From aed0550fa5f39765d5c5963b149a8cbe72c2ca1f Mon Sep 17 00:00:00 2001 From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp> Date: Wed, 7 Jun 2023 05:40:24 -0400 Subject: [PATCH 1/7] WIP: ros2-ified --- CMakeLists.txt | 13 +++++++------ package.xml | 44 +++++++++++++++++++++++--------------------- 2 files changed, 30 insertions(+), 27 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 675c9ac..883df09 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,10 +1,11 @@ -cmake_minimum_required(VERSION 3.1.3) +cmake_minimum_required(VERSION 3.8) project(panda_moveit_config) -find_package(catkin REQUIRED) +find_package(ament_cmake REQUIRED) +find_package(ament_cmake_python REQUIRED) -catkin_package() - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} PATTERN "setup_assistant.launch" EXCLUDE) -install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +ament_package() diff --git a/package.xml b/package.xml index 4ed28fd..c8e7538 100644 --- a/package.xml +++ b/package.xml @@ -1,5 +1,5 @@ - - + + panda_moveit_config 0.8.1 @@ -13,28 +13,30 @@ http://moveit.ros.org/ https://github.com/ros-planning/moveit/issues https://github.com/ros-planning/moveit + ament_cmake - catkin - - 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 + 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 - - + + - - franka_description + + franka_description + + ament_cmake + From 9cc484581f1e37c89abcda74e2d33258f2c31973 Mon Sep 17 00:00:00 2001 From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp> Date: Wed, 7 Jun 2023 10:12:32 -0400 Subject: [PATCH 2/7] ros2-fy: Top-level xacro file path seems to have changed --- .setup_assistant | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.setup_assistant b/.setup_assistant index f54adbf..c92002e 100644 --- a/.setup_assistant +++ b/.setup_assistant @@ -1,7 +1,7 @@ moveit_setup_assistant_config: URDF: package: franka_description - relative_path: robots/panda/panda.urdf.xacro + relative_path: robots/panda_arm.urdf.xacro xacro_args: hand:=true SRDF: relative_path: config/panda.srdf.xacro From 1cf227291d2b651e166ab84848ec954014ccbb96 Mon Sep 17 00:00:00 2001 From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp> Date: Wed, 7 Jun 2023 11:42:45 -0400 Subject: [PATCH 3/7] ros2-fy: Merge with the files that are generated from MSA 2.5.4 --- .setup_assistant | 30 +++++--- CMakeLists.txt | 4 +- config/initial_positions.yaml | 11 +++ config/moveit.rviz | 51 ++++++++++++++ config/moveit_controllers.yaml | 27 ++++++++ config/panda.ros2_control.xacro | 70 +++++++++++++++++++ config/panda.srdf | 84 +++++++++++++++++++++++ config/panda.urdf.xacro | 14 ++++ config/pilz_cartesian_limits.yaml | 6 ++ config/ros2_controllers.yaml | 34 +++++++++ launch/demo.launch.py | 7 ++ launch/move_group.launch.py | 7 ++ launch/moveit_rviz.launch.py | 7 ++ launch/rsp.launch.py | 7 ++ launch/setup_assistant.launch.py | 7 ++ launch/spawn_controllers.launch.py | 7 ++ launch/static_virtual_joint_tfs.launch.py | 7 ++ launch/warehouse_db.launch.py | 7 ++ package.xml | 43 +++++++----- 19 files changed, 402 insertions(+), 28 deletions(-) create mode 100644 config/initial_positions.yaml create mode 100644 config/moveit.rviz create mode 100644 config/moveit_controllers.yaml create mode 100644 config/panda.ros2_control.xacro create mode 100644 config/panda.srdf create mode 100644 config/panda.urdf.xacro create mode 100644 config/pilz_cartesian_limits.yaml create mode 100644 config/ros2_controllers.yaml create mode 100644 launch/demo.launch.py create mode 100644 launch/move_group.launch.py create mode 100644 launch/moveit_rviz.launch.py create mode 100644 launch/rsp.launch.py create mode 100644 launch/setup_assistant.launch.py create mode 100644 launch/spawn_controllers.launch.py create mode 100644 launch/static_virtual_joint_tfs.launch.py create mode 100644 launch/warehouse_db.launch.py diff --git a/.setup_assistant b/.setup_assistant index c92002e..ce0b000 100644 --- a/.setup_assistant +++ b/.setup_assistant @@ -1,11 +1,25 @@ moveit_setup_assistant_config: - URDF: - package: franka_description - relative_path: robots/panda_arm.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 883df09..5865857 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,11 +1,11 @@ -cmake_minimum_required(VERSION 3.8) +cmake_minimum_required(VERSION 3.22) project(panda_moveit_config) find_package(ament_cmake REQUIRED) -find_package(ament_cmake_python REQUIRED) install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} PATTERN "setup_assistant.launch" EXCLUDE) +install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) 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/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 c8e7538..5dd2db6 100644 --- a/package.xml +++ b/package.xml @@ -1,42 +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 + + MoveIt maintainer team + ament_cmake - moveit_ros_move_group - moveit_fake_controller_manager + joint_state_publisher + joint_state_publisher_gui + + + + 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 - joint_state_publisher - joint_state_publisher_gui robot_state_publisher - rviz + rviz2 + rviz_common + rviz_default_plugins tf2_ros + warehouse_ros_mongo xacro - - - - - - franka_description + - ament_cmake + ament_cmake From b2a2969272b872fac27a5a7a6797f9c3de2a0372 Mon Sep 17 00:00:00 2001 From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp> Date: Wed, 7 Jun 2023 11:52:11 -0400 Subject: [PATCH 4/7] ros2-fy: Separate the files in {config, launch} folders that were made during ROS1 era --- CMakeLists.txt | 2 +- {config => ros1/config}/arm.xacro | 0 {config => ros1/config}/cartesian_limits.yaml | 0 {config => ros1/config}/chomp_planning.yaml | 0 {config => ros1/config}/fake_controllers.yaml | 0 {config => ros1/config}/gazebo_controllers.yaml | 0 {config => ros1/config}/hand.xacro | 0 {config => ros1/config}/lerp_planning.yaml | 0 {config => ros1/config}/ompl_planning.yaml | 0 {config => ros1/config}/ros_controllers.yaml | 0 {config => ros1/config}/sensors_kinect_depthmap.yaml | 0 {config => ros1/config}/sensors_kinect_pointcloud.yaml | 0 {config => ros1/config}/simple_moveit_controllers.yaml | 0 {config => ros1/config}/stomp_planning.yaml | 0 {config => ros1/config}/trajopt_planning.yaml | 0 {launch => ros1/launch}/chomp_planning_pipeline.launch.xml | 0 {launch => ros1/launch}/default_warehouse_db.launch | 0 {launch => ros1/launch}/demo.launch | 0 {launch => ros1/launch}/demo_chomp.launch | 0 {launch => ros1/launch}/demo_gazebo.launch | 0 {launch => ros1/launch}/demo_lerp.launch | 0 {launch => ros1/launch}/demo_stomp.launch | 0 .../launch}/fake_moveit_controller_manager.launch.xml | 0 {launch => ros1/launch}/franka_control.launch | 0 {launch => ros1/launch}/joystick_control.launch | 0 {launch => ros1/launch}/lerp_planning_pipeline.launch.xml | 0 {launch => ros1/launch}/move_group.launch | 0 {launch => ros1/launch}/moveit.rviz | 0 {launch => ros1/launch}/moveit_empty.rviz | 0 {launch => ros1/launch}/moveit_rviz.launch | 0 {launch => ros1/launch}/moveit_scene.rviz | 0 {launch => ros1/launch}/ompl-chomp_planning_pipeline.launch.xml | 0 {launch => ros1/launch}/ompl_planning_pipeline.launch.xml | 0 {launch => ros1/launch}/panda_moveit_sensor_manager.launch.xml | 0 .../pilz_industrial_motion_planner_planning_pipeline.launch.xml | 0 {launch => ros1/launch}/planning_context.launch | 0 {launch => ros1/launch}/planning_pipeline.launch.xml | 0 .../launch}/ros_control_moveit_controller_manager.launch.xml | 0 {launch => ros1/launch}/ros_controllers.launch | 0 {launch => ros1/launch}/run_benchmark_ompl.launch | 0 {launch => ros1/launch}/run_benchmark_trajopt.launch | 0 {launch => ros1/launch}/sensor_manager.launch.xml | 0 {launch => ros1/launch}/setup_assistant.launch | 0 .../launch}/simple_moveit_controller_manager.launch.xml | 0 {launch => ros1/launch}/stomp_planning_pipeline.launch.xml | 0 {launch => ros1/launch}/trajectory_execution.launch.xml | 0 {launch => ros1/launch}/trajopt_planning_pipeline.launch.xml | 0 {launch => ros1/launch}/warehouse.launch | 0 {launch => ros1/launch}/warehouse_settings.launch.xml | 0 ros1/readme.md | 2 ++ 50 files changed, 3 insertions(+), 1 deletion(-) rename {config => ros1/config}/arm.xacro (100%) rename {config => ros1/config}/cartesian_limits.yaml (100%) rename {config => ros1/config}/chomp_planning.yaml (100%) rename {config => ros1/config}/fake_controllers.yaml (100%) rename {config => ros1/config}/gazebo_controllers.yaml (100%) rename {config => ros1/config}/hand.xacro (100%) rename {config => ros1/config}/lerp_planning.yaml (100%) rename {config => ros1/config}/ompl_planning.yaml (100%) rename {config => ros1/config}/ros_controllers.yaml (100%) rename {config => ros1/config}/sensors_kinect_depthmap.yaml (100%) rename {config => ros1/config}/sensors_kinect_pointcloud.yaml (100%) rename {config => ros1/config}/simple_moveit_controllers.yaml (100%) rename {config => ros1/config}/stomp_planning.yaml (100%) rename {config => ros1/config}/trajopt_planning.yaml (100%) rename {launch => ros1/launch}/chomp_planning_pipeline.launch.xml (100%) rename {launch => ros1/launch}/default_warehouse_db.launch (100%) rename {launch => ros1/launch}/demo.launch (100%) rename {launch => ros1/launch}/demo_chomp.launch (100%) rename {launch => ros1/launch}/demo_gazebo.launch (100%) rename {launch => ros1/launch}/demo_lerp.launch (100%) rename {launch => ros1/launch}/demo_stomp.launch (100%) rename {launch => ros1/launch}/fake_moveit_controller_manager.launch.xml (100%) rename {launch => ros1/launch}/franka_control.launch (100%) rename {launch => ros1/launch}/joystick_control.launch (100%) rename {launch => ros1/launch}/lerp_planning_pipeline.launch.xml (100%) rename {launch => ros1/launch}/move_group.launch (100%) rename {launch => ros1/launch}/moveit.rviz (100%) rename {launch => ros1/launch}/moveit_empty.rviz (100%) rename {launch => ros1/launch}/moveit_rviz.launch (100%) rename {launch => ros1/launch}/moveit_scene.rviz (100%) rename {launch => ros1/launch}/ompl-chomp_planning_pipeline.launch.xml (100%) rename {launch => ros1/launch}/ompl_planning_pipeline.launch.xml (100%) rename {launch => ros1/launch}/panda_moveit_sensor_manager.launch.xml (100%) rename {launch => ros1/launch}/pilz_industrial_motion_planner_planning_pipeline.launch.xml (100%) rename {launch => ros1/launch}/planning_context.launch (100%) rename {launch => ros1/launch}/planning_pipeline.launch.xml (100%) rename {launch => ros1/launch}/ros_control_moveit_controller_manager.launch.xml (100%) rename {launch => ros1/launch}/ros_controllers.launch (100%) rename {launch => ros1/launch}/run_benchmark_ompl.launch (100%) rename {launch => ros1/launch}/run_benchmark_trajopt.launch (100%) rename {launch => ros1/launch}/sensor_manager.launch.xml (100%) rename {launch => ros1/launch}/setup_assistant.launch (100%) rename {launch => ros1/launch}/simple_moveit_controller_manager.launch.xml (100%) rename {launch => ros1/launch}/stomp_planning_pipeline.launch.xml (100%) rename {launch => ros1/launch}/trajectory_execution.launch.xml (100%) rename {launch => ros1/launch}/trajopt_planning_pipeline.launch.xml (100%) rename {launch => ros1/launch}/warehouse.launch (100%) rename {launch => ros1/launch}/warehouse_settings.launch.xml (100%) create mode 100644 ros1/readme.md diff --git a/CMakeLists.txt b/CMakeLists.txt index 5865857..6bbaf62 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ project(panda_moveit_config) find_package(ament_cmake REQUIRED) -install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY config ros1 DESTINATION share/${PROJECT_NAME}) install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} PATTERN "setup_assistant.launch" EXCLUDE) install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) 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/sensors_kinect_depthmap.yaml b/ros1/config/sensors_kinect_depthmap.yaml similarity index 100% rename from config/sensors_kinect_depthmap.yaml rename to ros1/config/sensors_kinect_depthmap.yaml diff --git a/config/sensors_kinect_pointcloud.yaml b/ros1/config/sensors_kinect_pointcloud.yaml similarity index 100% rename from config/sensors_kinect_pointcloud.yaml rename to ros1/config/sensors_kinect_pointcloud.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/launch/sensor_manager.launch.xml b/ros1/launch/sensor_manager.launch.xml similarity index 100% rename from launch/sensor_manager.launch.xml rename to ros1/launch/sensor_manager.launch.xml 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 From 884691578c4797e92980485cbd8a0b291eead76f Mon Sep 17 00:00:00 2001 From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp> Date: Wed, 7 Jun 2023 13:29:39 -0400 Subject: [PATCH 5/7] ros2-fy: Move back sensors_kinect_*.yaml in use, as they seem indifferent to ros version. --- {ros1/config => config}/sensors_kinect_depthmap.yaml | 0 {ros1/config => config}/sensors_kinect_pointcloud.yaml | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename {ros1/config => config}/sensors_kinect_depthmap.yaml (100%) rename {ros1/config => config}/sensors_kinect_pointcloud.yaml (100%) diff --git a/ros1/config/sensors_kinect_depthmap.yaml b/config/sensors_kinect_depthmap.yaml similarity index 100% rename from ros1/config/sensors_kinect_depthmap.yaml rename to config/sensors_kinect_depthmap.yaml diff --git a/ros1/config/sensors_kinect_pointcloud.yaml b/config/sensors_kinect_pointcloud.yaml similarity index 100% rename from ros1/config/sensors_kinect_pointcloud.yaml rename to config/sensors_kinect_pointcloud.yaml From 60b6af1021aeee1ac7a8727bc1e311ba55e39cea Mon Sep 17 00:00:00 2001 From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp> Date: Wed, 7 Jun 2023 13:57:54 -0400 Subject: [PATCH 6/7] sensor manager files (for perception tutorial https://moveit.picknik.ai/main/doc/examples/perception_pipeline/perception_pipeline_tutorial.html) --- launch/sensor_manager.launch.xml | 4 ++++ 1 file changed, 4 insertions(+) create mode 100644 launch/sensor_manager.launch.xml diff --git a/launch/sensor_manager.launch.xml b/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..7d6a50b --- /dev/null +++ b/launch/sensor_manager.launch.xml @@ -0,0 +1,4 @@ + + + + From 17561bfde7ef80ac6b547a1b129ffde15fe41b7e Mon Sep 17 00:00:00 2001 From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp> Date: Wed, 14 Jun 2023 12:39:45 -0400 Subject: [PATCH 7/7] Improve: Install .setup_assistant file and setup_assistant.launch for user/editors' convenience --- CMakeLists.txt | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 6bbaf62..d64d083 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -4,8 +4,7 @@ project(panda_moveit_config) find_package(ament_cmake REQUIRED) install(DIRECTORY config ros1 DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} - PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) ament_package()