new map data

371c779c · KingMaZito · 977081c3 · 371c779c · 371c779c · 371c779c
Commit 371c779c authored Sep 12, 2022 by KingMaZito
--- a/src/ceti/config/simple_moveit_controllers.yaml
+++ b/src/ceti/config/simple_moveit_controllers.yaml
+controller_list:
+  - name: arm_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - panda_joint1
+      - panda_joint2
+      - panda_joint3
+      - panda_joint4
+      - panda_joint5
+      - panda_joint6
+      - panda_joint7
+  - name: hand_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - panda_finger_joint1
+      - panda_finger_joint2
\ No newline at end of file
--- a/src/ceti/config/stomp_planning.yaml
+++ b/src/ceti/config/stomp_planning.yaml
+stomp/arm:
+  group_name: arm
+  optimization:
+    num_timesteps: 60
+    num_iterations: 40
+    num_iterations_after_valid: 0
+    num_rollouts: 30
+    max_rollouts: 30
+    initialization_method: 1  # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
+    control_cost_weight: 0.0
+  task:
+    noise_generator:
+      - class: stomp_moveit/NormalDistributionSampling
+        stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+    cost_functions:
+      - class: stomp_moveit/CollisionCheck
+        collision_penalty: 1.0
+        cost_weight: 1.0
+        kernel_window_percentage: 0.2
+        longest_valid_joint_move: 0.05
+    noisy_filters:
+      - class: stomp_moveit/JointLimits
+        lock_start: True
+        lock_goal: True
+      - class: stomp_moveit/MultiTrajectoryVisualization
+        line_width: 0.02
+        rgb: [255, 255, 0]
+        marker_array_topic: stomp_trajectories
+        marker_namespace: noisy
+    update_filters:
+      - class: stomp_moveit/PolynomialSmoother
+        poly_order: 6
+      - class: stomp_moveit/TrajectoryVisualization
+        line_width: 0.05
+        rgb: [0, 191, 255]
+        error_rgb: [255, 0, 0]
+        publish_intermediate: True
+        marker_topic: stomp_trajectory
+        marker_namespace: optimized
+stomp/hand:
+  group_name: hand
+  optimization:
+    num_timesteps: 60
+    num_iterations: 40
+    num_iterations_after_valid: 0
+    num_rollouts: 30
+    max_rollouts: 30
+    initialization_method: 1  # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
+    control_cost_weight: 0.0
+  task:
+    noise_generator:
+      - class: stomp_moveit/NormalDistributionSampling
+        stddev: [0.05, 0.05]
+    cost_functions:
+      - class: stomp_moveit/CollisionCheck
+        collision_penalty: 1.0
+        cost_weight: 1.0
+        kernel_window_percentage: 0.2
+        longest_valid_joint_move: 0.05
+    noisy_filters:
+      - class: stomp_moveit/JointLimits
+        lock_start: True
+        lock_goal: True
+      - class: stomp_moveit/MultiTrajectoryVisualization
+        line_width: 0.02
+        rgb: [255, 255, 0]
+        marker_array_topic: stomp_trajectories
+        marker_namespace: noisy
+    update_filters:
+      - class: stomp_moveit/PolynomialSmoother
+        poly_order: 6
+      - class: stomp_moveit/TrajectoryVisualization
+        line_width: 0.05
+        rgb: [0, 191, 255]
+        error_rgb: [255, 0, 0]
+        publish_intermediate: True
+        marker_topic: stomp_trajectory
+        marker_namespace: optimized
\ No newline at end of file
--- a/src/ceti/launch/chomp_planning_pipeline.launch.xml
+++ b/src/ceti/launch/chomp_planning_pipeline.launch.xml
+<launch>
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
+
+  <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find ceti)/config/chomp_planning.yaml" />
+</launch>
--- a/src/ceti/launch/default_warehouse_db.launch
+++ b/src/ceti/launch/default_warehouse_db.launch
+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find ceti)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(dirname)/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
--- a/src/ceti/launch/demo.launch
+++ b/src/ceti/launch/demo.launch
+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find ceti)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
+
+
+
+  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
+    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
+         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
+         This corresponds to moving around the real robot without the use of MoveIt. -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+
+    <!-- Given the published joint states, publish tf for the robot links -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+  </group>
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(dirname)/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
+    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
--- a/src/ceti/launch/demo_gazebo.launch
+++ b/src/ceti/launch/demo_gazebo.launch
+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- Gazebo specific options -->
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="paused" default="false"/>
+
+  <!-- launch the gazebo simulator and spawn the robot -->
+  <include file="$(dirname)/gazebo.launch" >
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <include file="$(dirname)/demo.launch" pass_all_args="true">
+    <!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
+    <arg name="load_robot_description" value="false" />
+    <arg name="moveit_controller_manager" value="ros_control" />
+  </include>
+</launch>
--- a/src/ceti/launch/fake_moveit_controller_manager.launch.xml
+++ b/src/ceti/launch/fake_moveit_controller_manager.launch.xml
+<launch>
+
+  <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam subst_value="true" file="$(find ceti)/config/fake_controllers.yaml"/>
+
+</launch>
--- a/src/ceti/launch/gazebo.launch
+++ b/src/ceti/launch/gazebo.launch
+<?xml version="1.0"?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
+       default=" -J panda_joint1 -0.016 -J panda_joint2 -0.0097 -J panda_joint3 0.022 -J panda_joint4 -1.5708 -J panda_joint5 -0.006 -J panda_joint6 0.524 -J panda_joint7 0.5603"/>
+
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="worlds/empty.world"/>
+    <arg name="paused" value="true"/>
+    <arg name="gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <!-- send robot urdf to param server -->
+  <param name="robot_description" command="xacro  '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
+
+  <!-- unpause only after loading robot model -->
+  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
+  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
+  <arg name="world_pose" value="-x 0 -y 0 -z 0" />
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
+    respawn="false" output="screen" />
+
+  <!-- Load joint controller parameters for Gazebo -->
+  <rosparam file="$(find ceti)/config/gazebo_controllers.yaml" />
+  <!-- Spawn Gazebo ROS controllers -->
+  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
+  <!-- Load ROS controllers -->
+  <include file="$(dirname)/ros_controllers.launch"/>
+
+</launch>
--- a/src/ceti/launch/joystick_control.launch
+++ b/src/ceti/launch/joystick_control.launch
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+
+</launch>
--- a/src/ceti/launch/move_group.launch
+++ b/src/ceti/launch/move_group.launch
+<launch>
+
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+           value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="pipeline" default="ompl" />
+  <arg name="allow_trajectory_execution" default="true"/>
+  <arg name="moveit_controller_manager" default="simple" />
+  <arg name="fake_execution_type" default="interpolate"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="publish_monitored_planning_scene" default="true"/>
+
+  <arg name="capabilities" default=""/>
+  <arg name="disable_capabilities" default=""/>
+  <!-- load these non-default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="capabilities" value="
+                a_package/AwsomeMotionPlanningCapability
+                another_package/GraspPlanningPipeline
+                " />
+  -->
+
+  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="disable_capabilities" value="
+                move_group/MoveGroupKinematicsService
+                move_group/ClearOctomapService
+                " />
+  -->
+
+  <arg name="load_robot_description" default="false" />
+  <!-- load URDF, SRDF and joint_limits configuration -->
+  <include file="$(dirname)/planning_context.launch">
+    <arg name="load_robot_description" value="$(arg load_robot_description)" />
+  </include>
+
+  <!-- Planning Pipelines -->
+  <group ns="move_group/planning_pipelines">
+
+    <!-- OMPL -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="ompl" />
+    </include>
+
+    <!-- CHOMP -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="chomp" />
+    </include>
+
+    <!-- Pilz Industrial Motion -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="pilz_industrial_motion_planner" />
+    </include>
+
+    <!-- Support custom planning pipeline -->
+    <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
+             file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="$(arg pipeline)" />
+    </include>
+  </group>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
+  </include>
+
+  <!-- Sensors Functionality -->
+  <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="panda" />
+  </include>
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
+    <!-- Set the display variable, in case OpenGL code is used internally -->
+    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
+
+    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+    <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="default_planning_pipeline" value="$(arg pipeline)" />
+    <param name="capabilities" value="$(arg capabilities)" />
+    <param name="disable_capabilities" value="$(arg disable_capabilities)" />
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+  </node>
+
+</launch>
--- a/src/ceti/launch/moveit.rviz
+++ b/src/ceti/launch/moveit.rviz
+Panels:
+  - Class: rviz/Displays
+    Help Height: 84
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+      Splitter Ratio: 0.5
+    Tree Height: 226
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        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/MotionPlanning
+      Enabled: true
+      Name: MotionPlanning
+      Planned Path:
+        Links: ~
+        Loop Animation: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        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
+      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
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: move_group/monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links: ~
+        Robot Alpha: 0.5
+        Show Scene Robot: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.0
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.75
+      Focal Point:
+        X: -0.1
+        Y: 0.25
+        Z: 0.30
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.5
+      Target Frame: base
+      Yaw: -0.6232355833053589
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 848
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000173000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017d0000017d00ffffff00000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1291
+  X: 454
+  Y: 25
--- a/src/ceti/launch/moveit_rviz.launch
+++ b/src/ceti/launch/moveit_rviz.launch
+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
+  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+        args="$(arg command_args)" output="screen">
+  </node>
+
+</launch>
--- a/src/ceti/launch/ompl-chomp_planning_pipeline.launch.xml
+++ b/src/ceti/launch/ompl-chomp_planning_pipeline.launch.xml
+<launch>
+  <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
+  <include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
+    <arg name="planning_adapters" value="
+       default_planner_request_adapters/AddTimeParameterization
+       default_planner_request_adapters/FixWorkspaceBounds
+       default_planner_request_adapters/FixStartStateBounds
+       default_planner_request_adapters/FixStartStateCollision
+       default_planner_request_adapters/FixStartStatePathConstraints
+       chomp/OptimizerAdapter"
+       />
+  </include>
+
+  <!-- load chomp config -->
+  <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
+
+  <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
+  <param name="trajectory_initialization_method" value="fillTrajectory"/>
+</launch>
--- a/src/ceti/launch/ompl_planning_pipeline.launch.xml
+++ b/src/ceti/launch/ompl_planning_pipeline.launch.xml
+<launch>
+
+  <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
+
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+
+  <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find ceti)/config/ompl_planning.yaml"/>
+
+</launch>
--- a/src/ceti/launch/panda_moveit_sensor_manager.launch.xml
+++ b/src/ceti/launch/panda_moveit_sensor_manager.launch.xml
+<launch>
+
+</launch>
--- a/src/ceti/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
+++ b/src/ceti/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
+<launch>
+
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters" default="" />
+
+  <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+
+  <!-- Define default planner (for all groups) -->
+  <param name="default_planner_config" value="PTP" />
+
+  <!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
+  <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
+                                    pilz_industrial_motion_planner/MoveGroupSequenceService" />
+</launch>
--- a/src/ceti/launch/planning_context.launch
+++ b/src/ceti/launch/planning_context.launch
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find ceti)/config/panda.srdf" />
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find ceti)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find ceti)/config/cartesian_limits.yaml"/>
+  </group>
+
+  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+  <group ns="$(arg robot_description)_kinematics">
+    <rosparam command="load" file="$(find ceti)/config/kinematics.yaml"/>
+
+  </group>
+
+</launch>
--- a/src/ceti/launch/planning_pipeline.launch.xml
+++ b/src/ceti/launch/planning_pipeline.launch.xml
+<launch>
+
+  <!-- This file makes it easy to include different planning pipelines;
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
+
+  <arg name="pipeline" default="ompl" />
+
+  <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
+
+</launch>
--- a/src/ceti/launch/ros_control_moveit_controller_manager.launch.xml
+++ b/src/ceti/launch/ros_control_moveit_controller_manager.launch.xml
+<launch>
+	<!-- Define MoveIt controller manager plugin -->
+	<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
+</launch>
--- a/src/ceti/launch/ros_controllers.launch
+++ b/src/ceti/launch/ros_controllers.launch
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find ceti)/config/ros_controllers.yaml" command="load"/>
+
+  <!-- Load the controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args="arm_controller hand_controller "/>
+
+</launch>