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➕ add test MoveitCpp node

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This commit is contained in:
Ilya Uraev 2021-11-03 15:18:12 +04:00
parent b2a89ecbde
commit 554a33fc43
15 changed files with 653 additions and 430 deletions
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6
README.md
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@ -1,3 +1,7 @@
# Robossembler ROS2
Repo for ROS2 packages related to Robossembler
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`

133
rasms_description/config/robasm_sgonov.rviz → rasms_description/config/rasms.rviz
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@ -6,7 +6,6 @@ Panels:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 787
- Class: rviz_common/Selection
@ -43,68 +42,74 @@ Visualization Manager:
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
- Class: moveit_rviz_plugin/PlanningScene
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
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: 0.009999999776482582
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
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
@ -144,25 +149,25 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.4318417310714722
Distance: 2.053321123123169
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
X: 0.35200047492980957
Y: 0.026240859180688858
Z: 0.2903156876564026
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
Pitch: 0.7903980612754822
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.5603898763656616
Yaw: 5.348577976226807
Saved: ~
Window Geometry:
Displays:

1
rasms_description/urdf/rasms.gazebo.xacro
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@ -5,6 +5,7 @@
<!-- ros_control-plugin -->
<gazebo>
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
<robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
<parameters>$(find rasms_moveit_config)/config/rasms_controllers.yml</parameters>
<robotNamespace>/rasms</robotNamespace>
</plugin>

146
rasms_ign/world/rasms.world.sdf
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@ -1,146 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<sdf version='1.7'>
<world name="default">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="ignition-gazebo-physics-system"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="ignition-gazebo-user-commands-system"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="ignition-gazebo-scene-broadcaster-system"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<plugin
filename="ignition-gazebo-contact-system"
name="ignition::gazebo::systems::Contact">
</plugin>
<plugin
filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_enfine>ogre2</render_enfine>
</plugin>
<!--gui>
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>1.0 1.0 1.0</ambient_light>
<background_color>0.4 0.6 1.0</background_color>
<camera_pose>8.3 7 7.8 0 0.5 -2.4</camera_pose>
</plugin>
</gui-->
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<include>
<uri>rasms_model</uri>
</include>
<!--include>
<uri>realsense_camera</uri>
<pose>1 0 1 0 0.97 3.14159</pose>
<static>true</static>
</include-->
<model name="3d_camera">
<static>true</static>
<link name="kinect_sensor">
<pose>1 0 1 0 1 3.14159</pose>
<collision name="collision">
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="rgbd_camera">
<topic>rgbd_camera</topic>
<always_on>1</always_on>
<update_rate>30</update_rate>
<camera name="rgbd_sens">
<image>
<width>212</width>
<heigth>120</heigth>
</image>
<horizontal_fov>1.567821</horizontal_fov>
<vertical_fov>1.022238</vertical_fov>
<clip>
<near>0.01</near>
<far>1000.0</far>
</clip>
<depth_camera>
<clip>
<near>0.01</near>
<far>10.0</far>
</clip>
</depth_camera>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0</stddev>
</noise>
<visibility_mask>2</visibility_mask>
</camera>
</sensor>
</link>
</model>
</world>
</sdf>

78
rasms_moveit_actions/CMakeLists.txt Normal file
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@ -0,0 +1,78 @@
cmake_minimum_required(VERSION 3.5)
project(rasms_moveit_actions)
#find_package(moveit_common REQUIRED)
#moveit_package()
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED system filesystem date_time thread)
find_package(ament_cmake REQUIRED)
find_package(control_msgs REQUIRED)
find_package(moveit_core REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
find_package(moveit_ros_perception REQUIRED)
find_package(moveit_servo REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(geometric_shapes REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(pluginlib REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
set(THIS_PACKAGE_INCLUDE_DEPENDS
ament_cmake
rclcpp
rclcpp_action
tf2_geometry_msgs
tf2_ros
moveit_core
moveit_visual_tools
moveit_ros_planning_interface
tf2_geometry_msgs
moveit_ros_planning
pluginlib
Eigen3
Boost
control_msgs
moveit_servo
)
include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
add_executable(rasms_moveit src/run_moveit.cpp)
#target_include_directories(rasms_moveit PRIVATE include)
ament_target_dependencies(rasms_moveit
${THIS_PACKAGE_INCLUDE_DEPENDS}
)
install(TARGETS rasms_moveit
DESTINATION lib/${PROJECT_NAME}
)
#install(TARGETS rasms_moveit
# EXPORT export_${PROJECT_NAME}
# LIBRARY DESTINATION lib
# ARCHIVE DESTINATION lib
# RUNTIME DESTINATION lib/${PROJECT_NAME}
# INCLUDES DESTINATION include
#)
#ament_export_targets(export_${PROJECT_NAME})
ament_package()

48
rasms_moveit_actions/package.xml Normal file
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@ -0,0 +1,48 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rasms_moveit_actions</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<!--build_depend>moveit_common</build_depend-->
<depend>control_msgs</depend>
<depend>moveit_core</depend>
<depend>moveit_ros_perception</depend>
<depend>moveit_ros_planning_interface</depend>
<depend>moveit_servo</depend>
<depend>moveit_visual_tools</depend>
<depend>pluginlib</depend>
<depend>rviz_visual_tools</depend>
<depend>tf2_eigen</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<build_depend>eigen</build_depend>
<build_depend>geometric_shapes</build_depend>
<build_depend>moveit_common</build_depend>
<build_depend>moveit_ros_planning</build_depend>
<exec_depend>controller_manager</exec_depend>
<exec_depend>gripper_controllers</exec_depend>
<exec_depend>joint_state_broadcaster</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>moveit</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rviz2</exec_depend>
<exec_depend>warehouse_ros_mongo</exec_depend>
<exec_depend>xacro</exec_depend>
<!--test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend-->
<test_depend>ament_cmake_gtest</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

314
rasms_moveit_actions/src/run_moveit.cpp Normal file
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@ -0,0 +1,314 @@
#include <rclcpp/rclcpp.hpp>
#include <memory>
// MoveitCpp
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/moveit_cpp/planning_component.h>
#include <geometry_msgs/msg/point_stamped.h>
#include <moveit_visual_tools/moveit_visual_tools.h>
//#include <urdf/urdf_world_parser.hpp>
namespace rvt = rviz_visual_tools;
// 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");
int main(int argc, char** argv)
{
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();
// BEGIN_TUTORIAL
//
// Setup
// ^^^^^
//
static const std::string PLANNING_GROUP = "rasms";
static const std::string LOGNAME = "moveit_interface";
/* 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);
moveit_cpp_ptr->getPlanningSceneMonitor()->providePlanningSceneService();
auto planning_components = std::make_shared<moveit_cpp::PlanningComponent>(PLANNING_GROUP, moveit_cpp_ptr);
auto robot_model_ptr = moveit_cpp_ptr->getRobotModel();
auto robot_start_state = planning_components->getStartState();
auto joint_model_group_ptr = robot_model_ptr->getJointModelGroup(PLANNING_GROUP);
// 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;
}

20
rasms_moveit_config/config/moveit_cpp.yml Normal file
View file

@ -0,0 +1,20 @@
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: "/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

55
rasms_moveit_config/config/ompl_planning.yml
View file

@ -123,59 +123,8 @@ planner_configs:
TrajOptDefault:
type: geometric::TrajOpt
panda_arm:
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
panda_arm_hand:
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
hand:
rasms_description_arm:
longest_valid_fraction: "0.001"
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault

121
rasms_moveit_config/config/rasms.rviz
View file

@ -7,7 +7,7 @@ Panels:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 219
Tree Height: 814
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@ -42,106 +42,10 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
- Class: moveit_rviz_plugin/PlanningScene
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: false
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: /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: roboasm_sgonov_arm
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Name: PlanningScene
Planning Scene Topic: /monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
@ -202,7 +106,6 @@ Visualization Manager:
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
@ -261,28 +164,24 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.8953979015350342
Pitch: 0.84539794921875
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.6453981399536133
Yaw: 0.6953980922698975
Saved: ~
Window Geometry:
"":
collapsed: false
" - Trajectory Slider":
collapsed: false
Displays:
collapsed: false
Height: 846
Height: 1043
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001f3000002f4fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000166000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffbffffffff01000001a9000001880000017d00ffffff000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000001a2000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001f3000003b9fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b2000002290000000000000000000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000472000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 225
Y: 91
Width: 1920
X: 2560
Y: 360

9
rasms_moveit_config/launch/rasms_bringup.launch.py
View file

@ -34,7 +34,6 @@ def launch_setup(context, *args, **kwargs):
("robot_description", robot_description_content),
("controller_configurations_package", LaunchConfiguration("controller_configurations_package")),
("controller_configurations", LaunchConfiguration("controller_configurations")),
("controller", LaunchConfiguration("controller")),
("sim", LaunchConfiguration("sim"))
]
)
@ -118,14 +117,6 @@ def generate_launch_description():
)
)
launch_args.append(
DeclareLaunchArgument(
name="controller",
default_value="position_trajectory_controller",
description="Robot controller."
)
)
launch_args.append(
DeclareLaunchArgument(
name="moveit_controller_configurations_package",

59
rasms_moveit_config/launch/rasms_control.launch.py
View file

@ -1,9 +1,14 @@
import os
from launch.launch_description import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import UnlessCondition
from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory
from launch.actions import ExecuteProcess
def generate_launch_description():
@ -54,18 +59,26 @@ def generate_launch_description():
robot_description = {"robot_description": LaunchConfiguration("robot_description")}
# Load controllers from YAML configuration file
controller_configurations = PathJoinSubstitution([
"""controller_configurations_path = PathJoinSubstitution([
FindPackageShare(LaunchConfiguration("controller_configurations_package")),
LaunchConfiguration("controller_configurations")
])
])"""
print(robot_description)
ros2_controllers_path = os.path.join(
get_package_share_directory("rasms_moveit_config"),
"config",
"rasms_controllers.yml",
)
# Prepare controller manager and other required nodes
controller_manager = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, controller_configurations],
output="screen",
condition=UnlessCondition(LaunchConfiguration("sim"))
parameters=[robot_description, ros2_controllers_path],
output={
"stdout": "screen",
"stderr": "screen"
},
)
robot_state_publisher = Node(
@ -75,7 +88,15 @@ def generate_launch_description():
parameters=[robot_description]
)
joint_state_broadcaster = Node(
static_tf = Node(
package="tf2_ros",
executable="static_transform_publisher",
name="static_transform_publisher",
output="log",
arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "base"],
)
"""joint_state_broadcaster = Node(
package="controller_manager",
executable="spawner.py",
arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
@ -84,13 +105,27 @@ def generate_launch_description():
controller = Node(
package="controller_manager",
executable="spawner.py",
arguments=[LaunchConfiguration("controller"), "--controller-manager", "/controller_manager"],
)
arguments=["position_trajectory_controller", "--controller-manager", "/controller_manager"],
)"""
load_controllers = []
for controller in [
"position_trajectory_controller",
"joint_state_broadcaster",
]:
load_controllers += [
ExecuteProcess(
cmd=["ros2 run controller_manager spawner.py {}".format(controller)],
shell=True,
output="screen",
)
]
return LaunchDescription(
launch_args + [
launch_args +
[
controller_manager,
robot_state_publisher,
joint_state_broadcaster,
controller
])
static_tf
]
+ load_controllers)

71
rasms_moveit_config/launch/rasms_moveit_interface.launch.py
View file

@ -63,7 +63,7 @@ def launch_setup(context, *args, **kwargs):
}
# Planning
ompl_yaml = load_yaml("rasms_moveit_config", "config/ompl_planning.yml")
#ompl_yaml = load_yaml("rasms_moveit_config", "config/ompl_planning.yml")
planning = {
"move_group": {
@ -78,49 +78,79 @@ def launch_setup(context, *args, **kwargs):
"moveit_manage_controllers": True}
# Controllers
controllers_yaml = load_yaml(
moveit_simple_controller_yml = load_yaml(
LaunchConfiguration("moveit_controller_configurations_package").perform(context),
LaunchConfiguration("moveit_controller_configurations").perform(context)
)
moveit_controllers = {"moveit_simple_controller_manager": controllers_yaml,
moveit_controllers = {"moveit_simple_controller_manager": moveit_simple_controller_yml,
"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"}
ompl_planning_pipeline_config = {
"ompl": {
"planning_plugin": "ompl_interface/OMPLPlanner",
"request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
"start_state_max_bounds_error": 0.1,
}
}
ompl_planning_yml = load_yaml(
"rasms_moveit_config", "config/ompl_planning.yml"
)
ompl_planning_pipeline_config["ompl"].update(ompl_planning_yml)
# Planning scene
planning_scene_monitor_parameters = {"publish_planning_scene": True,
"publish_geometry_updates": True,
"publish_state_updates": True,
"publish_transforms_updates": True}
moveit_cpp_yaml_file_name = (
get_package_share_directory("rasms_moveit_config") + "/config/moveit_cpp.yml"
)
# Time configuration
use_sim_time = {"use_sime_time": LaunchConfiguration("sim")}
# Prepare move group node
move_group_node = Node(
package="moveit_ros_move_group",
executable="move_group",
#"""move_group_node = Node(
# package="moveit_ros_move_group",
# executable="move_group",
# output="screen",
# arguments=["--ros-args"],
# parameters=[
# robot_description,
# robot_description_semantic,
# kinematics_yaml,
# robot_description_planning,
# ompl_yaml,
# planning,
# trajectory_execution,
# moveit_controllers,
# planning_scene_monitor_parameters,
# use_sim_time
# ]
#)"""
moveit_cpp_node = Node(
name="moveit_cpp_actions",
package="rasms_moveit_actions",
executable="rasms_moveit",
output="screen",
arguments=["--ros-args"],
parameters=[
moveit_cpp_yaml_file_name,
robot_description,
robot_description_semantic,
kinematics_yaml,
robot_description_planning,
ompl_yaml,
planning,
trajectory_execution,
ompl_planning_pipeline_config,
moveit_controllers,
planning_scene_monitor_parameters,
use_sim_time
]
],
)
robot_state_publisher = Node(
"""robot_state_publisher = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="screen",
parameters=[robot_description]
)
)"""
spawn_controller = Node(
package="controller_manager",
@ -130,7 +160,7 @@ def launch_setup(context, *args, **kwargs):
)
# RViz
rviz_config = PathJoinSubstitution([FindPackageShare("rasms_moveit_config"), "config/robasm_sgonov.rviz"])
rviz_config = PathJoinSubstitution([FindPackageShare("rasms_moveit_config"), "config/rasms.rviz"])
rviz = Node(
package="rviz2",
@ -138,8 +168,6 @@ def launch_setup(context, *args, **kwargs):
parameters=[
robot_description,
robot_description_semantic,
kinematics_yaml,
planning,
use_sim_time
],
arguments=[
@ -148,9 +176,10 @@ def launch_setup(context, *args, **kwargs):
)
return [
move_group_node,
#move_group_node,
moveit_cpp_node,
rviz,
robot_state_publisher,
#robot_state_publisher,
spawn_controller
]

4
rasms_moveit_config/launch/rasms_simulation.launch.py
View file

@ -28,10 +28,6 @@ def generate_launch_description():
)
)
# Note: Environment variable GAZEBO_MODEL_PATH is extended as in
# ROS2 control demos via environment hook https://github.com/ros-controls/ros2_control_demos/tree/master/ros2_control_demo_description/rrbot_description
# Also see https://colcon.readthedocs.io/en/released/developer/environment.html#dsv-files
# Gazebo launch scripts append GAZEBO_MODEL_PATH with known paths, see https://github.com/ros-simulation/gazebo_ros_pkgs/blob/ab1ae5c05eda62674b36df74eb3be8c93cdc8761/gazebo_ros/launch/gzclient.launch.py#L26
spawn_entity = Node(
package="gazebo_ros",
executable="spawn_entity.py",

18
rasms_moveit_config/srdf/rasms_description.srdf
View file

@ -3,7 +3,7 @@
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="rasms_description">
<robot name="rasms">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
@ -13,14 +13,6 @@
<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="pose1" group="rasms_description_arm">
<joint name="joint1" value="0"/>
<joint name="joint2" value="0"/>
<joint name="joint3" value="0.4339"/>
<joint name="joint4" value="0"/>
<joint name="joint5" value="0.9199"/>
<joint name="joint6" value="0"/>
</group_state>
<group_state name="zero_pose" group="rasms_description_arm">
<joint name="joint1" value="0"/>
<joint name="joint2" value="0"/>
@ -29,6 +21,14 @@
<joint name="joint5" value="0"/>
<joint name="joint6" value="0"/>
</group_state>
<group_state name="pose1" group="rasms_description_arm">
<joint name="joint1" value="0"/>
<joint name="joint2" value="1"/>
<joint name="joint3" value="0.4339"/>
<joint name="joint4" value="0"/>
<joint name="joint5" value="0.9199"/>
<joint name="joint6" value="-1"/>
</group_state>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base" link2="link1" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>