Merge with panda_moveit_config from franka_ros

config/fake_controllers.yaml

@@ -11,4 +11,7 @@ controller_list:
   - name: fake_hand_controller
     joints:
       - panda_finger_joint1
-      - panda_finger_joint2
\ No newline at end of file
+      - panda_finger_joint2
+initial:
+  - group: panda_arm_hand
+    pose: ready

config/hand.xacro

+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+  <xacro:macro name="hand">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="hand">
+      <link name="panda_hand" />
+      <link name="panda_leftfinger" />
+      <link name="panda_rightfinger" />
+      <joint name="panda_finger_joint1" />
+      <passive_joint name="panda_finger_joint2" />
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent" />
+    <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent" />
+    <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default" />
+  </xacro:macro>
+</robot>

config/joint_limits.yaml

 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # 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]
+
+# As MoveIt! does not support jerk limits, the acceleration limits provided here are the highest values that guarantee
+# that no jerk limits will be violated. More precisely, applying Euler differentiation in the worst case (from min accel
+# to max accel in 1 ms) the acceleration limits are the ones that satisfy
+# max_jerk = (max_acceleration - min_acceleration) / 0.001
+
 joint_limits:
-  panda_finger_joint1:
-    has_velocity_limits: true
-    max_velocity: 0.3
-    has_acceleration_limits: false
-    max_acceleration: 0
-  panda_finger_joint2:
-    has_velocity_limits: true
-    max_velocity: 0.3
-    has_acceleration_limits: false
-    max_acceleration: 0
   panda_joint1:
     has_velocity_limits: true
-    max_velocity: 2.5
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 2.1750
+    has_acceleration_limits: true
+    max_acceleration: 3.75
   panda_joint2:
     has_velocity_limits: true
-    max_velocity: 2.5
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 2.1750
+    has_acceleration_limits: true
+    max_acceleration: 1.875
   panda_joint3:
     has_velocity_limits: true
-    max_velocity: 2.5
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 2.1750
+    has_acceleration_limits: true
+    max_acceleration: 2.5
   panda_joint4:
     has_velocity_limits: true
-    max_velocity: 2.5
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 2.1750
+    has_acceleration_limits: true
+    max_acceleration: 3.125
   panda_joint5:
     has_velocity_limits: true
-    max_velocity: 3
-    has_acceleration_limits: false
-    max_acceleration: 0
+    max_velocity: 2.6100
+    has_acceleration_limits: true
+    max_acceleration: 3.75
   panda_joint6:
     has_velocity_limits: true
-    max_velocity: 3
+    max_velocity: 2.6100
+    has_acceleration_limits: true
+    max_acceleration: 5
+  panda_joint7:
+    has_velocity_limits: true
+    max_velocity: 2.6100
+    has_acceleration_limits: true
+    max_acceleration: 5
+  panda_finger_joint1:
+    has_velocity_limits: true
+    max_velocity: 0.1
     has_acceleration_limits: false
     max_acceleration: 0
-  panda_joint7:
+  panda_finger_joint2:
     has_velocity_limits: true
-    max_velocity: 3
+    max_velocity: 0.1
     has_acceleration_limits: false
-    max_acceleration: 0
\ No newline at end of file
+    max_acceleration: 0

config/ompl_planning.yaml

@@ -149,6 +149,32 @@ panda_arm:
     - SPARSkConfigDefault
     - SPARStwokConfigDefault
     - TrajOptDefault
+panda_arm_hand:
+  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
 hand:
   planner_configs:
     - SBLkConfigDefault

config/panda_arm.srdf.xacro

+<?xml version='1.0' encoding='utf-8'?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+  <xacro:include filename="$(find panda_moveit_config)/config/panda_arm.xacro" />
+  <xacro:panda_arm />
+</robot>

config/panda.srdf → config/panda_arm.xacro

 <?xml version="1.0" ?>
-<!--This does not replace URDF, and is not an extension of URDF.
-    This is a format for representing semantic information about the robot structure.
-    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
--->
-<robot name="panda">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+  <xacro:macro name="panda_arm">
     <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
     <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
     <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="panda_arm">
-        <joint name="virtual_joint" />
-        <joint name="panda_joint1" />
-        <joint name="panda_joint2" />
-        <joint name="panda_joint3" />
-        <joint name="panda_joint4" />
-        <joint name="panda_joint5" />
-        <joint name="panda_joint6" />
-        <joint name="panda_joint7" />
-        <joint name="panda_joint8" />
-    </group>
-    <group name="hand">
-        <link name="panda_hand" />
-        <link name="panda_leftfinger" />
-        <link name="panda_rightfinger" />
+      <link name="panda_link0" />
+      <link name="panda_link1" />
+      <link name="panda_link2" />
+      <link name="panda_link3" />
+      <link name="panda_link4" />
+      <link name="panda_link5" />
+      <link name="panda_link6" />
+      <link name="panda_link7" />
+      <link name="panda_link8" />
+      <joint name="virtual_joint" />
+      <joint name="panda_joint1" />
+      <joint name="panda_joint2" />
+      <joint name="panda_joint3" />
+      <joint name="panda_joint4" />
+      <joint name="panda_joint5" />
+      <joint name="panda_joint6" />
+      <joint name="panda_joint7" />
+      <joint name="panda_joint8" />
+      <chain base_link="panda_link0" tip_link="panda_link8" />
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
-    <group_state name="home" group="panda_arm">
-        <joint name="panda_joint1" value="0" />
-        <joint name="panda_joint2" value="0" />
-        <joint name="panda_joint3" value="0" />
-        <joint name="panda_joint4" value="0" />
-        <joint name="panda_joint5" value="0" />
-        <joint name="panda_joint6" value="3.1416" />
-        <joint name="panda_joint7" value="1.5708" />
+    <group_state name="ready" group="panda_arm">
+      <joint name="panda_joint1" value="0" />
+      <joint name="panda_joint2" value="-0.785" />
+      <joint name="panda_joint3" value="0" />
+      <joint name="panda_joint4" value="-2.356" />
+      <joint name="panda_joint5" value="0" />
+      <joint name="panda_joint6" value="1.571" />
+      <joint name="panda_joint7" value="0.785" />
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="eef" parent_link="panda_link8" group="hand" />
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent" />
-    <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" />
-    <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" />
-    <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default" />
-    <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" />
-    <disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent" />
-    <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent" />
-    <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never" />
-    <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never" />
-    <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never" />
-    <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never" />
-    <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default" />
     <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent" />
     <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never" />
     <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never" />
@@ -66,14 +55,11 @@
     <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never" />
     <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never" />
     <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never" />
-    <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never" />
     <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent" />
     <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never" />
     <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never" />
-    <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never" />
     <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent" />
     <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default" />
     <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent" />
-    <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never" />
-    <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never" />
+  </xacro:macro>
 </robot>

config/panda_arm_hand.srdf.xacro

+<?xml version='1.0' encoding='utf-8'?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+  <xacro:include filename="$(find panda_moveit_config)/config/panda_arm.xacro" />
+  <xacro:include filename="$(find panda_moveit_config)/config/hand.xacro" />
+  <xacro:panda_arm />
+  <xacro:hand />
+  <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+  <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+  <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+  <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+  <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+  <group name="panda_arm_hand">
+    <group name="panda_arm" />
+    <group name="hand" />
+  </group>
+  <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+  <group_state name="ready" group="panda_arm_hand">
+    <joint name="panda_joint1" value="0" />
+    <joint name="panda_joint2" value="-0.785" />
+    <joint name="panda_joint3" value="0" />
+    <joint name="panda_joint4" value="-2.356" />
+    <joint name="panda_joint5" value="0" />
+    <joint name="panda_joint6" value="1.571" />
+    <joint name="panda_joint7" value="0.785" />
+  </group_state>
+  <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+  <end_effector name="hand" parent_link="panda_hand" group="hand" parent_group="panda_arm_hand" />
+  <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+  <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" />
+  <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" />
+  <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default" />
+  <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" />
+  <disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent" />
+  <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never" />
+  <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never" />
+  <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never" />
+  <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never" />
+  <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never" />
+  <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never" />
+  <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never" />
+  <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never" />
+</robot>

config/panda_controllers.yaml

+ controller_list:
+  - name: position_joint_trajectory_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

config/controllers.yaml → config/panda_gripper_controllers.yaml

  controller_list:
-  - name: panda_arm_controller
+  - name: position_joint_trajectory_controller
     action_ns: follow_joint_trajectory
     type: FollowJointTrajectory
     default: true
@@ -11,7 +11,7 @@
       - panda_joint5
       - panda_joint6
       - panda_joint7
-  - name: hand_controller
+  - name: franka_gripper
     action_ns: gripper_action
     type: GripperCommand
     default: true

launch/move_group.launch

 <launch>
 
-  <include file="$(find panda_moveit_config)/launch/planning_context.launch" />
+  <arg name="load_gripper" default="true" />
+
+  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
+    <arg name="load_gripper" value="$(arg load_gripper)" />
+  </include>
 
   <arg name="planner" default="ompl" />
 
@@ -30,7 +34,8 @@
   <!-- Trajectory Execution Functionality -->
   <include ns="move_group" file="$(find panda_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
     <arg name="moveit_manage_controllers" value="true" />
-    <arg name="moveit_controller_manager" value="panda" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="panda" if="$(eval not arg('fake_execution') and not arg('load_gripper'))"/>
+    <arg name="moveit_controller_manager" value="panda_gripper" if="$(eval not arg('fake_execution') and arg('load_gripper'))"/>
     <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
   </include>
 
@@ -69,6 +74,8 @@
     <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)" />
+
+    <remap from="/joint_states" to="/joint_states_desired" />
   </node>
 
 </launch>

launch/panda_control_moveit_rviz.launch

+<?xml version="1.0" ?>
+<launch>
+  <arg name="robot_ip" />
+  <arg name="load_gripper" default="true" />
+  <arg name="launch_rviz" default="true" />
+
+  <include file="$(find franka_control)/launch/franka_control.launch" >
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+    <arg name="load_gripper" value="$(arg load_gripper)" />
+  </include>
+
+  <include file="$(find panda_moveit_config)/launch/panda_moveit.launch">
+    <arg name="load_gripper" value="$(arg load_gripper)" />
+  </include>
+
+  <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" if="$(arg launch_rviz)" />
+</launch>

launch/panda_gripper_moveit_controller_manager.launch.xml

+ <launch>
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
+  <!-- load controller_list -->
+  <rosparam file="$(find panda_moveit_config)/config/panda_gripper_controllers.yaml"/>
+ </launch>

launch/panda_moveit.launch

+<?xml version="1.0" ?>
+<launch>
+  <arg name="load_gripper" default="true" />
+
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="position_joint_trajectory_controller"/>
+
+  <include file="$(find panda_moveit_config)/launch/move_group.launch">
+    <arg name="load_gripper" value="$(arg load_gripper)" />
+  </include>
+</launch>

launch/panda_moveit_controller_manager.launch.xml

@@ -3,5 +3,5 @@
   <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
   <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
   <!-- load controller_list -->
-  <rosparam file="$(find panda_moveit_config)/config/controllers.yaml"/>
+  <rosparam file="$(find panda_moveit_config)/config/panda_controllers.yaml"/>
  </launch>

launch/planning_context.launch

 <launch>
+  <arg name="load_gripper" default="true" />
+
   <!-- 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"/>
 
@@ -6,10 +8,12 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
+  <param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
+  <param if="$(eval arg('load_robot_description') and not arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" textfile="$(find panda_moveit_config)/config/panda.srdf" />
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'" if="$(arg load_gripper)" />
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find panda_moveit_config)/config/panda_arm.srdf.xacro'" unless="$(arg load_gripper)" />
   
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">

package.xml

 <package>
 
   <name>panda_moveit_config</name>
-  <version>0.3.0</version>
+  <version>0.7.0</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the panda with the MoveIt! Motion Planning Framework
   </description>