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🔨 add move_group cpp interface that's work

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Ilya Uraev 2021-11-09 14:45:17 +04:00
parent b1ae818aa0
commit 4fe0324b25
10 changed files with 1135 additions and 60 deletions
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366
rasms_description/urdf/rasms_description.urdf Normal file
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<robot name="rasms">
<link name="world"/>
<joint name="to_world" type="fixed">
<parent link="world"/>
<child link="base"/>
<origin xyz="0.0 0.0 0.07" rpy="0.0 0.0 0.0"/>
</joint>
<link
name="base">
<inertial>
<origin
xyz="-0.000332122479320982 0.000107427994729828 -0.0364210136165633"
rpy="0 0 0" />
<mass
value="1.31011976880718" />
<inertia
ixx="0.00259583556985636"
ixy="9.78631121059142E-07"
ixz="-1.47312310265428E-05"
iyy="0.00238834687122552"
iyz="5.81913913034168E-07"
izz="0.00430679870377171" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/base.stl" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/base.stl" />
</geometry>
</collision>
</link>
<link
name="link1">
<inertial>
<origin
xyz="0.028753 0.080526 1.3501E-08"
rpy="0 0 0" />
<mass
value="0.52648" />
<inertia
ixx="0.00076496"
ixy="-3.5256E-05"
ixz="-2.8173E-10"
iyy="0.00038929"
iyz="1.9918E-09"
izz="0.00075521" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link1.stl" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link1.stl" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="continuous">
<origin
xyz="0 0 0"
rpy="1.5708 0 -1.5708" />
<parent
link="base" />
<child
link="link1" />
<axis
xyz="0 1 0" />
</joint>
<link
name="link2">
<inertial>
<origin
xyz="-0.0098423932944443 0.025631709550142 2.62062855886029E-08"
rpy="0 0 0" />
<mass
value="0.466449031624498" />
<inertia
ixx="0.000250149264856934"
ixy="-6.39625267943634E-06"
ixz="1.16240576365026E-09"
iyy="0.000302356392836182"
iyz="-5.72107071817652E-10"
izz="0.000264859050215469" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link2.stl" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link2.stl" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="continuous">
<origin
xyz="0 0.14172 0"
rpy="0 0 0" />
<parent
link="link1" />
<child
link="link2" />
<axis
xyz="1 0 0" />
</joint>
<link
name="link3">
<inertial>
<origin
xyz="0.0215100033761789 0.0694423986454957 3.93278649368959E-08"
rpy="0 0 0" />
<mass
value="0.70816935413754" />
<inertia
ixx="0.000864850509477081"
ixy="-3.62319530566251E-05"
ixz="-2.95541145601842E-10"
iyy="0.000482143975333292"
iyz="2.00353934934295E-09"
izz="0.000860394915615017" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link3.stl" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link3.stl" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="continuous">
<origin
xyz="0 0.081346 0"
rpy="0 0.0071935 0" />
<parent
link="link2" />
<child
link="link3" />
<axis
xyz="0 1 0" />
</joint>
<link
name="link4">
<inertial>
<origin
xyz="-0.0098423941326931 0.025631710847922 2.62314079923008E-08"
rpy="0 0 0" />
<mass
value="0.466449036998311" />
<inertia
ixx="0.0002501492525602"
ixy="-6.39624584934821E-06"
ixz="1.15937712750973E-09"
iyy="0.000302356392948396"
iyz="-5.70585180406975E-10"
izz="0.000264859056361031" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link4.stl" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link4.stl" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="continuous">
<origin
xyz="0 0.14438 0"
rpy="0 0 0" />
<parent
link="link3" />
<child
link="link4" />
<axis
xyz="1 0 0" />
</joint>
<link
name="link5">
<inertial>
<origin
xyz="0.0215100033039704 0.0694423990612557 3.93278667377771E-08"
rpy="0 0 0" />
<mass
value="0.708169356775496" />
<inertia
ixx="0.000864850515095"
ixy="-3.6231953093431E-05"
ixz="-2.95541136548844E-10"
iyy="0.000482143976309882"
iyz="2.00353938873391E-09"
izz="0.000860394921240315" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link5.stl" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link5.stl" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="continuous">
<origin
xyz="0 0.081346 0"
rpy="0 0 0" />
<parent
link="link4" />
<child
link="link5" />
<axis
xyz="0 1 0" />
</joint>
<link
name="link6">
<inertial>
<origin
xyz="-0.0107961703559938 0.0337046197725978 6.41961769822694E-06"
rpy="0 0 0" />
<mass
value="0.599356299495803" />
<inertia
ixx="0.000286310483854348"
ixy="-5.79903953240378E-06"
ixz="6.26853068396246E-08"
iyy="0.000358508548445319"
iyz="-4.97585335654749E-10"
izz="0.000295138763544911" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link6.stl" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://rasms_description/meshes/link6.stl" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="continuous">
<origin
xyz="0 0.14438 0"
rpy="0 0 0" />
<parent
link="link5" />
<child
link="link6" />
<axis
xyz="1 0 0" />
</joint>
</robot>

10
rasms_moveit_actions/CMakeLists.txt
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@ -62,10 +62,18 @@ target_include_directories(rasms_moveit PUBLIC include)
ament_target_dependencies(rasms_moveit
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost
)
install(TARGETS rasms_moveit
DESTINATION lib/${PROJECT_NAME}
)
add_executable(rasms_move_group_interface src/rasms_move_group_interface.cpp)
target_include_directories(rasms_move_group_interface PUBLIC include)
ament_target_dependencies(rasms_move_group_interface
${THIS_PACKAGE_INCLUDE_DEPENDS} Boost
)
install(TARGETS rasms_move_group_interface
DESTINATION lib/${PROJECT_NAME}
)
#install(TARGETS rasms_moveit
# EXPORT export_${PROJECT_NAME}
# LIBRARY DESTINATION lib

501
rasms_moveit_actions/src/rasms_move_group_interface.cpp Normal file
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@ -0,0 +1,501 @@
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, SRI International
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of SRI International nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Sachin Chitta, Dave Coleman, Mike Lautman */
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit_msgs/msg/display_robot_state.hpp>
#include <moveit_msgs/msg/display_trajectory.hpp>
#include <moveit_msgs/msg/attached_collision_object.hpp>
#include <moveit_msgs/msg/collision_object.hpp>
#include <moveit_visual_tools/moveit_visual_tools.h>
// 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("move_group_demo");
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
rclcpp::NodeOptions node_options;
node_options.automatically_declare_parameters_from_overrides(true);
auto move_group_node = rclcpp::Node::make_shared("move_group_interface_tutorial", 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(move_group_node);
std::thread([&executor]() { executor.spin(); }).detach();
// BEGIN_TUTORIAL
//
// Setup
// ^^^^^
//
// MoveIt operates on sets of joints called "planning groups" and stores them in an object called
// the `JointModelGroup`. Throughout MoveIt, the terms "planning group" and "joint model group"
// are used interchangably.
static const std::string PLANNING_GROUP = "rasms_arm_group";
// The
// :moveit_codedir:`MoveGroupInterface<moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h>`
// class can be easily set up using just the name of the planning group you would like to control and plan for.
moveit::planning_interface::MoveGroupInterface move_group(move_group_node, PLANNING_GROUP);
// We will use the
// :moveit_codedir:`PlanningSceneInterface<moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h>`
// class to add and remove collision objects in our "virtual world" scene
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
// Raw pointers are frequently used to refer to the planning group for improved performance.
const moveit::core::JointModelGroup* joint_model_group =
move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);
// Visualization
// ^^^^^^^^^^^^^
namespace rvt = rviz_visual_tools;
moveit_visual_tools::MoveItVisualTools visual_tools(move_group_node, "base", "move_group_tutorial",
move_group.getRobotModel());
visual_tools.deleteAllMarkers();
/* Remote control is an introspection tool that allows users to step through a high level script */
/* via buttons and keyboard shortcuts in RViz */
visual_tools.loadRemoteControl();
// RViz provides many types of markers, in this demo we will use text, cylinders, and spheres
Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();
text_pose.translation().z() = 1.0;
visual_tools.publishText(text_pose, "MoveGroupInterface_Demo", rvt::WHITE, rvt::XLARGE);
// Batch publishing is used to reduce the number of messages being sent to RViz for large visualizations
visual_tools.trigger();
// Getting Basic Information
// ^^^^^^^^^^^^^^^^^^^^^^^^^
//
// We can print the name of the reference frame for this robot.
RCLCPP_INFO(LOGGER, "Planning frame: %s", move_group.getPlanningFrame().c_str());
// We can also print the name of the end-effector link for this group.
RCLCPP_INFO(LOGGER, "End effector link: %s", move_group.getEndEffectorLink().c_str());
// We can get a list of all the groups in the robot:
RCLCPP_INFO(LOGGER, "Available Planning Groups:");
std::copy(move_group.getJointModelGroupNames().begin(), move_group.getJointModelGroupNames().end(),
std::ostream_iterator<std::string>(std::cout, ", "));
// Start the demo
// ^^^^^^^^^^^^^^^^^^^^^^^^^
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo");
// .. _move_group_interface-planning-to-pose-goal:
//
// Planning to a Pose goal
// ^^^^^^^^^^^^^^^^^^^^^^^
// We can plan a motion for this group to a desired pose for the
// end-effector.
geometry_msgs::msg::Pose target_pose1;
target_pose1.orientation.w = 1.0;
target_pose1.position.x = 0.28;
target_pose1.position.y = -0.2;
target_pose1.position.z = 0.5;
move_group.setPoseTarget(target_pose1);
// Now, we call the planner to compute the plan and visualize it.
// Note that we are just planning, not asking move_group
// to actually move the robot.
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
RCLCPP_INFO(LOGGER, "Visualizing plan 1 (pose goal) %s", success ? "" : "FAILED");
// Visualizing plans
// ^^^^^^^^^^^^^^^^^
// We can also visualize the plan as a line with markers in RViz.
RCLCPP_INFO(LOGGER, "Visualizing plan 1 as trajectory line");
visual_tools.publishAxisLabeled(target_pose1, "pose1");
visual_tools.publishText(text_pose, "Pose_Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
visual_tools.trigger();
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
// Moving to a pose goal
// ^^^^^^^^^^^^^^^^^^^^^
//
// Moving to a pose goal is similar to the step above
// except we now use the ``move()`` function. Note that
// the pose goal we had set earlier is still active
// and so the robot will try to move to that goal. We will
// not use that function in this tutorial since it is
// a blocking function and requires a controller to be active
// and report success on execution of a trajectory.
/* Uncomment below line when working with a real robot */
/* move_group.move(); */
// Planning to a joint-space goal
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//
// Let's set a joint space goal and move towards it. This will replace the
// pose target we set above.
//
// To start, we'll create an pointer that references the current robot's state.
// RobotState is the object that contains all the current position/velocity/acceleration data.
moveit::core::RobotStatePtr current_state = move_group.getCurrentState(10);
//
// Next get the current set of joint values for the group.
std::vector<double> joint_group_positions;
current_state->copyJointGroupPositions(joint_model_group, joint_group_positions);
// Now, let's modify one of the joints, plan to the new joint space goal, and visualize the plan.
joint_group_positions[0] = -1.0; // radians
move_group.setJointValueTarget(joint_group_positions);
// We lower the allowed maximum velocity and acceleration to 5% of their maximum.
// The default values are 10% (0.1).
// Set your preferred defaults in the joint_limits.yaml file of your robot's moveit_config
// or set explicit factors in your code if you need your robot to move faster.
move_group.setMaxVelocityScalingFactor(0.05);
move_group.setMaxAccelerationScalingFactor(0.05);
success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
RCLCPP_INFO(LOGGER, "Visualizing plan 2 (joint space goal) %s", success ? "" : "FAILED");
// Visualize the plan in RViz:
visual_tools.deleteAllMarkers();
visual_tools.publishText(text_pose, "Joint_Space_Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
visual_tools.trigger();
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
// Planning with Path Constraints
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//
// Path constraints can easily be specified for a link on the robot.
// Let's specify a path constraint and a pose goal for our group.
// First define the path constraint.
moveit_msgs::msg::OrientationConstraint ocm;
ocm.link_name = "link6";
ocm.header.frame_id = "base";
ocm.orientation.w = 1.0;
ocm.absolute_x_axis_tolerance = 0.1;
ocm.absolute_y_axis_tolerance = 0.1;
ocm.absolute_z_axis_tolerance = 0.1;
ocm.weight = 1.0;
// Now, set it as the path constraint for the group.
moveit_msgs::msg::Constraints test_constraints;
test_constraints.orientation_constraints.push_back(ocm);
move_group.setPathConstraints(test_constraints);
// Enforce Planning in Joint Space
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//
// Depending on the planning problem MoveIt chooses between
// ``joint space`` and ``cartesian space`` for problem representation.
// Setting the group parameter ``enforce_joint_model_state_space:true`` in
// the ompl_planning.yaml file enforces the use of ``joint space`` for all plans.
//
// By default, planning requests with orientation path constraints
// are sampled in ``cartesian space`` so that invoking IK serves as a
// generative sampler.
//
// By enforcing ``joint space``, the planning process will use rejection
// sampling to find valid requests. Please note that this might
// increase planning time considerably.
//
// We will reuse the old goal that we had and plan to it.
// Note that this will only work if the current state already
// satisfies the path constraints. So we need to set the start
// state to a new pose.
moveit::core::RobotState start_state(*move_group.getCurrentState());
geometry_msgs::msg::Pose start_pose2;
start_pose2.orientation.w = 1.0;
start_pose2.position.x = 0.55;
start_pose2.position.y = -0.05;
start_pose2.position.z = 0.8;
start_state.setFromIK(joint_model_group, start_pose2);
move_group.setStartState(start_state);
// Now, we will plan to the earlier pose target from the new
// start state that we just created.
move_group.setPoseTarget(target_pose1);
// Planning with constraints can be slow because every sample must call an inverse kinematics solver.
// Let's increase the planning time from the default 5 seconds to be sure the planner has enough time to succeed.
move_group.setPlanningTime(10.0);
success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
RCLCPP_INFO(LOGGER, "Visualizing plan 3 (constraints) %s", success ? "" : "FAILED");
// Visualize the plan in RViz:
visual_tools.deleteAllMarkers();
visual_tools.publishAxisLabeled(start_pose2, "start");
visual_tools.publishAxisLabeled(target_pose1, "goal");
visual_tools.publishText(text_pose, "Constrained_Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
visual_tools.trigger();
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
// When done with the path constraint, be sure to clear it.
move_group.clearPathConstraints();
// Cartesian Paths
// ^^^^^^^^^^^^^^^
// You can plan a Cartesian path directly by specifying a list of waypoints
// for the end-effector to go through. Note that we are starting
// from the new start state above. The initial pose (start state) does not
// need to be added to the waypoint list but adding it can help with visualizations
std::vector<geometry_msgs::msg::Pose> waypoints;
waypoints.push_back(start_pose2);
geometry_msgs::msg::Pose target_pose3 = start_pose2;
target_pose3.position.z -= 0.2;
waypoints.push_back(target_pose3); // down
target_pose3.position.y -= 0.2;
waypoints.push_back(target_pose3); // right
target_pose3.position.z += 0.2;
target_pose3.position.y += 0.2;
target_pose3.position.x -= 0.2;
waypoints.push_back(target_pose3); // up and left
// We want the Cartesian path to be interpolated at a resolution of 1 cm
// which is why we will specify 0.01 as the max step in Cartesian
// translation. We will specify the jump threshold as 0.0, effectively disabling it.
// Warning - disabling the jump threshold while operating real hardware can cause
// large unpredictable motions of redundant joints and could be a safety issue
moveit_msgs::msg::RobotTrajectory trajectory;
const double jump_threshold = 0.0;
const double eef_step = 0.01;
double fraction = move_group.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
RCLCPP_INFO(LOGGER, "Visualizing plan 4 (Cartesian path) (%.2f%% acheived)", fraction * 100.0);
// Visualize the plan in RViz
visual_tools.deleteAllMarkers();
visual_tools.publishText(text_pose, "Cartesian_Path", rvt::WHITE, rvt::XLARGE);
visual_tools.publishPath(waypoints, rvt::LIME_GREEN, rvt::SMALL);
for (std::size_t i = 0; i < waypoints.size(); ++i)
visual_tools.publishAxisLabeled(waypoints[i], "pt" + std::to_string(i), rvt::SMALL);
visual_tools.trigger();
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
// Cartesian motions should often be slow, e.g. when approaching objects. The speed of Cartesian
// plans cannot currently be set through the maxVelocityScalingFactor, but requires you to time
// the trajectory manually, as described `here <https://groups.google.com/forum/#!topic/moveit-users/MOoFxy2exT4>`_.
// Pull requests are welcome.
//
// You can execute a trajectory like this.
/* move_group.execute(trajectory); */
// Adding objects to the environment
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//
// First, let's plan to another simple goal with no objects in the way.
move_group.setStartState(*move_group.getCurrentState());
geometry_msgs::msg::Pose another_pose;
another_pose.orientation.w = 0;
another_pose.orientation.x = -1.0;
another_pose.position.x = 0.7;
another_pose.position.y = 0.0;
another_pose.position.z = 0.59;
move_group.setPoseTarget(another_pose);
success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
RCLCPP_INFO(LOGGER, "Visualizing plan 5 (with no obstacles) %s", success ? "" : "FAILED");
visual_tools.deleteAllMarkers();
visual_tools.publishText(text_pose, "Clear_Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishAxisLabeled(another_pose, "goal");
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
visual_tools.trigger();
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
// The result may look like this:
//
// .. image:: ./move_group_interface_tutorial_clear_path.gif
// :alt: animation showing the arm moving relatively straight toward the goal
//
// Now, let's define a collision object ROS message for the robot to avoid.
moveit_msgs::msg::CollisionObject collision_object;
collision_object.header.frame_id = move_group.getPlanningFrame();
// The id of the object is used to identify it.
collision_object.id = "box1";
// Define a box to add to the world.
shape_msgs::msg::SolidPrimitive primitive;
primitive.type = primitive.BOX;
primitive.dimensions.resize(3);
primitive.dimensions[primitive.BOX_X] = 0.1;
primitive.dimensions[primitive.BOX_Y] = 1.5;
primitive.dimensions[primitive.BOX_Z] = 0.5;
// Define a pose for the box (specified relative to frame_id).
geometry_msgs::msg::Pose box_pose;
box_pose.orientation.w = 1.0;
box_pose.position.x = 0.48;
box_pose.position.y = 0.0;
box_pose.position.z = 0.25;
collision_object.primitives.push_back(primitive);
collision_object.primitive_poses.push_back(box_pose);
collision_object.operation = collision_object.ADD;
std::vector<moveit_msgs::msg::CollisionObject> collision_objects;
collision_objects.push_back(collision_object);
// Now, let's add the collision object into the world
// (using a vector that could contain additional objects)
RCLCPP_INFO(LOGGER, "Add an object into the world");
planning_scene_interface.addCollisionObjects(collision_objects);
// Show text in RViz of status and wait for MoveGroup to receive and process the collision object message
visual_tools.publishText(text_pose, "Add_object", rvt::WHITE, rvt::XLARGE);
visual_tools.trigger();
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to once the collision object appears in RViz");
// Now, when we plan a trajectory it will avoid the obstacle.
success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
RCLCPP_INFO(LOGGER, "Visualizing plan 6 (pose goal move around cuboid) %s", success ? "" : "FAILED");
visual_tools.publishText(text_pose, "Obstacle_Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
visual_tools.trigger();
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window once the plan is complete");
// The result may look like this:
//
// .. image:: ./move_group_interface_tutorial_avoid_path.gif
// :alt: animation showing the arm moving avoiding the new obstacle
//
// Attaching objects to the robot
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//
// You can attach an object to the robot, so that it moves with the robot geometry.
// This simulates picking up the object for the purpose of manipulating it.
// The motion planning should avoid collisions between objects as well.
moveit_msgs::msg::CollisionObject object_to_attach;
object_to_attach.id = "cylinder1";
shape_msgs::msg::SolidPrimitive cylinder_primitive;
cylinder_primitive.type = primitive.CYLINDER;
cylinder_primitive.dimensions.resize(2);
cylinder_primitive.dimensions[primitive.CYLINDER_HEIGHT] = 0.20;
cylinder_primitive.dimensions[primitive.CYLINDER_RADIUS] = 0.04;
// We define the frame/pose for this cylinder so that it appears in the gripper.
object_to_attach.header.frame_id = move_group.getEndEffectorLink();
geometry_msgs::msg::Pose grab_pose;
grab_pose.orientation.w = 1.0;
grab_pose.position.z = 0.2;
// First, we add the object to the world (without using a vector).
object_to_attach.primitives.push_back(cylinder_primitive);
object_to_attach.primitive_poses.push_back(grab_pose);
object_to_attach.operation = object_to_attach.ADD;
planning_scene_interface.applyCollisionObject(object_to_attach);
// Then, we "attach" the object to the robot. It uses the frame_id to determine which robot link it is attached to.
// We also need to tell MoveIt that the object is allowed to be in collision with the finger links of the gripper.
// You could also use applyAttachedCollisionObject to attach an object to the robot directly.
RCLCPP_INFO(LOGGER, "Attach the object to the robot");
std::vector<std::string> touch_links;
touch_links.push_back("panda_rightfinger");
touch_links.push_back("panda_leftfinger");
move_group.attachObject(object_to_attach.id, "panda_hand", touch_links);
visual_tools.publishText(text_pose, "Object_attached_to_robot", rvt::WHITE, rvt::XLARGE);
visual_tools.trigger();
/* Wait for MoveGroup to receive and process the attached collision object message */
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window once the new object is attached to the robot");
// Replan, but now with the object in hand.
move_group.setStartStateToCurrentState();
success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
RCLCPP_INFO(LOGGER, "Visualizing plan 7 (move around cuboid with cylinder) %s", success ? "" : "FAILED");
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
visual_tools.trigger();
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window once the plan is complete");
// The result may look something like this:
//
// .. image:: ./move_group_interface_tutorial_attached_object.gif
// :alt: animation showing the arm moving differently once the object is attached
//
// Detaching and Removing Objects
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//
// Now, let's detach the cylinder from the robot's gripper.
RCLCPP_INFO(LOGGER, "Detach the object from the robot");
move_group.detachObject(object_to_attach.id);
// Show text in RViz of status
visual_tools.deleteAllMarkers();
visual_tools.publishText(text_pose, "Object_detached_from_robot", rvt::WHITE, rvt::XLARGE);
visual_tools.trigger();
/* Wait for MoveGroup to receive and process the attached collision object message */
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window once the new object is detached from the robot");
// Now, let's remove the objects from the world.
RCLCPP_INFO(LOGGER, "Remove the objects from the world");
std::vector<std::string> object_ids;
object_ids.push_back(collision_object.id);
object_ids.push_back(object_to_attach.id);
planning_scene_interface.removeCollisionObjects(object_ids);
// Show text in RViz of status
visual_tools.publishText(text_pose, "Objects_removed", rvt::WHITE, rvt::XLARGE);
visual_tools.trigger();
/* Wait for MoveGroup to receive and process the attached collision object message */
visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to once the collision object disapears");
// END_TUTORIAL
visual_tools.deleteAllMarkers();
visual_tools.trigger();
rclcpp::shutdown();
return 0;
}

2
rasms_moveit_actions/src/run_moveit.cpp
View file

@ -39,7 +39,7 @@ int main(int argc, char** argv)
// Setup
// ^^^^^
//
static const std::string PLANNING_GROUP = "rasms_description_arm";
static const std::string PLANNING_GROUP = "rasms_arm_group";
static const std::string LOGNAME = "moveit_interface";
/* Otherwise robot with zeros joint_states */

2
rasms_moveit_config/config/kinematics.yml
View file

@ -1,4 +1,4 @@
group_name:
rasms_arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.05

3
rasms_moveit_config/config/ompl_planning.yml
View file

@ -123,8 +123,7 @@ planner_configs:
TrajOptDefault:
type: geometric::TrajOpt
rasms_description_arm:
longest_valid_fraction: "0.001"
rasms_arm_group:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault

235
rasms_moveit_config/config/rasms.rviz
View file

@ -7,7 +7,7 @@ Panels:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 743
Tree Height: 197
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@ -53,7 +53,7 @@ Visualization Manager:
Scene Geometry:
Scene Alpha: 0.8999999761581421
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Scene Display Time: 0.20000000298023224
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
@ -108,44 +108,6 @@ Visualization Manager:
Show Robot Collision: false
Show Robot Visual: true
Value: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base:
Value: true
link1:
Value: true
link2:
Value: true
link3:
Value: true
link4:
Value: true
link5:
Value: true
link6:
Value: true
world:
Value: true
Marker Scale: 0.5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
world:
base:
link1:
link2:
link3:
link4:
link5:
link6:
{}
Update Interval: 0
Value: true
- Class: moveit_rviz_plugin/Trajectory
Color Enabled: false
Enabled: true
@ -207,10 +169,183 @@ Visualization Manager:
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: world
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
@ -250,25 +385,25 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 2.2047624588012695
Distance: 3.8008623123168945
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.09316612780094147
Y: -0.08907446265220642
Z: 0.0930255576968193
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: 0.7153979539871216
Pitch: 0.72039794921875
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.7453981041908264
Yaw: 0.2953982949256897
Saved: ~
Window Geometry:
Displays:
@ -276,7 +411,11 @@ Window Geometry:
Height: 1043
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 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
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 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
RvizVisualToolsGui:
collapsed: false
Selection:

8
rasms_moveit_config/launch/rasms_moveit_interface.launch.py
View file

@ -70,8 +70,8 @@ def generate_launch_description():
kinematics_yaml = load_yaml("rasms_moveit_config", "config/kinematics.yml")
# Update group name
kinematics_yaml["rasms_description_arm"] = kinematics_yaml["group_name"]
del kinematics_yaml["group_name"]
#kinematics_yaml["rasms_arm_group"] = kinematics_yaml["group_name"]
#del kinematics_yaml["group_name"]
# Joint limits
robot_description_planning = {
@ -185,8 +185,8 @@ 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(

62
rasms_moveit_config/launch/test_mg_interface.launch.py Normal file
View file

@ -0,0 +1,62 @@
import os
import yaml
from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import xacro
def load_file(package_name, file_path):
package_path = get_package_share_directory(package_name)
absolute_file_path = os.path.join(package_path, file_path)
try:
with open(absolute_file_path, "r") as file:
return file.read()
except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
return None
def load_yaml(package_name, file_path):
package_path = get_package_share_directory(package_name)
absolute_file_path = os.path.join(package_path, file_path)
try:
with open(absolute_file_path, "r") as file:
return yaml.safe_load(file)
except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
return None
def generate_launch_description():
# planning_context
robot_description_config = xacro.process_file(
os.path.join(
get_package_share_directory("rasms_description"),
"urdf",
"rasms_description.urdf.xacro",
)
)
robot_description = {"robot_description": robot_description_config.toxml()}
robot_description_semantic_config = load_file(
"rasms_moveit_config", "srdf/rasms_description.srdf"
)
robot_description_semantic = {
"robot_description_semantic": robot_description_semantic_config
}
kinematics_yaml = load_yaml(
"rasms_moveit_config", "config/kinematics.yml"
)
# MoveGroupInterface demo executable
move_group_demo = Node(
name="move_group_interface_tutorial",
package="rasms_moveit_actions",
executable="rasms_move_group_interface",
output="screen",
parameters=[robot_description, robot_description_semantic, kinematics_yaml],
)
return LaunchDescription([move_group_demo])

6
rasms_moveit_config/srdf/rasms_description.srdf
View file

@ -9,11 +9,11 @@
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="rasms_description_arm">
<group name="rasms_arm_group">
<chain base_link="base" tip_link="link6"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="zero_pose" group="rasms_description_arm">
<group_state name="zero_pose" group="rasms_arm_group">
<joint name="joint1" value="0"/>
<joint name="joint2" value="0"/>
<joint name="joint3" value="0"/>
@ -21,7 +21,7 @@
<joint name="joint5" value="0"/>
<joint name="joint6" value="0"/>
</group_state>
<group_state name="pose1" group="rasms_description_arm">
<group_state name="pose1" group="rasms_arm_group">
<joint name="joint1" value="0"/>
<joint name="joint2" value="1"/>
<joint name="joint3" value="0.4339"/>