plansys2: initialize move group interface

.vscode/c_cpp_properties.json

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

.vscode/settings.json

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

rasms_description/.vscode/c_cpp_properties.json

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

rasms_description/.vscode/settings.json

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

rasms_manipulator/CMakeLists.txt

@@ -0,0 +1,81 @@
+cmake_minimum_required(VERSION 3.5)
+project(rasms_manipulator)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(moveit_msgs REQUIRED)
+find_package(moveit_core REQUIRED)
+find_package(moveit_ros_planning REQUIRED)
+find_package(moveit_ros_planning_interface REQUIRED)
+find_package(plansys2_msgs REQUIRED)
+find_package(plansys2_domain_expert REQUIRED)
+find_package(plansys2_executor REQUIRED)
+find_package(plansys2_planner REQUIRED)
+find_package(plansys2_problem_expert REQUIRED)
+find_package(plansys2_pddl_parser REQUIRED)
+find_package(ament_index_cpp REQUIRED)              #wtf?
+find_package(plansys2_bt_actions REQUIRED)
+
+if (NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+endif()
+
+set(dependencies
+    rclcpp
+    rclcpp_action
+    geometry_msgs
+    tf2_geometry_msgs
+    moveit_msgs
+    moveit_core
+    moveit_ros_planning
+    moveit_ros_planning_interface
+    plansys2_msgs
+    plansys2_domain_expert
+    plansys2_executor
+    plansys2_planner
+    plansys2_problem_expert
+    plansys2_pddl_parser
+    ament_index_cpp
+    plansys2_bt_actions
+)
+
+include_directories(include)
+
+add_library(plansys2_move_bt_node SHARED src/behavior_tree_nodes/Move.cpp)
+list(APPEND plugin_libs plansys2_move_bt_node)
+
+foreach(bt_plugin ${plugin_libs})
+    ament_target_dependencies(${bt_plugin} ${dependencies})
+    target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
+endforeach()
+
+add_executable(assemble_action_node src/assemble_action_node.cpp)
+ament_target_dependencies(assemble_action_node ${dependencies})
+
+add_executable(assemble_controller_node src/assemble_controller_node.cpp)
+ament_target_dependencies(assemble_controller_node ${dependencies})
+
+install(DIRECTORY launch pddl behavior_trees_xml config DESTINATION share/${PROJECT_NAME})
+
+install(TARGETS
+    assemble_action_node
+    assemble_controller_node
+    ${plugin_libs}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+
+    find_package(ament_cmake_gtest REQUIRED)
+endif()
+
+ament_export_dependencies(${dependencies})
+
+ament_package()

rasms_manipulator/behavior_trees_xml/move.xml

@@ -1,7 +1,7 @@
 <root main_tree_to_execute = "MainTree" >
     <BehaviorTree ID="MainTree">
-        <Sequence name="assemble">
+       <Sequence name="Move">
-            <Move name="move" goal="${pose}"/>
+           <Move name="move" goal="${arg2}"/>
-        </Sequence>
+       </Sequence>
     </BehaviorTree>
 </root>

rasms_manipulator/config/params.yaml

@@ -4,5 +4,5 @@ move_1:
       - plansys2_move_bt_node
     waypoints: ["zero"]
     waypoints_coords:
-      zero: [0.0, -2.0, 0.0, 0.0]
+      zero: [0.0, -2.0, 0.0]
       

rasms_manipulator/include/rasms_bt/behavior_tree_nodes/Move.hpp

@@ -5,8 +5,6 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "geometry_msgs/msg/pose2_d.hpp"
-
 #include "plansys2_bt_actions/BTActionNode.hpp"
 #include "behaviortree_cpp_v3/behavior_tree.h"
 #include "behaviortree_cpp_v3/bt_factory.h"
@@ -14,15 +12,14 @@
 #include "moveit_msgs/msg/place_location.hpp"
 #include "moveit_msgs/msg/move_it_error_codes.hpp"
 #include "moveit_msgs/action/move_group.hpp"
-#include "moveit_msgs/action/"
 
-#include <moveit/moveit_cpp/moveit_cpp.h>
+#include "moveit/moveit_cpp/moveit_cpp.h"
 
-#include <geometry_msgs/msg/point_stamped.h>
+#include "geometry_msgs/msg/point_stamped.h"
 
 namespace rasms_manipulation
 {
-class Move: public plansys2::BtActionNode<moveit_msgs::MoveGroupAction>
+class Move: public plansys2::BtActionNode<moveit_msgs::action::MoveGroup>
 {
 public:
     explicit Move(

rasms_manipulator/launch/rasms_manipulation.launch.py

@@ -22,6 +22,16 @@ def generate_launch_description():
     stdout_linebuf_envvar = SetEnvironmentVariable(
         'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
 
+    plansys2_cmd = IncludeLaunchDescription(
+      PythonLaunchDescriptionSource(os.path.join(
+        get_package_share_directory('plansys2_bringup'),
+        'launch',
+        'plansys2_bringup_launch_monolithic.py')),
+        launch_arguments={
+          'model_file': pkg_dir + '/pddl/domain.pddl',
+          'namespace': namespace
+        }.items())
+
     move_1 = Node(
         package='plansys2_bt_actions',
         executable='bt_action_node',
@@ -32,6 +42,8 @@ def generate_launch_description():
           pkg_dir + '/config/params.yaml',
           {
             'action_name': 'move',
+            'publisher_port': 1668,
+            'server_port': 1669,
             'bt_xml_file': pkg_dir + '/behavior_trees_xml/move.xml'
           }
         ])
@@ -40,8 +52,9 @@ def generate_launch_description():
 
     ld.add_action(stdout_linebuf_envvar)
     ld.add_action(declare_namespace_cmd)
-    
+
     # Declare the launch options
+    ld.add_action(plansys2_cmd)
     ld.add_action(move_1)
   
     return ld

rasms_manipulator/package.xml

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xds" schematypens="http://www.w3.org/2001/XMLSchema"?>
+
+<package format="3">
+ <name>rasms_manipulator</name>
+ <version>0.0.1</version>
+
+ <description>A simple of ROS2 Planning System</description>
+ <maintainer email="fmrico@gmail.com">Francisco Martin Rico</maintainer>
+ 
+ <license>Apache License, Version 2.0</license>
+ <buildtool_depend>ament_cmake</buildtool_depend>
+
+ <depend>rclcpp</depend>
+ <depend>rclcpp_action</depend>
+ <depend>geometry_msgs</depend>
+ <depend>tf2_geometry_msgs</depend>
+ <depend>moveit_msgs</depend>
+ <depend>moveit_core</depend>
+ <depend>moveit_ros_planning</depend>
+ <depend>moveit_ros_planning_interface</depend>
+ <depend>plansys2_msgs</depend>
+ <depend>plansys2_domain_expert</depend>
+ <depend>plansys2_executor</depend>
+ <depend>plansys2_planner</depend>
+ <depend>plansys2_problem_expert</depend>
+ <depend>plansys2_pddl_parser</depend>
+ <depend>ament_index_cpp</depend>
+ <depend>plansys2_bt_actions</depend>
+
+ <test_depend>ament_lint_common</test_depend>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_cmake_gtest</test_depend>
+
+ <export>
+  <build_type>ament_cmake</build_type>
+ </export>
+</package>

rasms_manipulator/pddl/commands

@@ -0,0 +1,7 @@
+set instance rasms robot
+
+set instance assembly_zone zone
+
+set predicate (robot_at rasms assembly_zone)
+
+set goal (and())

rasms_manipulator/pddl/domain.pddl

@@ -0,0 +1,35 @@
+(define (domain rasms)
+(:requirements :strips :typing :adl :fluents :durative-actions :typing)
+
+;; Types ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(:types
+    robot
+    zone
+);; end Types ;;;;;;;;;;;;;;;;;;;;;;;;;
+
+;; Predicates ;;;;;;;;;;;;;;;;;;;;;;;;;
+(:predicates
+
+(robot_at ?r - robot ?z - zone)
+(robot_moved ?r - robot ?z - zone)
+
+);; end Predicates ;;;;;;;;;;;;;;;;;;;;
+
+;; Functions ;;;;;;;;;;;;;;;;;;;;;;;;;
+(:functions
+
+);; end Functions ;;;;;;;;;;;;;;;;;;;;
+
+;; Actions ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(:durative-action move
+    :parameters (?r - robot ?z - zone)
+    :duration ( = ?duration 5)
+    :condition (and
+        (over all(robot_at ?r ?z))
+    )
+    :effect (and
+        (at end(robot_moved ?r ?z))
+    )
+)
+
+);; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;

rasms_manipulator/src/assemble_controller_node.cpp

@@ -65,8 +65,8 @@ public:
 
     void init_knowledge()
     {
-        problem_expert_->addInstance(plansys2::Instance{"rasms", "robot"});
+        //problem_expert_->addInstance(plansys2::Instance{"rasms", "robot"});
-        problem_expert_->setGoal(plansys2::Goal("robot moved"));
+        //problem_expert_->setGoal(plansys2::Goal("robot moved"));
     }
 
     void step()

rasms_manipulator/src/behavior_tree_nodes/Move.cpp

@@ -3,17 +3,13 @@
 
 #include "rasms_bt/behavior_tree_nodes/Move.hpp"
 
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#include "moveit/move_group_interface/move_group_interface.h"
+#include "moveit/planning_scene_interface/planning_scene_interface.h"
 
-#include <moveit/moveit_cpp/moveit_cpp.h>
+#include "geometry_msgs/msg/pose_stamped.h"
-#include <moveit/moveit_cpp/planning_component.h>
-#include <moveit/move_group_interface/move_group_interface.h>
 
-#include <geometry_msgs/msg/point_stamped.h>
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
-#include <geometry_msgs/msg/pose.h>
-
-#include <behaviortree_cpp_v3/behavior_tree.h>
-#include <rclcpp_lifecycle/lifecycle_node.hpp>
 
 namespace rasms_manipulation
 {
@@ -21,7 +17,7 @@ Move::Move(
     const std::string& xml_tag_name,
     const std::string& action_name, 
     const BT::NodeConfiguration& conf)
-    : plansys::BtActionNode<moveit_msgs::MoveGroupAction>(xml_tag_name, action_name, conf)
+    : plansys2::BtActionNode<moveit_msgs::action::MoveGroup>(xml_tag_name, action_name, conf)
 {
     rclcpp::Node::SharedPtr node;
     config().blackboard->get("node", node);
@@ -56,7 +52,6 @@ Move::Move(
                 pose.position.x = coords[0];
                 pose.position.y = coords[1];
                 pose.position.z = coords[2];
-                pose.position.w = coords[3]
                 // pose.orientation.x = coords[3];
                 // pose.orientation.y = coords[4];
                 // pose.orientation.z = coords[5];
@@ -72,9 +67,7 @@ Move::Move(
 
 void Move::on_tick()
 {
-    rclcpp::NodeOptions node_options;
+    rclcpp::Node::SharedPtr node;
-    node_options.automatically_declare_parameters_from_overrides(true);
-    rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("moveit_cpp_move", node_options);
     config().blackboard->get("node", node);
 
 
@@ -88,23 +81,28 @@ void Move::on_tick()
         std::cerr << "No coordinate for waypoint [" << goal << "]" << std::endl;
     }
 
-    std::string PLANNING_GROUP = "rasms_arm_group";
+    static const std::string PLANNING_GROUP = "rasms_arm_group";
-
+    moveit::planning_interface::MoveGroupInterface move_group(node, PLANNING_GROUP);
-    moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
+    //move_group->setStartState(*move_group->getCurrentState());
+    
+    /*----------
+    00823   // pose goal;
+    00824   // for each link we have a set of possible goal locations;
+    00825   std::map<std::string, std::vector<geometry_msgs::PoseStamped> > pose_targets_; 
+    ----------*/
     geometry_msgs::msg::PoseStamped goal_pos;
-
     goal_pos.header.frame_id = "base";
     goal_pos.pose.position.x = pose2moveit.position.x;
     goal_pos.pose.position.y = pose2moveit.position.y;
     goal_pos.pose.position.z = pose2moveit.position.z;
-    goal_pos.pose.position.w = pose2moveit.position.w
     // goal_pos.pose.orientation = pose2moveit.orientation;
     
-    move_group.setPoseTarget(goal_pose, "link6");
+    move_group.setPoseTarget(goal_pos, "link6");
     moveit::planning_interface::MoveGroupInterface::Plan my_plan;
-    moveit::planning_interface::MoveItErrorCode success = move_group(my_plan);
+    bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
     if (success)
     {
+        //move_group->setStartStateToCurrentState();
         move_group.execute(my_plan);
         move_group.move();
     } else {
@@ -119,7 +117,7 @@ Move::on_success()
 }
 
 
-}  // namespace plansys2_bt_tests
+}  // namespace plansys222_bt_tests
 
 #include "behaviortree_cpp_v3/bt_factory.h"
 BT_REGISTER_NODES(factory)

rasms_moveit_config/config/.vscode/c_cpp_properties.json

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

rasms_moveit_config/config/.vscode/settings.json

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

rasms_moveit_config/config/joint_limits.yml

@@ -0,0 +1,35 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  joint1:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint3:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint4:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint5:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint6:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0

rasms_moveit_config/config/kinematics.yml

@@ -0,0 +1,4 @@
+rasms_arm_group:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05

rasms_moveit_config/config/moveit_cpp.yml

@@ -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: "/planning_scene_monitor"
+      publish_planning_scene_topic: "/publish_planning_scene"
+      monitored_planning_scene_topic: "/monitored_planning_scene"
+      wait_for_initial_state_timeout: 10.0
+
+    planning_pipelines:
+      #namespace: "moveit_cpp"  # optional, default is ~
+      pipeline_names: ["ompl"]
+
+    plan_request_params:
+      planning_attempts: 10
+      planning_pipeline: ompl
+      max_velocity_scaling_factor: 1.0
+      max_acceleration_scaling_factor: 1.0

rasms_moveit_config/config/ompl_planning.yml

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

rasms_moveit_config/config/rasms.rviz

@@ -0,0 +1,431 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 197
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_visual_tools/RvizVisualToolsGui
+    Name: RvizVisualToolsGui
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: moveit_rviz_plugin/PlanningScene
+      Enabled: true
+      Move Group Namespace: ""
+      Name: PlanningScene
+      Planning Scene Topic: /monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.20000000298023224
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+    - Class: moveit_rviz_plugin/Trajectory
+      Color Enabled: false
+      Enabled: true
+      Interrupt Display: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Loop Animation: false
+      Name: Trajectory
+      Robo Alpha: 0.5
+      Robot Color: 150; 50; 150
+      Robot Description: robot_description
+      Show Robot Collision: false
+      Show Robot Visual: true
+      Show Trail: false
+      State Display Time: 0.05 s
+      Trail Step Size: 1
+      Trajectory Topic: /display_planned_path
+      Value: true
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: true
+      MoveIt_Warehouse_Host: 127.0.0.1
+      MoveIt_Warehouse_Port: 33829
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Loop Animation: false
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trail Step Size: 1
+        Trajectory Topic: /move_group/display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: rasms_arm_group
+        Query Goal State: false
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: /monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /move_group_tutorial
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.8008623123168945
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.72039794921875
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.2953982949256897
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1043
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 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
+  RvizVisualToolsGui:
+    collapsed: false
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Trajectory - Trajectory Slider:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 2560
+  Y: 360

rasms_moveit_config/config/rasms_controllers.yml

@@ -0,0 +1,26 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 500  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    rasms_arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+rasms_arm_controller:
+  ros__parameters:
+    joints:
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+      - joint5
+      - joint6
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+    state_publish_rate: 50.0
+    action_monitor_rate: 20.0
+    

rasms_moveit_config/config/rasms_moveit_controllers.yml

@@ -0,0 +1,16 @@
+controller_names:
+  - rasms_arm_controller
+
+# http://control.ros.org/ros2_controllers/joint_trajectory_controller/doc/userdoc.html#ros2-interface-of-the-controller
+rasms_arm_controller:
+  action_ns: follow_joint_trajectory
+  type: FollowJointTrajectory
+  default: true
+  joints:
+    - joint1
+    - joint2
+    - joint3
+    - joint4
+    - joint5
+    - joint6
+

rasms_moveit_config/config/robasm_sgonov.rviz

@@ -0,0 +1,183 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 787
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.4318417310714722
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.01542382501065731
+        Y: -0.006365143693983555
+        Z: 0.15774454176425934
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name:Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5703980326652527
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.5603898763656616
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004c70000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1848
+  X: 72
+  Y: 27
+ 

rasms_moveit_config/launch/rasms_simulation.launch.py

@@ -23,7 +23,7 @@ def generate_launch_description():
             PathJoinSubstitution([
                 FindPackageShare("gazebo_ros"), 
                 "launch", 
-                "gazebo.launch.py"
+                "gzserver.launch.py"
             ])
         )
     )