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Ilya Uraev 2022-01-09 17:51:08 +04:00
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6
README.md
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# Robossembler ROS2
Repo for ROS2 packages related to Robossembler
## Known issues
Controller manager can not loaded with `gazebo_ros2_control/GazeboSystem` but MoveitCpp and controller manager completely loaded with `fake_components/GenericSystem` in `ros2_control` tag in file `rasms_descroption/urdf/rasms.control.xacro`
Repo for ROS2 packages related to Robossembler

35
config/joint_limits.yml
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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
joint1:
has_velocity_limits: false
max_velocity: 0.0
has_acceleration_limits: false
max_acceleration: 0
joint3:
has_velocity_limits: false
max_velocity: 0.0
has_acceleration_limits: false
max_acceleration: 0
joint4:
has_velocity_limits: false
max_velocity: 0.0
has_acceleration_limits: false
max_acceleration: 0
joint5:
has_velocity_limits: false
max_velocity: 0.0
has_acceleration_limits: false
max_acceleration: 0
joint6:
has_velocity_limits: false
max_velocity: 0.0
has_acceleration_limits: false
max_acceleration: 0

4
config/kinematics.yml
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rasms_arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.05

20
config/moveit_cpp.yml
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rasms_moveit:
ros__parameters:
planning_scene_monitor_options:
name: "planning_scene_monitor"
robot_description: "robot_description"
joint_state_topic: "/joint_states"
attached_collision_object_topic: "/planning_scene_monitor"
publish_planning_scene_topic: "/publish_planning_scene"
monitored_planning_scene_topic: "/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

151
config/ompl_planning.yml
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planner_configs:
SBLkConfigDefault:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
ESTkConfigDefault:
type: geometric::EST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LBKPIECEkConfigDefault:
type: geometric::LBKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECEkConfigDefault:
type: geometric::BKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
KPIECEkConfigDefault:
type: geometric::KPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
RRTkConfigDefault:
type: geometric::RRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
RRTConnectkConfigDefault:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstarkConfigDefault:
type: geometric::RRTstar
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
TRRTkConfigDefault:
type: geometric::TRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
max_states_failed: 10 # when to start increasing temp. default: 10
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
init_temperature: 10e-6 # initial temperature. default: 10e-6
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
PRMkConfigDefault:
type: geometric::PRM
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
PRMstarkConfigDefault:
type: geometric::PRMstar
FMTkConfigDefault:
type: geometric::FMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
nearest_k: 1 # use Knearest strategy. default: 1
cache_cc: 1 # use collision checking cache. default: 1
heuristics: 0 # activate cost to go heuristics. default: 0
extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
BFMTkConfigDefault:
type: geometric::BFMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
nearest_k: 1 # use the Knearest strategy. default: 1
balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
heuristics: 1 # activates cost to go heuristics. default: 1
cache_cc: 1 # use the collision checking cache. default: 1
extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
PDSTkConfigDefault:
type: geometric::PDST
STRIDEkConfigDefault:
type: geometric::STRIDE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
max_degree: 18 # max degree of a node in the GNAT. default: 12
min_degree: 12 # min degree of a node in the GNAT. default: 12
max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
BiTRRTkConfigDefault:
type: geometric::BiTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
init_temperature: 100 # initial temperature. default: 100
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
LBTRRTkConfigDefault:
type: geometric::LBTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
epsilon: 0.4 # optimality approximation factor. default: 0.4
BiESTkConfigDefault:
type: geometric::BiEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
ProjESTkConfigDefault:
type: geometric::ProjEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LazyPRMkConfigDefault:
type: geometric::LazyPRM
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
LazyPRMstarkConfigDefault:
type: geometric::LazyPRMstar
SPARSkConfigDefault:
type: geometric::SPARS
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 1000 # maximum consecutive failure limit. default: 1000
SPARStwokConfigDefault:
type: geometric::SPARStwo
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000
TrajOptDefault:
type: geometric::TrajOpt
rasms_arm_group:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
- FMTkConfigDefault
- BFMTkConfigDefault
- PDSTkConfigDefault
- STRIDEkConfigDefault
- BiTRRTkConfigDefault
- LBTRRTkConfigDefault
- BiESTkConfigDefault
- ProjESTkConfigDefault
- LazyPRMkConfigDefault
- LazyPRMstarkConfigDefault
- SPARSkConfigDefault
- SPARStwokConfigDefault
- TrajOptDefault

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config/rasms.rviz
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Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 356
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_visual_tools/RvizVisualToolsGui
Name: RvizVisualToolsGui
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: moveit_rviz_plugin/PlanningScene
Enabled: true
Move Group Namespace: ""
Name: PlanningScene
Planning Scene Topic: /monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 0.8999999761581421
Scene Color: 50; 230; 50
Scene Display Time: 0.20000000298023224
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: true
Value: true
- Class: moveit_rviz_plugin/Trajectory
Color Enabled: false
Enabled: true
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: false
Name: Trajectory
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Robot Description: robot_description
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: /display_planned_path
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: /move_group/display_planned_path
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: rasms_arm_group
Query Goal State: false
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: /monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 0.8999999761581421
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: MarkerArray
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /move_group_tutorial
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 2.561343193054199
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.6653979420661926
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.26539817452430725
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1043
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 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
RvizVisualToolsGui:
collapsed: false
Selection:
collapsed: false
Tool Properties:
collapsed: false
Trajectory - Trajectory Slider:
collapsed: false
Views:
collapsed: false
Width: 1920
X: 2560
Y: 360

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config/rasms_controllers.yml
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controller_manager:
ros__parameters:
update_rate: 500 # Hz
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
rasms_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
rasms_arm_controller:
ros__parameters:
joints:
- joint1
- joint2
- joint3
- joint4
- joint5
- joint6
command_interfaces:
- position
state_interfaces:
- position
state_publish_rate: 50.0
action_monitor_rate: 20.0

15
config/rasms_moveit_controllers.yml
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controller_names:
- rasms_arm_controller
# http://control.ros.org/ros2_controllers/joint_trajectory_controller/doc/userdoc.html#ros2-interface-of-the-controller
rasms_arm_controller:
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- joint1
- joint2
- joint3
- joint4
- joint5
- joint6

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config/robasm_sgonov.rviz
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Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 787
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.4318417310714722
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.01542382501065731
Y: -0.006365143693983555
Z: 0.15774454176425934
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5703980326652527
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.5603898763656616
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004c70000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1848
X: 72
Y: 27

377
rasms_moveit_actions/src/run_moveit.cpp
View file

@ -1,319 +1,100 @@
#include <thread>
#include <rclcpp/rclcpp.hpp>
#include <memory>
// MoveitCpp
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/moveit_cpp/planning_component.h>
#include <moveit/robot_state/conversions.h>
#include <moveit_msgs/msg/display_robot_state.hpp>
#include <trajectory_msgs/msg/joint_trajectory.hpp>
#include <geometry_msgs/msg/point_stamped.h>
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_cpp_demo");
#include <moveit_visual_tools/moveit_visual_tools.h>
//#include <urdf/urdf_world_parser.hpp>
class MoveItCppDemo
{
public:
MoveItCppDemo(const rclcpp::Node::SharedPtr& node)
: node_(node)
, robot_state_publisher_(node_->create_publisher<moveit_msgs::msg::DisplayRobotState>("display_robot_state", 1))
{
}
namespace rvt = rviz_visual_tools;
void run()
{
RCLCPP_INFO(LOGGER, "Initialize MoveItCpp");
moveit_cpp_ = std::make_shared<moveit_cpp::MoveItCpp>(node_);
moveit_cpp_->getPlanningSceneMonitor()->providePlanningSceneService(); // let RViz display query PlanningScene
moveit_cpp_->getPlanningSceneMonitor()->setPlanningScenePublishingFrequency(100);
// All source files that use ROS logging should define a file-specific
// static const rclcpp::Logger named LOGGER, located at the top of the file
// and inside the namespace with the narrowest scope (if there is one)
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_cpp_tutorial");
RCLCPP_INFO(LOGGER, "Initialize PlanningComponent");
moveit_cpp::PlanningComponent arm("panda_arm", moveit_cpp_);
// A little delay before running the plan
rclcpp::sleep_for(std::chrono::seconds(3));
// Create collision object, planning shouldn't be too easy
moveit_msgs::msg::CollisionObject collision_object;
collision_object.header.frame_id = "panda_link0";
collision_object.id = "box";
shape_msgs::msg::SolidPrimitive box;
box.type = box.BOX;
box.dimensions = { 0.1, 0.4, 0.1 };
geometry_msgs::msg::Pose box_pose;
box_pose.position.x = 0.4;
box_pose.position.y = 0.0;
box_pose.position.z = 1.0;
collision_object.primitives.push_back(box);
collision_object.primitive_poses.push_back(box_pose);
collision_object.operation = collision_object.ADD;
// Add object to planning scene
{ // Lock PlanningScene
planning_scene_monitor::LockedPlanningSceneRW scene(moveit_cpp_->getPlanningSceneMonitor());
scene->processCollisionObjectMsg(collision_object);
} // Unlock PlanningScene
// Set joint state goal
RCLCPP_INFO(LOGGER, "Set goal");
arm.setGoal("pose1");
// Run actual plan
RCLCPP_INFO(LOGGER, "Plan to goal");
const auto plan_solution = arm.plan();
if (plan_solution)
{
RCLCPP_INFO(LOGGER, "arm.execute()");
arm.execute();
}
}
private:
rclcpp::Node::SharedPtr node_;
rclcpp::Publisher<moveit_msgs::msg::DisplayRobotState>::SharedPtr robot_state_publisher_;
moveit_cpp::MoveItCppPtr moveit_cpp_;
};
int main(int argc, char** argv)
{
RCLCPP_INFO(LOGGER, "Initialize node");
rclcpp::init(argc, argv);
rclcpp::NodeOptions node_options;
RCLCPP_INFO(LOGGER, "Initialize node");
// This enables loading undeclared parameters
// best practice would be to declare parameters in the corresponding classes
// and provide descriptions about expected use
node_options.automatically_declare_parameters_from_overrides(true);
rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("run_moveit_cpp", "", node_options);
// We spin up a SingleThreadedExecutor for the current state monitor to get information
// about the robot's state.
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);
std::thread([&executor]() { executor.spin(); }).detach();
MoveItCppDemo demo(node);
std::thread run_demo([&demo]() {
// Let RViz initialize before running demo
// TODO(henningkayser): use lifecycle events to launch node
rclcpp::sleep_for(std::chrono::seconds(5));
demo.run();
});
// BEGIN_TUTORIAL
//
// Setup
// ^^^^^
//
static const std::string PLANNING_GROUP = "rasms_arm_group";
static const std::string LOGNAME = "moveit_interface";
rclcpp::spin(node);
run_demo.join();
/* Otherwise robot with zeros joint_states */
rclcpp::sleep_for(std::chrono::seconds(1));
RCLCPP_INFO(LOGGER, "Starting MoveIt Tutorials...");
auto moveit_cpp_ptr = std::make_shared<moveit_cpp::MoveItCpp>(node);
// get error in thes line
moveit_cpp_ptr->getPlanningSceneMonitor()->providePlanningSceneService();
RCLCPP_INFO(LOGGER, "Success getPlanningSceneMonitor()");
auto planning_components = std::make_shared<moveit_cpp::PlanningComponent>(PLANNING_GROUP, moveit_cpp_ptr);
auto robot_model_ptr = moveit_cpp_ptr->getRobotModel();
RCLCPP_INFO(LOGGER, "Success getRobotModel()");
auto robot_start_state = planning_components->getStartState();
RCLCPP_INFO(LOGGER, "Success getStartState()");
auto joint_model_group_ptr = robot_model_ptr->getJointModelGroup(PLANNING_GROUP);
RCLCPP_INFO(LOGGER, "Success getJointModelGroup()");
// Visualization
// ^^^^^^^^^^^^^
//
// The package MoveItVisualTools provides many capabilties for visualizing objects, robots,
// and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script
moveit_visual_tools::MoveItVisualTools visual_tools(node, "base", "moveit_cpp_tutorial",
moveit_cpp_ptr->getPlanningSceneMonitor());
visual_tools.deleteAllMarkers();
visual_tools.loadRemoteControl();
Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
text_pose.translation().z() = 1.75;
visual_tools.publishText(text_pose, "MoveItCpp_Demo", rvt::WHITE, rvt::XLARGE);
visual_tools.trigger();
// Start the demo
// ^^^^^^^^^^^^^^^^^^^^^^^^^
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
// Planning with MoveItCpp
// ^^^^^^^^^^^^^^^^^^^^^^^
// There are multiple ways to set the start and the goal states of the plan
// they are illustrated in the following plan examples
//
// Plan #1
// ^^^^^^^
//
// We can set the start state of the plan to the current state of the robot
planning_components->setStartStateToCurrentState();
// The first way to set the goal of the plan is by using geometry_msgs::PoseStamped ROS message type as follow
geometry_msgs::msg::PoseStamped target_pose1;
target_pose1.header.frame_id = "base";
target_pose1.pose.orientation.w = 1.0;
target_pose1.pose.position.x = 0.28;
target_pose1.pose.position.y = -0.2;
target_pose1.pose.position.z = 0.5;
planning_components->setGoal(target_pose1, "link6");
// Now, we call the PlanningComponents to compute the plan and visualize it.
// Note that we are just planning
auto plan_solution1 = planning_components->plan();
// Check if PlanningComponents succeeded in finding the plan
if (plan_solution1)
{
// Visualize the start pose in Rviz
visual_tools.publishAxisLabeled(robot_start_state->getGlobalLinkTransform("base"), "zero_pose");
// Visualize the goal pose in Rviz
visual_tools.publishAxisLabeled(target_pose1.pose, "target_pose");
visual_tools.publishText(text_pose, "setStartStateToCurrentState", rvt::WHITE, rvt::XLARGE);
// Visualize the trajectory in Rviz
visual_tools.publishTrajectoryLine(plan_solution1.trajectory, joint_model_group_ptr);
visual_tools.trigger();
/* Uncomment if you want to execute the plan */
/* planning_components->execute(); // Execute the plan */
}
// Plan #1 visualization:
//
// .. image:: images/moveitcpp_plan1.png
// :width: 250pt
// :align: center
//
// Start the next plan
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
visual_tools.deleteAllMarkers();
visual_tools.trigger();
// Plan #2
// ^^^^^^^
//
// Here we will set the current state of the plan using
// moveit::core::RobotState
auto start_state = *(moveit_cpp_ptr->getCurrentState());
geometry_msgs::msg::Pose start_pose;
start_pose.orientation.w = 1.0;
start_pose.position.x = 0.55;
start_pose.position.y = 0.0;
start_pose.position.z = 0.6;
start_state.setFromIK(joint_model_group_ptr, start_pose);
planning_components->setStartState(start_state);
// We will reuse the old goal that we had and plan to it.
auto plan_solution2 = planning_components->plan();
if (plan_solution2)
{
moveit::core::RobotState robot_state(robot_model_ptr);
moveit::core::robotStateMsgToRobotState(plan_solution2.start_state, robot_state);
visual_tools.publishAxisLabeled(robot_state.getGlobalLinkTransform("link6"), "start_pose");
visual_tools.publishAxisLabeled(target_pose1.pose, "target_pose");
visual_tools.publishText(text_pose, "moveit::core::RobotState_Start_State", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(plan_solution2.trajectory, joint_model_group_ptr);
visual_tools.trigger();
/* Uncomment if you want to execute the plan */
/* planning_components->execute(); // Execute the plan */
}
// Plan #2 visualization:
//
// .. image:: images/moveitcpp_plan2.png
// :width: 250pt
// :align: center
//
// Start the next plan
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
visual_tools.deleteAllMarkers();
visual_tools.trigger();
// Plan #3
// ^^^^^^^
//
// We can also set the goal of the plan using
// moveit::core::RobotState
auto target_state = *robot_start_state;
geometry_msgs::msg::Pose target_pose2;
target_pose2.orientation.w = 1.0;
target_pose2.position.x = 0.55;
target_pose2.position.y = -0.05;
target_pose2.position.z = 0.8;
target_state.setFromIK(joint_model_group_ptr, target_pose2);
planning_components->setGoal(target_state);
// We will reuse the old start that we had and plan from it.
auto plan_solution3 = planning_components->plan();
if (plan_solution3)
{
moveit::core::RobotState robot_state(robot_model_ptr);
moveit::core::robotStateMsgToRobotState(plan_solution3.start_state, robot_state);
visual_tools.publishAxisLabeled(robot_state.getGlobalLinkTransform("link6"), "start_pose");
visual_tools.publishAxisLabeled(target_pose2, "target_pose");
visual_tools.publishText(text_pose, "moveit::core::RobotState_Goal_Pose", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(plan_solution3.trajectory, joint_model_group_ptr);
visual_tools.trigger();
/* Uncomment if you want to execute the plan */
/* planning_components->execute(); // Execute the plan */
}
// Plan #3 visualization:
//
// .. image:: images/moveitcpp_plan3.png
// :width: 250pt
// :align: center
//
// Start the next plan
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
visual_tools.deleteAllMarkers();
visual_tools.trigger();
// Plan #4
// ^^^^^^^
//
// We can set the start state of the plan to the current state of the robot
// We can set the goal of the plan using the name of a group states
// for panda robot we have one named robot state for "panda_arm" planning group called "ready"
// see `panda_arm.xacro
// <https://github.com/ros-planning/panda_moveit_config/blob/melodic-devel/config/panda_arm.xacro#L13>`_
/* // Set the start state of the plan from a named robot state */
/* planning_components->setStartState("ready"); // Not implemented yet */
// Set the goal state of the plan from a named robot state
planning_components->setGoal("ready");
// Again we will reuse the old start that we had and plan from it.
auto plan_solution4 = planning_components->plan();
if (plan_solution4)
{
moveit::core::RobotState robot_state(robot_model_ptr);
moveit::core::robotStateMsgToRobotState(plan_solution4.start_state, robot_state);
visual_tools.publishAxisLabeled(robot_state.getGlobalLinkTransform("link6"), "start_pose");
visual_tools.publishAxisLabeled(robot_start_state->getGlobalLinkTransform("link6"), "target_pose");
visual_tools.publishText(text_pose, "Goal_Pose_From_Named_State", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(plan_solution4.trajectory, joint_model_group_ptr);
visual_tools.trigger();
/* Uncomment if you want to execute the plan */
/* planning_components->execute(); // Execute the plan */
}
// Plan #4 visualization:
//
// .. image:: images/moveitcpp_plan4.png
// :width: 250pt
// :align: center
//
// Start the next plan
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
visual_tools.deleteAllMarkers();
visual_tools.trigger();
// Plan #5
// ^^^^^^^
//
// We can also generate motion plans around objects in the collision scene.
//
// First we create the collision object
moveit_msgs::msg::CollisionObject collision_object;
collision_object.header.frame_id = "base";
collision_object.id = "box";
shape_msgs::msg::SolidPrimitive box;
box.type = box.BOX;
box.dimensions = { 0.1, 0.4, 0.1 };
geometry_msgs::msg::Pose box_pose;
box_pose.position.x = 0.4;
box_pose.position.y = 0.0;
box_pose.position.z = 1.0;
collision_object.primitives.push_back(box);
collision_object.primitive_poses.push_back(box_pose);
collision_object.operation = collision_object.ADD;
// Add object to planning scene
{ // Lock PlanningScene
planning_scene_monitor::LockedPlanningSceneRW scene(moveit_cpp_ptr->getPlanningSceneMonitor());
scene->processCollisionObjectMsg(collision_object);
} // Unlock PlanningScene
planning_components->setStartStateToCurrentState();
planning_components->setGoal("extended");
auto plan_solution5 = planning_components->plan();
if (plan_solution5)
{
visual_tools.publishText(text_pose, "Planning_Around_Collision_Object", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(plan_solution5.trajectory, joint_model_group_ptr);
visual_tools.trigger();
/* Uncomment if you want to execute the plan */
/* planning_components->execute(); // Execute the plan */
}
// Plan #5 visualization:
//
// .. image:: images/moveitcpp_plan5.png
// :width: 250pt
// :align: center
//
// END_TUTORIAL
visual_tools.prompt("Press 'next' to end the demo");
visual_tools.deleteAllMarkers();
visual_tools.trigger();
RCLCPP_INFO(LOGGER, "Shutting down.");
rclcpp::shutdown();
return 0;
}
}

21
rasms_moveit_config/config/.vscode/c_cpp_properties.json vendored
View file

@ -1,21 +0,0 @@
{
"configurations": [
{
"browse": {
"databaseFilename": "",
"limitSymbolsToIncludedHeaders": true
},
"includePath": [
"/home/splinter1984/robas_ws/install/moveit_visual_tools/include/**",
"/home/splinter1984/robas_ws/install/rviz_visual_tools/include/**",
"/opt/ros/foxy/include/**",
"/home/splinter1984/robas_ws/src/moveit_visual_tools/include/**",
"/home/splinter1984/robas_ws/src/robossembler-ros2/rasms_manipulator/include/**",
"/home/splinter1984/robas_ws/src/rviz_visual_tools/include/**",
"/usr/include/**"
],
"name": "ROS"
}
],
"version": 4
}

5
rasms_moveit_config/config/.vscode/settings.json vendored
View file

@ -1,5 +0,0 @@
{
"python.autoComplete.extraPaths": [
"/opt/ros/foxy/lib/python3.8/site-packages"
]
}

18
rasms_moveit_config/launch/rasms_control.launch.py
View file

@ -23,14 +23,6 @@ def generate_launch_description():
)
)
launch_args.append(
DeclareLaunchArgument(
name="controller",
default_value="rasms_arm_controller",
description="Robot controller."
)
)
# Configure robot_description
robot_description = {"robot_description": LaunchConfiguration("robot_description")}
@ -86,7 +78,7 @@ def generate_launch_description():
arguments=["rasms_arm_controller", "--controller-manager", "/controller_manager"],
)
load_controllers = []
"""load_controllers = []
for controller in [
"rasms_arm_controller",
"joint_state_broadcaster",
@ -97,17 +89,17 @@ def generate_launch_description():
shell=True,
output="screen",
)
]
]"""
return LaunchDescription(
launch_args +
load_controllers +
#load_controllers +
[
controller_manager,
robot_state_publisher,
static_tf,
#static_tf,
joint_state_broadcaster,
rasms_arm_controller,
joint_state_publisher
#joint_state_publisher
]
)

20
rasms_moveit_config/launch/rasms_moveit_interface.launch.py
View file

@ -34,10 +34,6 @@ def load_file(package_name: str, file_path: str) -> str:
def generate_launch_description():
#=============
#================================================================= Start initialize launch args ==========================================================
#=============
# Launch arguments
launch_args = []
@ -54,10 +50,6 @@ def generate_launch_description():
description="Launch robot in simulation or on real setup."
))
#=============
#================================================================= Start launching nodes ==========================================================
#=============
# Configure robot_description
robot_description = {"robot_description": LaunchConfiguration("robot_description")}
@ -68,10 +60,6 @@ def generate_launch_description():
# Kinematics
kinematics_yaml = load_yaml("rasms_moveit_config", "config/kinematics.yml")
# Update group name
#kinematics_yaml["rasms_arm_group"] = kinematics_yaml["group_name"]
#del kinematics_yaml["group_name"]
# Joint limits
robot_description_planning = {
@ -83,9 +71,6 @@ def generate_launch_description():
)
}
# Planning
#ompl_yaml = load_yaml("rasms_moveit_config", "config/ompl_planning.yml")
planning = {
"move_group": {
"planning_plugin": "ompl_interface/OMPLPlanner",
@ -107,6 +92,7 @@ def generate_launch_description():
moveit_controllers = {"moveit_simple_controller_manager": moveit_simple_controller_yml,
"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"}
# Planning
ompl_planning_pipeline_config = {
"ompl": {
"planning_plugin": "ompl_interface/OMPLPlanner",
@ -185,8 +171,8 @@ def generate_launch_description():
launch_nodes = []
launch_nodes.append(rviz)
launch_nodes.append(move_group_node)
#launch_nodes.append(moveit_cpp_node)
#launch_nodes.append(move_group_node)
launch_nodes.append(moveit_cpp_node)
return LaunchDescription(