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
<arg name="moveit_controller_manager" default="firefighter" />
<include file="$(find mybuddy_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
<!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
<include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
</launch>

2
Mybuddy/mybuddy_moveit/launch/warehouse.launch
View file

@ -4,7 +4,7 @@
<arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters -->
<include file="$(find mybuddy_moveit)/launch/warehouse_settings.launch.xml" />
<include file="$(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">

15
Mybuddy/mybuddy_moveit/package.xml
View file

@ -3,10 +3,10 @@
<name>mybuddy_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
An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
</description>
<author email="zijun.huang@elephantrobotics.com">hzj</author>
<maintainer email="zijun.huang@elephantrobotics.com">hzj</maintainer>
<author email="weijian.wang@elephatrobotics.com">wangweijian</author>
<maintainer email="weijian.wang@elephatrobotics.com">wangweijian</maintainer>
<license>BSD</license>
@ -22,12 +22,19 @@
<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> -->
<build_depend>mycobot_description</build_depend>
<run_depend>mycobot_description</run_depend>

5
Mybuddy/mybuddy_moveit/scripts/sync_plan.py
View file

@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
import time
import rospy
import os
@ -30,7 +30,8 @@ def callback(data):
time.sleep(0.02)
# mb.send_radians(3,data_list3, 50)
# time.sleep(0.02)
mb.set_encoder(3,1,data_list3[0]*4096/(2*math.pi)+2048,1)
# mb.set_encoder(3,1,data_list3[0]*4096/(2*math.pi)+2048,1)
mb.send_angle(3, 1, data_list3[0]* (180 / math.pi), 10)
time.sleep(0.02)
def listener():