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plansys2: initialize move group interface

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This commit is contained in:
Splinter1984 2021-11-29 23:53:45 +07:00
parent 8ac7ee77df
commit dffd9816bd
25 changed files with 1152 additions and 36 deletions
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21
.vscode/c_cpp_properties.json vendored Normal file
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@ -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
}

8
.vscode/settings.json vendored Normal file
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@ -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"
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}

21
rasms_description/.vscode/c_cpp_properties.json vendored Normal file
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@ -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
}

5
rasms_description/.vscode/settings.json vendored Normal file
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@ -0,0 +1,5 @@
{
"python.autoComplete.extraPaths": [
"/opt/ros/foxy/lib/python3.8/site-packages"
]
}

81
rasms_manipulator/CMakeLists.txt Normal file
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@ -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()

4
rasms_manipulator/behavior_trees_xml/move.xml
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@ -1,7 +1,7 @@
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence name="assemble">
<Move name="move" goal="${pose}"/>
<Sequence name="Move">
<Move name="move" goal="${arg2}"/>
</Sequence>
</BehaviorTree>
</root>

2
rasms_manipulator/config/params.yaml
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@ -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]

9
rasms_manipulator/include/rasms_bt/behavior_tree_nodes/Move.hpp
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@ -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(

13
rasms_manipulator/launch/rasms_manipulation.launch.py
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@ -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'
}
])
@ -42,6 +54,7 @@ def generate_launch_description():
ld.add_action(declare_namespace_cmd)
# Declare the launch options
ld.add_action(plansys2_cmd)
ld.add_action(move_1)
return ld

38
rasms_manipulator/package.xml Normal file
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@ -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>

7
rasms_manipulator/pddl/commands Normal file
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@ -0,0 +1,7 @@
set instance rasms robot
set instance assembly_zone zone
set predicate (robot_at rasms assembly_zone)
set goal (and())

35
rasms_manipulator/pddl/domain.pddl Normal file
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@ -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 ;;;;;;;;;;;;;;;;;;;;;;;;

4
rasms_manipulator/src/assemble_controller_node.cpp
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@ -65,8 +65,8 @@ public:
void init_knowledge()
{
problem_expert_->addInstance(plansys2::Instance{"rasms", "robot"});
problem_expert_->setGoal(plansys2::Goal("robot moved"));
//problem_expert_->addInstance(plansys2::Instance{"rasms", "robot"});
//problem_expert_->setGoal(plansys2::Goal("robot moved"));
}
void step()

40
rasms_manipulator/src/behavior_tree_nodes/Move.cpp
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@ -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 <moveit/moveit_cpp/planning_component.h>
#include <moveit/move_group_interface/move_group_interface.h>
#include "geometry_msgs/msg/pose_stamped.h"
#include <geometry_msgs/msg/point_stamped.h>
#include <geometry_msgs/msg/pose.h>
#include <behaviortree_cpp_v3/behavior_tree.h>
#include <rclcpp_lifecycle/lifecycle_node.hpp>
#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;
node_options.automatically_declare_parameters_from_overrides(true);
rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("moveit_cpp_move", node_options);
rclcpp::Node::SharedPtr node;
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);
//move_group->setStartState(*move_group->getCurrentState());
moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
/*----------
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)

21
rasms_moveit_config/config/.vscode/c_cpp_properties.json vendored Normal file
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@ -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
}

5
rasms_moveit_config/config/.vscode/settings.json vendored Normal file
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@ -0,0 +1,5 @@
{
"python.autoComplete.extraPaths": [
"/opt/ros/foxy/lib/python3.8/site-packages"
]
}

35
rasms_moveit_config/config/joint_limits.yml Normal file
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@ -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

4
rasms_moveit_config/config/kinematics.yml Normal file
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@ -0,0 +1,4 @@
rasms_arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.05

20
rasms_moveit_config/config/moveit_cpp.yml Normal file
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@ -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

151
rasms_moveit_config/config/ompl_planning.yml Normal file
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@ -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

431
rasms_moveit_config/config/rasms.rviz Normal file
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@ -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

26
rasms_moveit_config/config/rasms_controllers.yml Normal file
View file

@ -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

16
rasms_moveit_config/config/rasms_moveit_controllers.yml Normal file
View file

@ -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

183
rasms_moveit_config/config/robasm_sgonov.rviz Normal file
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@ -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

2
rasms_moveit_config/launch/rasms_simulation.launch.py
View file

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