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Commit 4039a06

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ahcordeahcorde
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Added moveit2 demo
Signed-off-by: ahcorde <[email protected]>
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‎rrbot_description/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.10.2)
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project(rrbot_description)
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find_package(ament_cmake REQUIRED)
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ament_package()
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install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})

‎rrbot_description/package.xml‎

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<?xml version="1.0"?>
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<package format="3">
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<name>rrbot_description</name>
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<version>0.0.0</version>
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<description>Rrbot Resources used for MoveIt testing</description>
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<author email="[email protected]">Alejandro</author>
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<maintainer email="[email protected]">Alejandro</maintainer>
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<license>BSD</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎rrbot_description/urdf/rrbot.urdf‎

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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from single_rrbot.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="single_rrbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Import your models -->
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<material name="RRBOT/black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="RRBOT/blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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</material>
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<material name="RRBOT/green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="RRBOT/grey">
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<color rgba="0.2 0.2 0.2 1.0"/>
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</material>
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<material name="RRBOT/orange">
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<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
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</material>
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<material name="RRBOT/brown">
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<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
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</material>
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<material name="RRBOT/red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="RRBOT/white">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<!-- Build your comprehensive robot -->
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<link name="world"/>
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<gazebo reference="world">
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<static>true</static>
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</gazebo>
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<joint name="single_rrbot_fixed" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="world"/>
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<child link="single_rrbot_link1"/>
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</joint>
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<link name="single_rrbot_link1">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 1.0"/>
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<geometry>
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<box size="0.1 0.1 2"/>
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</geometry>
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</collision>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 1.0"/>
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<geometry>
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<box size="0.1 0.1 2"/>
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</geometry>
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<material name="RRBOT/orange"/>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 1.0"/>
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<mass value="1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="single_rrbot_joint1" type="continuous">
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<parent link="single_rrbot_link1"/>
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<child link="single_rrbot_link2"/>
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<origin rpy="0 0 0" xyz="0 0.1 1.95"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.7"/>
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</joint>
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<gazebo>
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<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
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<robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
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<parameters>/home/ahcorde/ros2_control_ws_foxy/rrbot.yaml</parameters>
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<control_period>0.001</control_period>
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</plugin>
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</gazebo>
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<link name="single_rrbot_link2">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.45"/>
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<geometry>
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<box size="0.1 0.1 1"/>
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</geometry>
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</collision>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.45"/>
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<geometry>
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<box size="0.1 0.1 1"/>
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</geometry>
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<material name="RRBOT/black"/>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.45"/>
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<mass value="1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="single_rrbot_joint2" type="continuous">
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<parent link="single_rrbot_link2"/>
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<child link="single_rrbot_link3"/>
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<origin rpy="0 0 0" xyz="0 0.1 0.9"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.7"/>
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</joint>
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<link name="single_rrbot_link3">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.45"/>
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<geometry>
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<box size="0.1 0.1 1"/>
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</geometry>
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</collision>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.45"/>
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<geometry>
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<box size="0.1 0.1 1"/>
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</geometry>
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<material name="RRBOT/orange"/>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.45"/>
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<mass value="1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="single_rrbot_hokuyo_joint" type="fixed">
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<axis xyz="0 1 0"/>
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<origin rpy="0 0 0" xyz="0 0 0.975"/>
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<parent link="single_rrbot_link3"/>
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<child link="single_rrbot_hokuyo_link"/>
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</joint>
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<link name="single_rrbot_hokuyo_link">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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</collision>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="1e-5"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
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</inertial>
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</link>
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<joint name="single_rrbot_camera_joint" type="fixed">
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<axis xyz="0 1 0"/>
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<origin rpy="0 0 0" xyz="0.05 0 0.9"/>
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<parent link="single_rrbot_link3"/>
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<child link="single_rrbot_camera_link"/>
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</joint>
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<link name="single_rrbot_camera_link">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.05 0.05 0.05"/>
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</geometry>
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</collision>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.05 0.05 0.05"/>
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</geometry>
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<material name="RRBOT/red"/>
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</visual>
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<inertial>
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<mass value="1e-5"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
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</inertial>
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</link>
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<transmission name="single_rrbot_tran1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="single_rrbot_joint1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="single_rrbot_motor1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="single_rrbot_tran2">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="single_rrbot_joint2">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="single_rrbot_motor2">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<gazebo reference="single_rrbot_link1">
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<material>Gazebo/Orange</material>
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</gazebo>
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<gazebo reference="single_rrbot_link2">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Black</material>
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</gazebo>
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<gazebo reference="single_rrbot_link3">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Orange</material>
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</gazebo>
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<gazebo reference="single_rrbot_camera_link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Red</material>
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</gazebo>
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</robot>

‎rrbot_moveit_config/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.10.2)
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project(rrbot_moveit_config)
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find_package(ament_cmake REQUIRED)
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ament_package()
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install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME})

‎rrbot_moveit_config/config/kinematics.yaml‎

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rrbot_arm:
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kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
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kinematics_solver_search_resolution: 0.005
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kinematics_solver_timeout: 0.005

‎rrbot_moveit_config/config/moveit_cpp.yaml‎

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run_moveit_cpp:
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ros__parameters:
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planning_scene_monitor_options:
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name: "planning_scene_monitor"
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robot_description: "robot_description"
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joint_state_topic: "/joint_states"
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attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor"
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publish_planning_scene_topic: "/moveit_cpp/publish_planning_scene"
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monitored_planning_scene_topic: "/moveit_cpp/monitored_planning_scene"
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wait_for_initial_state_timeout: 10.0
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planning_pipelines:
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#namespace: "moveit_cpp" # optional, default is ~
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pipeline_names: ["ompl"]
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plan_request_params:
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planning_attempts: 10
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planning_pipeline: ompl
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max_velocity_scaling_factor: 1.0
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max_acceleration_scaling_factor: 1.0

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