diff --git a/.setup_assistant b/.setup_assistant index f54adbf..ce0b000 100644 --- a/.setup_assistant +++ b/.setup_assistant @@ -1,11 +1,25 @@ moveit_setup_assistant_config: - URDF: - package: franka_description - relative_path: robots/panda/panda.urdf.xacro - xacro_args: hand:=true - SRDF: - relative_path: config/panda.srdf.xacro - CONFIG: + urdf: + package: moveit_resources_panda_description + relative_path: urdf/panda.urdf + srdf: + relative_path: config/panda.srdf + package_settings: author_name: MoveIt maintainer team author_email: moveit_releasers@googlegroups.com - generated_timestamp: 1636310680 + generated_timestamp: 1686150423 + control_xacro: + command: + - position + state: + - position + - velocity + modified_urdf: + xacros: + - control_xacro + control_xacro: + command: + - position + state: + - position + - velocity \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index 675c9ac..d64d083 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,10 +1,10 @@ -cmake_minimum_required(VERSION 3.1.3) +cmake_minimum_required(VERSION 3.22) project(panda_moveit_config) -find_package(catkin REQUIRED) +find_package(ament_cmake REQUIRED) -catkin_package() +install(DIRECTORY config ros1 DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) +install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} - PATTERN "setup_assistant.launch" EXCLUDE) -install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +ament_package() diff --git a/config/initial_positions.yaml b/config/initial_positions.yaml new file mode 100644 index 0000000..e82bc25 --- /dev/null +++ b/config/initial_positions.yaml @@ -0,0 +1,11 @@ +# Default initial positions for panda's ros2_control fake system + +initial_positions: + panda_finger_joint1: 0 + panda_joint1: 0 + panda_joint2: 0 + panda_joint3: 0 + panda_joint4: 0 + panda_joint5: 0 + panda_joint6: 0 + panda_joint7: 0 \ No newline at end of file diff --git a/config/moveit.rviz b/config/moveit.rviz new file mode 100644 index 0000000..9abc0da --- /dev/null +++ b/config/moveit.rviz @@ -0,0 +1,51 @@ +Panels: + - Class: rviz_common/Displays + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - Class: rviz_common/Help + Name: Help + - Class: rviz_common/Views + Name: Views +Visualization Manager: + Displays: + - Class: rviz_default_plugins/Grid + Name: Grid + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Name: MotionPlanning + Planned Path: + Loop Animation: true + State Display Time: 0.05 s + Trajectory Topic: display_planned_path + Planning Scene Topic: monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Robot: + Robot Alpha: 0.5 + Value: true + Global Options: + Fixed Frame: panda_link0 + Tools: + - Class: rviz_default_plugins/Interact + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.0 + Focal Point: + X: -0.1 + Y: 0.25 + Z: 0.30 + Name: Current View + Pitch: 0.5 + Target Frame: panda_link0 + Yaw: -0.623 +Window Geometry: + Height: 975 + QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Width: 1200 diff --git a/config/moveit_controllers.yaml b/config/moveit_controllers.yaml new file mode 100644 index 0000000..f7fd67e --- /dev/null +++ b/config/moveit_controllers.yaml @@ -0,0 +1,27 @@ +# MoveIt uses this configuration for controller management + +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - panda_arm_controller + - hand_controller + + panda_arm_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - panda_joint1 + - panda_joint2 + - panda_joint3 + - panda_joint4 + - panda_joint5 + - panda_joint6 + - panda_joint7 + hand_controller: + type: GripperCommand + joints: + - panda_finger_joint1 + action_ns: gripper_cmd + default: true \ No newline at end of file diff --git a/config/panda.ros2_control.xacro b/config/panda.ros2_control.xacro new file mode 100644 index 0000000..92b5ee6 --- /dev/null +++ b/config/panda.ros2_control.xacro @@ -0,0 +1,70 @@ + + + + + + + + + mock_components/GenericSystem + + + + + ${initial_positions['panda_joint1']} + + + + + + + ${initial_positions['panda_joint2']} + + + + + + + ${initial_positions['panda_joint3']} + + + + + + + ${initial_positions['panda_joint4']} + + + + + + + ${initial_positions['panda_joint5']} + + + + + + + ${initial_positions['panda_joint6']} + + + + + + + ${initial_positions['panda_joint7']} + + + + + + + ${initial_positions['panda_finger_joint1']} + + + + + + + diff --git a/config/panda.srdf b/config/panda.srdf new file mode 100644 index 0000000..9a03432 --- /dev/null +++ b/config/panda.srdf @@ -0,0 +1,84 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/config/panda.urdf.xacro b/config/panda.urdf.xacro new file mode 100644 index 0000000..acf8da3 --- /dev/null +++ b/config/panda.urdf.xacro @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/config/pilz_cartesian_limits.yaml b/config/pilz_cartesian_limits.yaml new file mode 100644 index 0000000..b2997ca --- /dev/null +++ b/config/pilz_cartesian_limits.yaml @@ -0,0 +1,6 @@ +# Limits for the Pilz planner +cartesian_limits: + max_trans_vel: 1.0 + max_trans_acc: 2.25 + max_trans_dec: -5.0 + max_rot_vel: 1.57 diff --git a/config/ros2_controllers.yaml b/config/ros2_controllers.yaml new file mode 100644 index 0000000..628748f --- /dev/null +++ b/config/ros2_controllers.yaml @@ -0,0 +1,34 @@ +# This config file is used by ros2_control +controller_manager: + ros__parameters: + update_rate: 100 # Hz + + panda_arm_controller: + type: joint_trajectory_controller/JointTrajectoryController + + + hand_controller: + type: position_controllers/GripperActionController + + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + +panda_arm_controller: + ros__parameters: + joints: + - panda_joint1 + - panda_joint2 + - panda_joint3 + - panda_joint4 + - panda_joint5 + - panda_joint6 + - panda_joint7 + command_interfaces: + - position + state_interfaces: + - position + - velocity +hand_controller: + ros__parameters: + joint: panda_finger_joint1 \ No newline at end of file diff --git a/launch/demo.launch.py b/launch/demo.launch.py new file mode 100644 index 0000000..b4dfe35 --- /dev/null +++ b/launch/demo.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_demo_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("panda", package_name="panda_moveit_config").to_moveit_configs() + return generate_demo_launch(moveit_config) diff --git a/launch/move_group.launch.py b/launch/move_group.launch.py new file mode 100644 index 0000000..8526a81 --- /dev/null +++ b/launch/move_group.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_move_group_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("panda", package_name="panda_moveit_config").to_moveit_configs() + return generate_move_group_launch(moveit_config) diff --git a/launch/moveit_rviz.launch.py b/launch/moveit_rviz.launch.py new file mode 100644 index 0000000..2e7043c --- /dev/null +++ b/launch/moveit_rviz.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_moveit_rviz_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("panda", package_name="panda_moveit_config").to_moveit_configs() + return generate_moveit_rviz_launch(moveit_config) diff --git a/launch/rsp.launch.py b/launch/rsp.launch.py new file mode 100644 index 0000000..f399fd3 --- /dev/null +++ b/launch/rsp.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_rsp_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("panda", package_name="panda_moveit_config").to_moveit_configs() + return generate_rsp_launch(moveit_config) diff --git a/launch/sensor_manager.launch.xml b/launch/sensor_manager.launch.xml index 61db9d9..7d6a50b 100644 --- a/launch/sensor_manager.launch.xml +++ b/launch/sensor_manager.launch.xml @@ -1,19 +1,4 @@ - - - - - - - - - - - - - - - - - - - + + + + diff --git a/launch/setup_assistant.launch.py b/launch/setup_assistant.launch.py new file mode 100644 index 0000000..3b91851 --- /dev/null +++ b/launch/setup_assistant.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_setup_assistant_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("panda", package_name="panda_moveit_config").to_moveit_configs() + return generate_setup_assistant_launch(moveit_config) diff --git a/launch/spawn_controllers.launch.py b/launch/spawn_controllers.launch.py new file mode 100644 index 0000000..70dc8b2 --- /dev/null +++ b/launch/spawn_controllers.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_spawn_controllers_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("panda", package_name="panda_moveit_config").to_moveit_configs() + return generate_spawn_controllers_launch(moveit_config) diff --git a/launch/static_virtual_joint_tfs.launch.py b/launch/static_virtual_joint_tfs.launch.py new file mode 100644 index 0000000..519c7d1 --- /dev/null +++ b/launch/static_virtual_joint_tfs.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("panda", package_name="panda_moveit_config").to_moveit_configs() + return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/launch/warehouse_db.launch.py b/launch/warehouse_db.launch.py new file mode 100644 index 0000000..70f52fc --- /dev/null +++ b/launch/warehouse_db.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_warehouse_db_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("panda", package_name="panda_moveit_config").to_moveit_configs() + return generate_warehouse_db_launch(moveit_config) diff --git a/package.xml b/package.xml index 4ed28fd..5dd2db6 100644 --- a/package.xml +++ b/package.xml @@ -1,40 +1,49 @@ - - + + + panda_moveit_config - 0.8.1 + 0.3.0 An automatically generated package with all the configuration and launch files for using the panda with the MoveIt Motion Planning Framework - MoveIt maintainer team MoveIt maintainer team BSD http://moveit.ros.org/ - https://github.com/ros-planning/moveit/issues - https://github.com/ros-planning/moveit + https://github.com/ros-planning/panda_moveit_config/issues + https://github.com/ros-planning/panda_moveit_config - catkin + MoveIt maintainer team - moveit_ros_move_group - moveit_fake_controller_manager - moveit_kinematics - moveit_planners - moveit_ros_visualization - moveit_setup_assistant - moveit_simple_controller_manager - joint_state_publisher - joint_state_publisher_gui - robot_state_publisher - rviz - tf2_ros - xacro + ament_cmake + + joint_state_publisher + joint_state_publisher_gui - - - - - franka_description + + + controller_manager + moveit_kinematics + moveit_configs_utils + moveit_planners + moveit_resources_panda_description + moveit_ros_move_group + moveit_ros_visualization + moveit_ros_warehouse + moveit_setup_assistant + moveit_simple_controller_manager + robot_state_publisher + rviz2 + rviz_common + rviz_default_plugins + tf2_ros + warehouse_ros_mongo + xacro + + + ament_cmake + diff --git a/config/arm.xacro b/ros1/config/arm.xacro similarity index 100% rename from config/arm.xacro rename to ros1/config/arm.xacro diff --git a/config/cartesian_limits.yaml b/ros1/config/cartesian_limits.yaml similarity index 100% rename from config/cartesian_limits.yaml rename to ros1/config/cartesian_limits.yaml diff --git a/config/chomp_planning.yaml b/ros1/config/chomp_planning.yaml similarity index 100% rename from config/chomp_planning.yaml rename to ros1/config/chomp_planning.yaml diff --git a/config/fake_controllers.yaml b/ros1/config/fake_controllers.yaml similarity index 100% rename from config/fake_controllers.yaml rename to ros1/config/fake_controllers.yaml diff --git a/config/gazebo_controllers.yaml b/ros1/config/gazebo_controllers.yaml similarity index 100% rename from config/gazebo_controllers.yaml rename to ros1/config/gazebo_controllers.yaml diff --git a/config/hand.xacro b/ros1/config/hand.xacro similarity index 100% rename from config/hand.xacro rename to ros1/config/hand.xacro diff --git a/config/lerp_planning.yaml b/ros1/config/lerp_planning.yaml similarity index 100% rename from config/lerp_planning.yaml rename to ros1/config/lerp_planning.yaml diff --git a/config/ompl_planning.yaml b/ros1/config/ompl_planning.yaml similarity index 100% rename from config/ompl_planning.yaml rename to ros1/config/ompl_planning.yaml diff --git a/config/ros_controllers.yaml b/ros1/config/ros_controllers.yaml similarity index 100% rename from config/ros_controllers.yaml rename to ros1/config/ros_controllers.yaml diff --git a/config/simple_moveit_controllers.yaml b/ros1/config/simple_moveit_controllers.yaml similarity index 100% rename from config/simple_moveit_controllers.yaml rename to ros1/config/simple_moveit_controllers.yaml diff --git a/config/stomp_planning.yaml b/ros1/config/stomp_planning.yaml similarity index 100% rename from config/stomp_planning.yaml rename to ros1/config/stomp_planning.yaml diff --git a/config/trajopt_planning.yaml b/ros1/config/trajopt_planning.yaml similarity index 100% rename from config/trajopt_planning.yaml rename to ros1/config/trajopt_planning.yaml diff --git a/launch/chomp_planning_pipeline.launch.xml b/ros1/launch/chomp_planning_pipeline.launch.xml similarity index 100% rename from launch/chomp_planning_pipeline.launch.xml rename to ros1/launch/chomp_planning_pipeline.launch.xml diff --git a/launch/default_warehouse_db.launch b/ros1/launch/default_warehouse_db.launch similarity index 100% rename from launch/default_warehouse_db.launch rename to ros1/launch/default_warehouse_db.launch diff --git a/launch/demo.launch b/ros1/launch/demo.launch similarity index 100% rename from launch/demo.launch rename to ros1/launch/demo.launch diff --git a/launch/demo_chomp.launch b/ros1/launch/demo_chomp.launch similarity index 100% rename from launch/demo_chomp.launch rename to ros1/launch/demo_chomp.launch diff --git a/launch/demo_gazebo.launch b/ros1/launch/demo_gazebo.launch similarity index 100% rename from launch/demo_gazebo.launch rename to ros1/launch/demo_gazebo.launch diff --git a/launch/demo_lerp.launch b/ros1/launch/demo_lerp.launch similarity index 100% rename from launch/demo_lerp.launch rename to ros1/launch/demo_lerp.launch diff --git a/launch/demo_stomp.launch b/ros1/launch/demo_stomp.launch similarity index 100% rename from launch/demo_stomp.launch rename to ros1/launch/demo_stomp.launch diff --git a/launch/fake_moveit_controller_manager.launch.xml b/ros1/launch/fake_moveit_controller_manager.launch.xml similarity index 100% rename from launch/fake_moveit_controller_manager.launch.xml rename to ros1/launch/fake_moveit_controller_manager.launch.xml diff --git a/launch/franka_control.launch b/ros1/launch/franka_control.launch similarity index 100% rename from launch/franka_control.launch rename to ros1/launch/franka_control.launch diff --git a/launch/joystick_control.launch b/ros1/launch/joystick_control.launch similarity index 100% rename from launch/joystick_control.launch rename to ros1/launch/joystick_control.launch diff --git a/launch/lerp_planning_pipeline.launch.xml b/ros1/launch/lerp_planning_pipeline.launch.xml similarity index 100% rename from launch/lerp_planning_pipeline.launch.xml rename to ros1/launch/lerp_planning_pipeline.launch.xml diff --git a/launch/move_group.launch b/ros1/launch/move_group.launch similarity index 100% rename from launch/move_group.launch rename to ros1/launch/move_group.launch diff --git a/launch/moveit.rviz b/ros1/launch/moveit.rviz similarity index 100% rename from launch/moveit.rviz rename to ros1/launch/moveit.rviz diff --git a/launch/moveit_empty.rviz b/ros1/launch/moveit_empty.rviz similarity index 100% rename from launch/moveit_empty.rviz rename to ros1/launch/moveit_empty.rviz diff --git a/launch/moveit_rviz.launch b/ros1/launch/moveit_rviz.launch similarity index 100% rename from launch/moveit_rviz.launch rename to ros1/launch/moveit_rviz.launch diff --git a/launch/moveit_scene.rviz b/ros1/launch/moveit_scene.rviz similarity index 100% rename from launch/moveit_scene.rviz rename to ros1/launch/moveit_scene.rviz diff --git a/launch/ompl-chomp_planning_pipeline.launch.xml b/ros1/launch/ompl-chomp_planning_pipeline.launch.xml similarity index 100% rename from launch/ompl-chomp_planning_pipeline.launch.xml rename to ros1/launch/ompl-chomp_planning_pipeline.launch.xml diff --git a/launch/ompl_planning_pipeline.launch.xml b/ros1/launch/ompl_planning_pipeline.launch.xml similarity index 100% rename from launch/ompl_planning_pipeline.launch.xml rename to ros1/launch/ompl_planning_pipeline.launch.xml diff --git a/launch/panda_moveit_sensor_manager.launch.xml b/ros1/launch/panda_moveit_sensor_manager.launch.xml similarity index 100% rename from launch/panda_moveit_sensor_manager.launch.xml rename to ros1/launch/panda_moveit_sensor_manager.launch.xml diff --git a/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/ros1/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml similarity index 100% rename from launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml rename to ros1/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml diff --git a/launch/planning_context.launch b/ros1/launch/planning_context.launch similarity index 100% rename from launch/planning_context.launch rename to ros1/launch/planning_context.launch diff --git a/launch/planning_pipeline.launch.xml b/ros1/launch/planning_pipeline.launch.xml similarity index 100% rename from launch/planning_pipeline.launch.xml rename to ros1/launch/planning_pipeline.launch.xml diff --git a/launch/ros_control_moveit_controller_manager.launch.xml b/ros1/launch/ros_control_moveit_controller_manager.launch.xml similarity index 100% rename from launch/ros_control_moveit_controller_manager.launch.xml rename to ros1/launch/ros_control_moveit_controller_manager.launch.xml diff --git a/launch/ros_controllers.launch b/ros1/launch/ros_controllers.launch similarity index 100% rename from launch/ros_controllers.launch rename to ros1/launch/ros_controllers.launch diff --git a/launch/run_benchmark_ompl.launch b/ros1/launch/run_benchmark_ompl.launch similarity index 100% rename from launch/run_benchmark_ompl.launch rename to ros1/launch/run_benchmark_ompl.launch diff --git a/launch/run_benchmark_trajopt.launch b/ros1/launch/run_benchmark_trajopt.launch similarity index 100% rename from launch/run_benchmark_trajopt.launch rename to ros1/launch/run_benchmark_trajopt.launch diff --git a/ros1/launch/sensor_manager.launch.xml b/ros1/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..61db9d9 --- /dev/null +++ b/ros1/launch/sensor_manager.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/launch/setup_assistant.launch b/ros1/launch/setup_assistant.launch similarity index 100% rename from launch/setup_assistant.launch rename to ros1/launch/setup_assistant.launch diff --git a/launch/simple_moveit_controller_manager.launch.xml b/ros1/launch/simple_moveit_controller_manager.launch.xml similarity index 100% rename from launch/simple_moveit_controller_manager.launch.xml rename to ros1/launch/simple_moveit_controller_manager.launch.xml diff --git a/launch/stomp_planning_pipeline.launch.xml b/ros1/launch/stomp_planning_pipeline.launch.xml similarity index 100% rename from launch/stomp_planning_pipeline.launch.xml rename to ros1/launch/stomp_planning_pipeline.launch.xml diff --git a/launch/trajectory_execution.launch.xml b/ros1/launch/trajectory_execution.launch.xml similarity index 100% rename from launch/trajectory_execution.launch.xml rename to ros1/launch/trajectory_execution.launch.xml diff --git a/launch/trajopt_planning_pipeline.launch.xml b/ros1/launch/trajopt_planning_pipeline.launch.xml similarity index 100% rename from launch/trajopt_planning_pipeline.launch.xml rename to ros1/launch/trajopt_planning_pipeline.launch.xml diff --git a/launch/warehouse.launch b/ros1/launch/warehouse.launch similarity index 100% rename from launch/warehouse.launch rename to ros1/launch/warehouse.launch diff --git a/launch/warehouse_settings.launch.xml b/ros1/launch/warehouse_settings.launch.xml similarity index 100% rename from launch/warehouse_settings.launch.xml rename to ros1/launch/warehouse_settings.launch.xml diff --git a/ros1/readme.md b/ros1/readme.md new file mode 100644 index 0000000..450971c --- /dev/null +++ b/ros1/readme.md @@ -0,0 +1,2 @@ +Files in this folder (panda_moveit_config/launch/ros1) are the ones generated by moveit_setup_assistant and/or made during ros1 era, as opposed to the files panda_moveit_config/launch are the ones initially generated by moveit_setup_assistant 2.5.4 on ROS Humble. +Since they may be still functional and useful, they may not be fully tested, hence kept in this separate folder so that they are easily identified. \ No newline at end of file