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mariopratsmarioprats
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add joint_jog to all configs
1 parent 4ec0f06 commit 4b79c59

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34 files changed

+648
-4
lines changed

34 files changed

+648
-4
lines changed

‎src/factory_sim/config/config.yaml‎

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@@ -80,6 +80,9 @@ moveit_params:
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pose_jog:
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package: "factory_sim"
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path: "config/moveit/pose_jog.yaml"
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joint_jog:
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package: "factory_sim"
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path: "config/moveit/joint_jog.yaml"
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publish:
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planning_scene: True
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geometry_updates: True
@@ -112,6 +115,7 @@ ros2_control:
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controllers_inactive_at_startup:
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- "servo_controller"
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- "velocity_force_controller"
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- "joint_velocity_controller"
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# Any controllers here will not be spawned by MoveIt Pro.
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# [Optional, default=[]]
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controllers_not_managed: []

‎src/factory_sim/config/control/picknik_fanuc.ros2_control.yaml‎

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@@ -19,6 +19,8 @@ controller_manager:
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type: position_controllers/GripperActionController
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velocity_force_controller:
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type: velocity_force_controller/VelocityForceController
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joint_velocity_controller:
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type: joint_velocity_controller/JointVelocityController
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tool_attach_controller:
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ros__parameters:
@@ -152,3 +154,31 @@ velocity_force_controller:
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command_timeout: 0.2
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# Padding (in radians) to add to joint position limits as a safety margin.
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joint_limit_position_tolerance: 0.02
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joint_velocity_controller:
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ros__parameters:
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# Joint group to control.
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planning_group_name: manipulator
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# Maximum joint-space velocities.
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max_joint_velocity:
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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# Maximum joint-space accelerations.
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max_joint_acceleration:
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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command_interfaces: ["position"]
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# Padding (in radians) to add to joint position limits as a safety margin.
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joint_limit_position_tolerance: 0.02
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# Timeout in seconds after which the controller will stop motion if no new commands are received.
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command_timeout: 0.2
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# Rate in Hz at which the controller will publish the state.
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state_publish_rate: 20

‎src/factory_sim/config/moveit/joint_jog.yaml‎

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@@ -0,0 +1,5 @@
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# Planning groups to use in JointJog, and their corresponding JVC controllers.
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# The number of elements in `planning_groups` and `controllers` must match.
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planning_groups: ['manipulator']
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controllers: ['joint_velocity_controller']

‎src/grinding_sim/config/config.yaml‎

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@@ -79,6 +79,9 @@ moveit_params:
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pose_jog:
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package: "grinding_sim"
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path: "config/moveit/pose_jog.yaml"
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joint_jog:
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package: "grinding_sim"
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path: "config/moveit/joint_jog.yaml"
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publish:
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planning_scene: True
@@ -110,6 +113,7 @@ ros2_control:
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controllers_inactive_at_startup:
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- "servo_controller"
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- "velocity_force_controller"
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- "joint_velocity_controller"
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# Configuration for loading behaviors and objectives.
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# [Required]

‎src/grinding_sim/config/control/ur20.ros2_control.yaml‎

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@@ -9,6 +9,8 @@ controller_manager:
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type: joint_trajectory_controller/JointTrajectoryController
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velocity_force_controller:
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type: velocity_force_controller/VelocityForceController
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joint_velocity_controller:
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type: joint_velocity_controller/JointVelocityController
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joint_state_broadcaster:
@@ -168,3 +170,31 @@ velocity_force_controller:
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command_timeout: 0.2
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# Padding (in radians) to add to joint position limits as a safety margin.
170172
joint_limit_position_tolerance: 0.02
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joint_velocity_controller:
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ros__parameters:
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# Joint group to control.
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planning_group_name: manipulator
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# Maximum joint-space velocities.
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max_joint_velocity:
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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# Maximum joint-space accelerations.
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max_joint_acceleration:
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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command_interfaces: ["position"]
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# Padding (in radians) to add to joint position limits as a safety margin.
196+
joint_limit_position_tolerance: 0.02
197+
# Timeout in seconds after which the controller will stop motion if no new commands are received.
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command_timeout: 0.2
199+
# Rate in Hz at which the controller will publish the state.
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state_publish_rate: 20

‎src/grinding_sim/config/moveit/joint_jog.yaml‎

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@@ -0,0 +1,5 @@
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# Planning groups to use in JointJog, and their corresponding JVC controllers.
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# The number of elements in `planning_groups` and `controllers` must match.
4+
planning_groups: ['manipulator']
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controllers: ['joint_velocity_controller']

‎src/hangar_sim/config/config.yaml‎

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@@ -50,6 +50,9 @@ moveit_params:
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pose_jog:
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package: "hangar_sim"
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path: "config/moveit/pose_jog.yaml"
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joint_jog:
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package: "hangar_sim"
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path: "config/moveit/joint_jog.yaml"
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# Configuration for loading behaviors and objectives.
@@ -103,3 +106,5 @@ ros2_control:
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- "platform_velocity_controller_nav2"
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- "velocity_force_controller"
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- "arm_only_velocity_force_controller"
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- "joint_velocity_controller"
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- "arm_only_joint_velocity_controller"

‎src/hangar_sim/config/control/picknik_ur.ros2_control.yaml‎

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@@ -19,6 +19,10 @@ controller_manager:
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type: velocity_force_controller/VelocityForceController
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arm_only_velocity_force_controller:
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type: velocity_force_controller/VelocityForceController
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joint_velocity_controller:
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type: joint_velocity_controller/JointVelocityController
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arm_only_joint_velocity_controller:
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type: joint_velocity_controller/JointVelocityController
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vacuum_gripper:
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ros__parameters:
@@ -487,3 +491,82 @@ arm_only_velocity_force_controller:
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command_timeout: 0.2
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# Padding (in radians) to add to joint position limits as a safety margin.
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joint_limit_position_tolerance: 0.02
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joint_velocity_controller:
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ros__parameters:
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# Joint group to control.
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planning_group_name: manipulator
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command_joints:
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- platform_velocity_controller/linear_x_joint
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- platform_velocity_controller/linear_y_joint
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- platform_velocity_controller/rotational_yaw_joint
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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# Maximum joint-space velocities.
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max_joint_velocity:
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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# Maximum joint-space accelerations.
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max_joint_acceleration:
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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command_interfaces: ["velocity"]
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# Padding (in radians) to add to joint position limits as a safety margin.
533+
joint_limit_position_tolerance: 0.02
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# Timeout in seconds after which the controller will stop motion if no new commands are received.
535+
command_timeout: 0.2
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# Rate in Hz at which the controller will publish the state.
537+
state_publish_rate: 20
538+
539+
arm_only_joint_velocity_controller:
540+
ros__parameters:
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# Joint group to control.
542+
planning_group_name: arm_only
543+
command_joints:
544+
- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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# Maximum joint-space velocities.
551+
max_joint_velocity:
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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# Maximum joint-space accelerations.
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max_joint_acceleration:
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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- 2.0
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command_interfaces: ["velocity"]
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# Padding (in radians) to add to joint position limits as a safety margin.
568+
joint_limit_position_tolerance: 0.02
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# Timeout in seconds after which the controller will stop motion if no new commands are received.
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command_timeout: 0.2
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# Rate in Hz at which the controller will publish the state.
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state_publish_rate: 20

‎src/hangar_sim/config/moveit/joint_jog.yaml‎

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@@ -0,0 +1,5 @@
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# Planning groups to use in JointJog, and their corresponding JVC controllers.
3+
# The number of elements in `planning_groups` and `controllers` must match.
4+
planning_groups: ['manipulator', 'arm_only']
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controllers: ['joint_velocity_controller', 'arm_only_joint_velocity_controller']

‎src/hangar_sim/objectives/request_teleoperation.xml‎

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@@ -18,6 +18,7 @@
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current_teleop_mode="{teleop_mode}"
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planning_groups="{planning_groups}"
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controllers="{controllers}"
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skip_collision_checks="{skip_collision_checks}"
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tip_links="{tip_links}"
2223
/>
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<Decorator ID="KeepRunningUntilFailure">
@@ -185,10 +186,42 @@
185186
</Decorator>
186187
</Control>
187188
<Control ID="Sequence" _while="teleop_mode == 1">
188-
<Action
189-
ID="TeleoperateJointJog"
190-
controller_name="servo_controller"
191-
/>
189+
<Decorator ID="Repeat" num_cycles="-1">
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<Control ID="Sequence">
191+
<Action
192+
ID="SwitchController"
193+
activate_controllers="{controllers}"
194+
deactivate_controllers="platform_velocity_controller_nav2"
195+
/>
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197+
<Decorator ID="ForceSuccess">
198+
<Decorator ID="Repeat" num_cycles="-1">
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<Control
200+
ID="Parallel"
201+
success_count="1"
202+
failure_count="1"
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>
204+
<Decorator ID="KeepRunningUntilFailure">
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<Action
206+
ID="GetElementOfVector"
207+
vector_in="{controllers}"
208+
index="0"
209+
element="{first_controller}"
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/>
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</Decorator>
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213+
<Action
214+
ID="JointJog"
215+
controller_name="{first_controller}"
216+
link_padding="0.00000"
217+
stop_safety_factor="1.500000"
218+
skip_collision_checks="{skip_collision_checks}"
219+
/>
220+
</Control>
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</Decorator>
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</Decorator>
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</Control>
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</Decorator>
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</Control>
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</Control>
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</Decorator>

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