launch

Signed-off-by: Hye-jong KIM <[email protected]>

Author: HPaper

turtlebot3_manipulation_moveit_config/config/kinematics.yaml

@@ -2,4 +2,4 @@ arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.05
-  position_only_ik: true
+  position_only_ik: false

turtlebot3_manipulation_moveit_config/config/moveit_controllers.yaml

@@ -17,5 +17,4 @@ gripper_controller:
   default: true
   joints:
     - gripper_left_joint
-    - gripper_right_joint_mimic
 

turtlebot3_manipulation_moveit_config/config/panda_simulated_config.yaml

@@ -38,7 +38,7 @@
         <joint name="gripper_left_joint" value="0.01"/>
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="end_effector_link" parent_link="end_effector_joint" group="gripper"/>
+    <end_effector name="end_effector_link" parent_link="link5" group="gripper"/>
     <!--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="odom" child_link="base_footprint"/>
     <!--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. -->

turtlebot3_manipulation_moveit_config/config/pilz_cartesian_limits.yaml

@@ -16,14 +16,6 @@
 #
 # Authors: Hye-jong KIM
 
-# setup assistant (humble)
-# from moveit_configs_utils import MoveItConfigsBuilder
-# from moveit_configs_utils.launches import generate_demo_launch
-# def generate_launch_description():
-#     moveit_config = MoveItConfigsBuilder("turtlebot3_manipulation",
-#     package_name="turtlebot3_manipulation_moveit_config").to_moveit_configs()
-#     return generate_demo_launch(moveit_config)
-
 import os
 
 from launch import LaunchDescription

turtlebot3_manipulation_moveit_config/config/turtlebot3_manipulation.srdf

@@ -16,14 +16,6 @@
 #
 # Authors: Hye-jong KIM
 
-# setup assistant (humble)
-# from moveit_configs_utils import MoveItConfigsBuilder
-# from moveit_configs_utils.launches import generate_moveit_rviz_launch
-# def generate_launch_description():
-#    moveit_config = MoveItConfigsBuilder("turtlebot3_manipulation",
-#        package_name="turtlebot3_manipulation_moveit_config").to_moveit_configs()
-#    return generate_moveit_rviz_launch(moveit_config)
-
 import os
 import xacro
 import yaml

turtlebot3_manipulation_moveit_config/launch/moveit_fake.launch.py

@@ -16,14 +16,6 @@
 #
 # Authors: Hye-jong KIM
 
-# setup assistant (humble)
-# from moveit_configs_utils import MoveItConfigsBuilder
-# from moveit_configs_utils.launches import generate_rsp_launch
-# def generate_launch_description():
-#     moveit_config = MoveItConfigsBuilder("turtlebot3_manipulation",
-#     package_name="turtlebot3_manipulation_moveit_config").to_moveit_configs()
-#     return generate_rsp_launch(moveit_config)
-
 import os
 import xacro
 

turtlebot3_manipulation_moveit_config/launch/moveit_rviz.launch.py

@@ -16,12 +16,11 @@
 #
 # Authors: Hye-jong KIM
 
-# setup assistant (humble)
-# from moveit_configs_utils import MoveItConfigsBuilder
-# from moveit_configs_utils.launches import generate_setup_assistant_launch
-# def generate_launch_description():
-#     moveit_config = MoveItConfigsBuilder("turtlebot3_manipulation",
-#     package_name="turtlebot3_manipulation_moveit_config").to_moveit_configs()
-#     return generate_setup_assistant_launch(moveit_config)
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_setup_assistant_launch
 
-# moveit setup assistant is not supported in ros foxy version.
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("turtlebot3_manipulation",
+    package_name="turtlebot3_manipulation_moveit_config").to_moveit_configs()
+    return generate_setup_assistant_launch(moveit_config)

turtlebot3_manipulation_moveit_config/launch/rsp.launch.py

@@ -16,14 +16,6 @@
 #
 # Authors: Hye-jong KIM
 
-# setup assistant (humble)
-# from moveit_configs_utils import MoveItConfigsBuilder
-# from moveit_configs_utils.launches import generate_spawn_controllers_launch
-# def generate_launch_description():
-#     moveit_config = MoveItConfigsBuilder("turtlebot3_manipulation",
-#     package_name="turtlebot3_manipulation_moveit_config").to_moveit_configs()
-#     return generate_spawn_controllers_launch(moveit_config)
-
 from launch import LaunchDescription
 from launch.actions import ExecuteProcess