Back to original naming ur5_e_.

Author: livanov93

ur5e_moveit_config/.setup_assistant renamed to ur5_e_moveit_config/.setup_assistant

@@ -1,7 +1,7 @@
 moveit_setup_assistant_config:
   URDF:
     package: ur_e_description
-    relative_path: urdf/ur5e_robot.urdf.xacro
+    relative_path: urdf/ur5_e_robot.urdf.xacro
   SRDF:
     relative_path: config/ur5e.srdf
   CONFIG:

ur5e_moveit_config/CHANGELOG.rst renamed to ur5_e_moveit_config/CHANGELOG.rst

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(ur5e_moveit_config)
+project(ur5_e_moveit_config)
 
 find_package(ament_cmake REQUIRED)
 

ur5e_moveit_config/CMakeLists.txt renamed to ur5_e_moveit_config/CMakeLists.txt

@@ -10,10 +10,10 @@
     <!--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="manipulator">
-        <chain base_link="base_link" tip_link="ee_link" />
+        <chain base_link="base_link" tip_link="flange" />
     </group>
     <group name="endeffector">
-        <link name="ee_link" />
+        <link name="flange" />
     </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="home" group="manipulator">
@@ -32,15 +32,24 @@
         <joint name="wrist_2_joint" value="0" />
         <joint name="wrist_3_joint" value="0" />
     </group_state>
+    <group_state name="test_configuration" group="manipulator">
+        <joint name="elbow_joint" value="1.4" />
+        <joint name="shoulder_lift_joint" value="-1.62" />
+        <joint name="shoulder_pan_joint" value="1.54" />
+        <joint name="wrist_1_joint" value="-1.2" />
+        <joint name="wrist_2_joint" value="-1.6" />
+        <joint name="wrist_3_joint" value="-0.11" />
+    </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="moveit_ee" parent_link="ee_link" group="endeffector" />
+    <end_effector name="moveit_ee" parent_link="flange" group="endeffector" />
     <!--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="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
     <!--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_link" link2="shoulder_link" reason="Adjacent" />
-    <disable_collisions link1="ee_link" link2="wrist_1_link" reason="Never" />
-    <disable_collisions link1="ee_link" link2="wrist_2_link" reason="Never" />
-    <disable_collisions link1="ee_link" link2="wrist_3_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="base_link_inertia" reason="Adjacent" />
+    <disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="flange" link2="wrist_1_link" reason="Never" />
+    <disable_collisions link1="flange" link2="wrist_2_link" reason="Never" />
+    <disable_collisions link1="flange" link2="wrist_3_link" reason="Adjacent" />
     <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
     <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
     <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />

ur5e_moveit_config/config/controllers.yaml renamed to ur5_e_moveit_config/config/controllers.yaml

@@ -30,17 +30,17 @@ def generate_launch_description():
 
     # planning_context
     # set ur robot
-    robot_name = 'ur5e'
+    robot_name = 'ur5_e'
 
     # <robot_name> parameters files
     joint_limits_params = os.path.join(get_package_share_directory('ur_description'), 'config/' +
-                                       robot_name, 'joint_limits.yaml')
+                                       robot_name.replace('_', ''), 'joint_limits.yaml')
     kinematics_params = os.path.join(get_package_share_directory('ur_description'), 'config/' +
-                                     robot_name, 'default_kinematics.yaml')
+                                     robot_name.replace('_', ''), 'default_kinematics.yaml')
     physical_params = os.path.join(get_package_share_directory('ur_description'), 'config/' +
-                                   robot_name, 'physical_parameters.yaml')
+                                   robot_name.replace('_', ''), 'physical_parameters.yaml')
     visual_params = os.path.join(get_package_share_directory('ur_description'), 'config/' +
-                                 robot_name, 'visual_parameters.yaml')
+                                 robot_name.replace('_', ''), 'visual_parameters.yaml')
 
     # common parameters
     # If True, enable the safety limits controller
@@ -60,23 +60,24 @@ def generate_launch_description():
                                                             'visual_params': visual_params,
                                                             'safety_limits': str(safety_limits).lower(),
                                                             'safety_pos_margin': str(safety_pos_margin),
-                                                            'safety_k_position': str(safety_k_position)}
+                                                            'safety_k_position': str(safety_k_position),
+                                                            'name': robot_name.replace('_', '')}
                                                   )
 
     robot_description = {'robot_description': robot_description_config.toxml()}
 
-    robot_description_semantic_config = load_file('ur5e_moveit_config', 'config/ur5e.srdf')
+    robot_description_semantic_config = load_file('ur5_e_moveit_config', 'config/ur5e.srdf')
     robot_description_semantic = {'robot_description_semantic' : robot_description_semantic_config}
 
-    kinematics_yaml = load_yaml('ur5e_moveit_config', 'config/kinematics.yaml')
+    kinematics_yaml = load_yaml('ur5_e_moveit_config', 'config/kinematics.yaml')
     robot_description_kinematics = { 'robot_description_kinematics' : kinematics_yaml }
 
     # Planning Functionality
     ompl_planning_pipeline_config = { 'move_group' : {
         'planning_plugin' : 'ompl_interface/OMPLPlanner',
         'request_adapters' : """default_planner_request_adapters/AddTimeOptimalParameterization 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 } }
-    ompl_planning_yaml = load_yaml('ur5e_moveit_config', 'config/ompl_planning.yaml')
+    ompl_planning_yaml = load_yaml('ur5_e_moveit_config', 'config/ompl_planning.yaml')
     ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
 
     # Trajectory Execution Functionality
@@ -107,7 +108,7 @@ def generate_launch_description():
                                            planning_scene_monitor_parameters])
 
     # RViz
-    rviz_config_file = get_package_share_directory('ur_description') + "/cfg/view_robot.rviz"
+    rviz_config_file = get_package_share_directory('ur_description') + "/config/rviz/view_robot.rviz"
     rviz_node = Node(package='rviz2',
                      executable='rviz2',
                      name='rviz2',