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Moveit scene contruction

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This commit is contained in:
Roman Andrianov 2023-05-19 21:07:13 +00:00 • committed by Igor Brylyov
parent 000ddb4831
commit da4e674772
8 changed files with 303 additions and 18 deletions
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11
rbs_simulation/launch/rbs_simulation.launch.py
View file

@ -434,6 +434,16 @@ def generate_launch_description():
{'assemble_dir': '/home/splinter1984/tmp_ws/src/robossembler-ros2/rbs_task_planner/example/sdf_models/'}
]
)
moveit_planning_scene_init = Node(
package="rbs_skill_servers",
executable="moveit_update_planning_scene_service_server",
output="screen",
parameters=[
{'init_scene': world_config_file},
{'models_paths': os.environ['IGN_GAZEBO_RESOURCE_PATH']}
]
)
# add_planning_scene_object = Node(
# package="rbs_skill_servers",
@ -463,6 +473,7 @@ def generate_launch_description():
move_joint_state_action_server,
grasp_pose_loader,
assemble_state,
moveit_planning_scene_init,
#add_planning_scene_object
]

34
rbs_simulation/worlds/mir.sdf
View file

@ -103,7 +103,7 @@
<geometry>
<mesh>
<scale>0.35 0.35 0.35</scale>
<uri>model://rack/model/rack.dae</uri>
<uri>package://rbs_simulation/rack/model/rack.dae</uri>
</mesh>
</geometry>
</visual>
@ -111,7 +111,7 @@
<geometry>
<mesh>
<scale>0.35 0.35 0.35</scale>
<uri>model://rack/model/rack.stl</uri>
<uri>package://rbs_simulation/rack/model/rack.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
@ -141,7 +141,7 @@
<geometry>
<!-- <mesh>
<scale>1 1 1</scale>
<uri>model://table/model/table.dae</uri>
<uri>package://rbs_simulation/table/model/table.dae</uri>
</mesh> -->
<box>
<size>0.8 0.8 0.4</size>
@ -157,7 +157,7 @@
<geometry>
<!-- <mesh>
<scale>1 1 1</scale>
<uri>model://table/model/table.stl</uri>
<uri>package://rbs_simulation/table/model/table.stl</uri>
</mesh> -->
<box>
<size>0.8 0.8 0.4</size>
@ -183,62 +183,62 @@
</link>
</model>
<include>
<uri>model://box1</uri>
<uri>package://rbs_simulation/box1</uri>
<name>box1</name>
<pose>0.25 0.65 0.6515 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<uri>package://rbs_simulation/box1</uri>
<name>box2</name>
<pose>0 0.65 0.6515 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<uri>package://rbs_simulation/box1</uri>
<name>box3</name>
<pose>-0.25 0.65 0.6515 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<uri>package://rbs_simulation/box1</uri>
<name>box4</name>
<pose>0.25 0.65 0.3015 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<uri>package://rbs_simulation/box1</uri>
<name>box5</name>
<pose>0 0.65 0.3015 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<uri>package://rbs_simulation/box1</uri>
<name>box6</name>
<pose>-0.25 0.65 0.3015 0 0 0</pose>
</include>
</include>
<!-- <include>
<uri>model://box1</uri>
<uri>package://rbs_simulation/box1</uri>
<name>pyramid1</name>
<pose>-0.9000 -0.05 0.5250 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<uri>package://rbs_simulation/box1</uri>
<name>pyramid2</name>
<pose>-0.9000 0.0 0.5250 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<uri>package://rbs_simulation/box1</uri>
<name>pyramid3</name>
<pose>-0.9000 0.05 0.5250 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<uri>package://rbs_simulation/box1</uri>
<name>pyramid4</name>
<pose>-0.9 -0.0243 0.5750 0 -0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<uri>package://rbs_simulation/box1</uri>
<name>pyramid5</name>
<pose>-0.9 0.0260 0.5750 0 -0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<uri>package://rbs_simulation/box1</uri>
<name>pyramid6</name>
<pose>-0.9 0 0.6250 0 0 0</pose>
</include> -->