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Added moveit2 demo #45

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Added moveit2 demo #45

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7 changes: 7 additions & 0 deletions rrbot_description/CMakeLists.txt
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cmake_minimum_required(VERSION 3.10.2)
project(rrbot_description)
find_package(ament_cmake REQUIRED)

ament_package()

install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
18 changes: 18 additions & 0 deletions rrbot_description/package.xml
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<?xml version="1.0"?>
<package format="3">
<name>rrbot_description</name>
<version>0.0.0</version>
<description>Rrbot Resources used for MoveIt testing</description>

<author email="[email protected]">Alejandro</author>

<maintainer email="[email protected]">Alejandro</maintainer>

<license>BSD</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
214 changes: 214 additions & 0 deletions rrbot_description/urdf/rrbot.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from single_rrbot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="single_rrbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Import your models -->
<material name="RRBOT/black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="RRBOT/blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="RRBOT/green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="RRBOT/grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="RRBOT/orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="RRBOT/brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="RRBOT/red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="RRBOT/white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<!-- Build your comprehensive robot -->
<link name="world"/>
<gazebo reference="world">
<static>true</static>
</gazebo>
<joint name="single_rrbot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="single_rrbot_link1"/>
</joint>
<link name="single_rrbot_link1">
<collision>
<origin rpy="0 0 0" xyz="0 0 1.0"/>
<geometry>
<box size="0.1 0.1 2"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 1.0"/>
<geometry>
<box size="0.1 0.1 2"/>
</geometry>
<material name="RRBOT/orange"/>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 1.0"/>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="single_rrbot_joint1" type="continuous">
<parent link="single_rrbot_link1"/>
<child link="single_rrbot_link2"/>
<origin rpy="0 0 0" xyz="0 0.1 1.95"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.7"/>
</joint>

<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
<parameters>/home/ahcorde/ros2_control_ws_foxy/rrbot.yaml</parameters>
<control_period>0.001</control_period>
</plugin>
</gazebo>

<link name="single_rrbot_link2">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.45"/>
<geometry>
<box size="0.1 0.1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.45"/>
<geometry>
<box size="0.1 0.1 1"/>
</geometry>
<material name="RRBOT/black"/>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.45"/>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="single_rrbot_joint2" type="continuous">
<parent link="single_rrbot_link2"/>
<child link="single_rrbot_link3"/>
<origin rpy="0 0 0" xyz="0 0.1 0.9"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.7"/>
</joint>
<link name="single_rrbot_link3">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.45"/>
<geometry>
<box size="0.1 0.1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.45"/>
<geometry>
<box size="0.1 0.1 1"/>
</geometry>
<material name="RRBOT/orange"/>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.45"/>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="single_rrbot_hokuyo_joint" type="fixed">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 0 0.975"/>
<parent link="single_rrbot_link3"/>
<child link="single_rrbot_hokuyo_link"/>
</joint>
<link name="single_rrbot_hokuyo_link">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<joint name="single_rrbot_camera_joint" type="fixed">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.05 0 0.9"/>
<parent link="single_rrbot_link3"/>
<child link="single_rrbot_camera_link"/>
</joint>
<link name="single_rrbot_camera_link">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
<material name="RRBOT/red"/>
</visual>
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<transmission name="single_rrbot_tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="single_rrbot_joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="single_rrbot_motor1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="single_rrbot_tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="single_rrbot_joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="single_rrbot_motor2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="single_rrbot_link1">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="single_rrbot_link2">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="single_rrbot_link3">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="single_rrbot_camera_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
</robot>
7 changes: 7 additions & 0 deletions rrbot_moveit_config/CMakeLists.txt
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cmake_minimum_required(VERSION 3.10.2)
project(rrbot_moveit_config)
find_package(ament_cmake REQUIRED)

ament_package()

install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME})
4 changes: 4 additions & 0 deletions rrbot_moveit_config/config/kinematics.yaml
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rrbot_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
20 changes: 20 additions & 0 deletions rrbot_moveit_config/config/moveit_cpp.yaml
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run_moveit_cpp:
ros__parameters:
planning_scene_monitor_options:
name: "planning_scene_monitor"
robot_description: "robot_description"
joint_state_topic: "/joint_states"
attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor"
publish_planning_scene_topic: "/moveit_cpp/publish_planning_scene"
monitored_planning_scene_topic: "/moveit_cpp/monitored_planning_scene"
wait_for_initial_state_timeout: 10.0

planning_pipelines:
#namespace: "moveit_cpp" # optional, default is ~
pipeline_names: ["ompl"]

plan_request_params:
planning_attempts: 10
planning_pipeline: ompl
max_velocity_scaling_factor: 1.0
max_acceleration_scaling_factor: 1.0
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