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🔨 change robossembler to robot2

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This commit is contained in:
Ilya Uraev 2022-01-18 17:54:01 +04:00
parent 0c483bc94d
commit a397b9b56f
6 changed files with 42 additions and 81 deletions
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4
rasmt_moveit_config/config/joint_limits.yaml
View file

@ -2,8 +2,8 @@
# 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
default_velocity_scaling_factor: 1
default_acceleration_scaling_factor: 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]

74
rasmt_moveit_config/config/rasmt_moveit.rviz
View file

@ -7,7 +7,7 @@ Panels:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 787
Tree Height: 389
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@ -63,67 +63,13 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
rasmt_Base_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rasmt_Dock_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rasmt_Fork_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rasmt_Fork_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rasmt_Fork_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rasmt_Grip_Body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rasmt_Grip_L:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rasmt_Grip_R:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rasmt_Link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rasmt_Link_2:
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: false
- Acceleration_Scaling_Factor: 0.1
- Acceleration_Scaling_Factor: 1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: false
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
@ -310,8 +256,8 @@ Visualization Manager:
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: true
Value: false
Velocity_Scaling_Factor: 0.1
Value: true
Velocity_Scaling_Factor: 1
Enabled: true
Global Options:
Background Color: 48; 48; 48
@ -376,16 +322,16 @@ Visualization Manager:
Yaw: 5.318596363067627
Saved: ~
Window Geometry:
"":
collapsed: false
" - Trajectory Slider":
collapsed: false
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001f30000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000020a000001d10000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fbffffffff0000000253000001880000018800ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000042a0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001f30000039efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000210000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000253000001880000017d00fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000042a0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:

2
robossembler/config/params.yaml
View file

@ -2,7 +2,7 @@ move:
ros__parameters:
plugins:
- robossembler_move_bt_node
arm_group: ["rasms_arm_group"]
arm_group: ["rasmt_arm_group"]
waypoints: ["one"]
waypoint_coords:
one: [0.01, 0.01, 0.6,

15
robossembler/launch/robossembler_bringup.launch.py
View file

@ -40,7 +40,7 @@ def generate_launch_description():
# get error if xacro file if missing
assert os.path.exists(xacro_file), "The xacro file of neptun_description doesnt exist"+str(xacro_file)
# parse xacro file from file with arguments
robot_description = xacro.process_file(xacro_file, mappings={'grip':"true",'sim':"false",'robot_name':"rasmt"})
robot_description = xacro.process_file(xacro_file, mappings={'grip':"true",'sim':"true",'robot_name':"rasmt"})
# convert file to xml format
robot_description_content = robot_description.toxml()
@ -83,10 +83,23 @@ def generate_launch_description():
]
)
task_planner_init = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution([
FindPackageShare("robossembler"),
"launch",
"task_planner.launch.py"
])
), launch_arguments=[
("robot_description", robot_description_content)
]
)
launch_nodes = []
launch_nodes.append(control)
launch_nodes.append(simulation)
launch_nodes.append(moveit)
launch_nodes.append(task_planner_init)
return LaunchDescription(launch_args + launch_nodes)

24
robossembler/launch/task_planner.launch.py
View file

@ -33,34 +33,35 @@ def load_yaml(package_name, file_path):
def generate_launch_description():
# planning_context
robot_description_config = load_file(
"rasms_description", "urdf/rasms_description.urdf.xacro"
)
robot_description = {"robot_description": robot_description_config}
robot_description_semantic_config = load_file(
"rasms_moveit_config", "srdf/rasms_description.srdf"
"rasmt_moveit_config", "config/rasmt.srdf"
)
robot_description_semantic = {
"robot_description_semantic": robot_description_semantic_config
}
kinematics_yaml = load_yaml(
"rasms_moveit_config", "config/kinematics.yml"
"rasmt_moveit_config", "config/kinematics.yaml"
)
pkg_dir = get_package_share_directory('task_planner')
pkg_dir = get_package_share_directory('robossembler')
namespace = LaunchConfiguration('namespace')
declare_namespace_cmd = DeclareLaunchArgument(
'namespace',
name="namespace",
default_value='',
description='Namespace')
declare_robot_description = DeclareLaunchArgument(
name="robot_description",
description="Robot description XML file"
)
# stdout_linebuf_envvar = SetEnvironmentVariable(
# 'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
robot_description = {"robot_description":LaunchConfiguration("robot_description")}
plansys2_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(
get_package_share_directory('plansys2_bringup'),
@ -89,7 +90,7 @@ def generate_launch_description():
])
transport_1 = Node(
package='task_planner',
package='robossembler',
executable='move_action_node',
name='transport_1',
namespace=namespace,
@ -99,6 +100,7 @@ def generate_launch_description():
ld = LaunchDescription()
ld.add_action(declare_namespace_cmd)
ld.add_action(declare_robot_description)
# Declare the launch options
ld.add_action(plansys2_cmd)

4
robossembler/src/move_controller_node.cpp
View file

@ -37,7 +37,7 @@ public:
void init_knowledge()
{
problem_expert_->addInstance(plansys2::Instance{"rasms", "robot"});
problem_expert_->addInstance(plansys2::Instance{"rasmt", "robot"});
problem_expert_->addInstance(plansys2::Instance{"one", "zone"});
}
@ -68,7 +68,7 @@ public:
void step()
{
problem_expert_->setGoal(plansys2::Goal("(and(robot_move rasms one))"));
problem_expert_->setGoal(plansys2::Goal("(and(robot_move rasmt one))"));
auto domain = domain_expert_->getDomain();
auto problem = problem_expert_->getProblem();