moveit_pro_example_ws/src/hangar_sim/config/config.yaml at 1a44eda0dd7644442563f83f12eb270751cf820c · PickNikRobotics/moveit_pro_example_ws · GitHub

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#
#  This contains information for a unique instance of a robot.
#

# Name of the package to specialize
based_on_package: "picknik_ur_base_config"
hardware:
  # Parameters used to configure the robot description through XACRO.
  # A URDF and SRDF are both required.
  # [Required]
  robot_description:
    urdf:
      package: "hangar_sim"
      path: "description/ur5e_ridgeback.xacro"
    srdf:
      package: "hangar_sim"
      path: "config/moveit/picknik_ur.srdf"
    urdf_params:
      - joint_limits_parameters_file:
          package: "hangar_sim"
          path: "config/moveit/joint_limits.yaml"
      - mujoco_model: "description/hangar_scene.xml"

  # Specify any additional launch files for running the robot in simulation mode.
  # Used when hardware.simulated is True.
  # [Optional, defaults to a blank launch file if not specified]
  simulated_robot_driver_persist_launch_file:
    package: "hangar_sim"
    path: "launch/sim/robot_drivers_to_persist_sim.launch.py"

moveit_params:
  joint_limits:
    package: "hangar_sim"
    path: "config/moveit/joint_limits.yaml"
  kinematics:
    package: "hangar_sim"
    path: "config/moveit/pose_ik_distance.yaml"
  sensors_3d:
    package: "hangar_sim"
    path: "config/moveit/sensors_3d.yaml"
  pose_jog:
    package: "hangar_sim"
    path: "config/moveit/pose_jog.yaml"
  joint_jog:
    package: "hangar_sim"
    path: "config/moveit/joint_jog.yaml"


# Configuration for loading behaviors and objectives.
# [Required]
objectives:
  # List of plugins for loading custom behaviors.
  # [Required]
  behavior_loader_plugins:
    # This plugin will load the core MoveIt Pro Behaviors.
    # Add additional plugin loaders as needed.
    core:
      - "moveit_pro::behaviors::CoreBehaviorsLoader"
      - "moveit_pro::behaviors::MTCCoreBehaviorsLoader"
      - "moveit_pro::behaviors::NavBehaviorsLoader"
      - "moveit_pro::behaviors::VisionBehaviorsLoader"
      - "moveit_pro::behaviors::ConverterBehaviorsLoader"
  # Specify source folder for objectives
  # [Required]
  objective_library_paths:
    hangar_sim_objectives:
      package_name: "hangar_sim"
      relative_path: "objectives"

  # Specify the location of the saved waypoints file.
  # [Required]
  waypoints_file:
    package_name: "hangar_sim"
    relative_path: "waypoints/ur_waypoints.yaml"

# Configuration for launching ros2_control processes.
# [Required, if using ros2_control]
ros2_control:
  config:
    package: "hangar_sim"
    path: "config/control/picknik_ur.ros2_control.yaml"

  # MoveIt Pro will load and activate these controllers at start up to ensure they are available.
  # If not specified, it is up to the user to ensure the appropriate controllers are active and available
  # for running the application.
  # [Optional, default=[]]
  controllers_active_at_startup:
    - "force_torque_sensor_broadcaster"
    - "imu_sensor_broadcaster"
    - "joint_state_broadcaster"
    - "platform_velocity_controller"
    - "vacuum_gripper"
  # Load but do not start these controllers so they can be activated later if needed.
  controllers_inactive_at_startup:
    - "joint_trajectory_controller"
    - "platform_velocity_controller_nav2"
    - "velocity_force_controller"
    - "arm_only_velocity_force_controller"
    - "joint_velocity_controller"
    - "arm_only_joint_velocity_controller"