1.2.1 Add tm5s, tm7s and tm14s moveit configuration, launch files, some moveit setting modifications of tm12s, tm25s and update relative README.md.

Author: YH.Wang

doc/tm_humble_extension.md

@@ -99,7 +99,7 @@
 >> The parameter `<robot_ip_address>` means the IP address of the TM Robot.<br/>
 >
 > Note: When you have finished, press CTRL + C in all terminal windows to shut everything down.<br/>
-> :bookmark_tabs: Note1: There will be several built-in TM Robot nominal robot model settings, available for TM5S, TM7S, TM12S, TM14S, and TM25S models.<br/>
+> :bookmark_tabs: Note1: There are several built-in TM Robot nominal robot model settings, available for TM5S, TM7S, TM12S, TM14S, and TM25S models.<br/>
 > :bookmark_tabs: Note2: TM Robot set the default to read the Xacro file, such as _TM5S_ model, to read the file _tm5s.urdf.xacro_ into robot_description or such as _TM12S_ model, to read the file _tm12s.urdf.xacro_ into robot_description. If the user wants to use the specific model parameters instead of the nominal model to control the robot, please go back to the section __6. Generate your TM Robot-Specific Kinematics Parameters Files__ to modify the Xacro file.<br/>
 <div> </div>
 

doc/tm_humble_extension_e.md

@@ -92,7 +92,7 @@
 >> The parameter `<robot_ip_address>` means the IP address of the TM Robot.<br/>
 >
 > Note: When you have finished, press CTRL + C in all terminal windows to shut everything down.<br/>
-> :bookmark_tabs: Note1: There will be several built-in TM Robot nominal robot model settings, available for TM5S, TM7S, TM12S, TM14S, and TM25S models.<br/>
+> :bookmark_tabs: Note1: There are several built-in TM Robot nominal robot model settings, available for TM5S, TM7S, TM12S, TM14S, and TM25S models.<br/>
 > :bookmark_tabs: Note2: TM Robot set the default to read the Xacro file, such as _TM5S_ model, to read the file _tm5s.urdf.xacro_ into robot_description or such as _TM12S_ model, to read the file _tm12s.urdf.xacro_ into robot_description. If the user wants to use the specific model parameters instead of the nominal model to control the robot, please go back to the section __6. Generate your TM Robot-Specific Kinematics Parameters Files__ to modify the Xacro file.<br/>
 <div> </div>
 

tm_moveit/tm12s_moveit_config/config/moveit2_controllers.yaml

@@ -0,0 +1,24 @@
+# MoveIt uses this configuration for controller management
+trajectory_execution:
+  allowed_execution_duration_scaling: 1.2
+  allowed_goal_duration_margin: 0.5
+  allowed_start_tolerance: 0.1
+  trajectory_duration_monitoring: false
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - tmr_arm_controller
+
+  tmr_arm_controller:
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+      - joint_5
+      - joint_6

tm_moveit/tm12s_moveit_config/config/ros2_controllers.yaml

@@ -2,7 +2,6 @@
 controller_manager:
   ros__parameters:
     update_rate: 100  # Hz
-    use_sim_time: true
 
     tmr_arm_controller:
       type: joint_trajectory_controller/JointTrajectoryController

tm_moveit/tm12s_moveit_config/launch/tm12s_moveit.launch.py

@@ -52,7 +52,7 @@ def generate_launch_description():
     moveit_config_path = 'tm12s_moveit_config'    
     srdf_path = 'config/tm12s.srdf'
     rviz_path = '/rviz/moveit.rviz'
-    controller_path = 'config/moveit_controllers.yaml'
+    controller_path = 'config/moveit2_controllers.yaml'
     joint_limits_path = 'config/joint_limits.yaml'
 
     # MoveIt Configuration
@@ -65,18 +65,14 @@ def generate_launch_description():
         .to_moveit_configs()
     )
 
-    # moveit_config.moveit_cpp.update({"use_sim_time": use_sim_time.perform(context) == "true"})
-
     # Start the actual move_group node/action server
     run_move_group_node = Node(
         package='moveit_ros_move_group',
         executable='move_group',
         output='screen',
         parameters=[
             moveit_config.to_dict(),
-            {
-                "use_sim_time": True,
-            },
+            {'use_sim_time': True},
         ],
     )
 
@@ -93,9 +89,10 @@ def generate_launch_description():
         parameters=[
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
-            moveit_config.robot_description_kinematics,
             moveit_config.planning_pipelines,
-            # moveit_config.joint_limits,
+            moveit_config.robot_description_kinematics,            
+            moveit_config.joint_limits,
+            {'use_sim_time': True},
         ],
     )
 
@@ -129,15 +126,13 @@ def generate_launch_description():
     ros2_control_node = Node(
         package='controller_manager',
         executable='ros2_control_node',
-        parameters=[moveit_config.robot_description, ros2_controllers_path],
+        parameters=[ros2_controllers_path],
+        remappings=[
+            ('/controller_manager/robot_description', '/robot_description'),
+        ],
         output='both',
     )
 
-    controller_manager = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
-    ) 
-
     joint_state_broadcaster_spawner = Node(
         package='controller_manager',
         executable='spawner',
@@ -153,7 +148,7 @@ def generate_launch_description():
         executable="spawner",
         arguments=[
             'tmr_arm_controller', 
-            '-c', 
+            '--controller-manager',
             '/controller_manager',
         ],
     )

tm_moveit/tm14s_moveit_config/.setup_assistant

@@ -0,0 +1,25 @@
+moveit_setup_assistant_config:
+  urdf:
+    package: tm_description
+    relative_path: xacro/tm14s.urdf.xacro
+  srdf:
+    relative_path: config/tm14s.srdf
+  package_settings:
+    author_name: Yh Wang
+    author_email: [email protected]
+    generated_timestamp: 1719571375
+  control_xacro:
+    command:
+      - position
+    state:
+      - position
+      - velocity
+  modified_urdf:
+    xacros:
+      - control_xacro
+  control_xacro:
+    command:
+      - position
+    state:
+      - position
+      - velocity

tm_moveit/tm14s_moveit_config/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.22)
+project(tm14s_moveit_config)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
+install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME})

tm_moveit/tm14s_moveit_config/config/chomp_planning.yaml

@@ -0,0 +1,26 @@
+planning_plugin: chomp_interface/CHOMPPlanner
+request_adapters: >-
+  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
+start_state_max_bounds_error: 0.1
+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: 0.01
+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: true
+max_recovery_attempts: 5

tm_moveit/tm14s_moveit_config/config/controllers.yaml

@@ -0,0 +1,17 @@
+controller_names:
+  - tmr_arm_controller
+
+tmr_arm_controller:
+  action_ns: follow_joint_trajectory
+  type: FollowJointTrajectory
+  default: true
+  joints:
+    - joint_1
+    - joint_2
+    - joint_3
+    - joint_4
+    - joint_5
+    - joint_6
+  constraints:
+      stopped_velocity_tolerance: 0.05
+      goal_time: 0.0

tm_moveit/tm14s_moveit_config/config/initial_positions.yaml

@@ -0,0 +1,9 @@
+# Default initial positions for the TM arm's ros2_control fake system
+
+initial_positions:
+  joint_1: 0.0
+  joint_2: 0.0
+  joint_3: 0.0
+  joint_4: 0.0
+  joint_5: 0.0
+  joint_6: 0.0