diff --git a/README.md b/README.md
index 69d3d5172a07bb442085ec2524ce25191ac27c9e..2418d2925737ff0d66964c09d9a4438af28c0c48 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,7 @@
See the [FRANKA Control Interface documentation][fci-docs] for more information.
-## MoveIt! quickstart
+## MoveIt! quickstart for Panda research
1. Launch the joint trajectory controller
@@ -10,8 +10,8 @@ See the [FRANKA Control Interface documentation][fci-docs] for more information.
2. Launch MoveIt!
- roslaunch franka_moveit_config franka_moveit.launch
+ roslaunch panda_moveit_config panda_moveit.launch
3. Launch RViz
- roslaunch franka_moveit_config moveit_rviz.launch
+ roslaunch panda_moveit_config moveit_rviz.launch
diff --git a/franka_control/config/default_controllers.yaml b/franka_control/config/default_controllers.yaml
index 6a24083e1a3ef16f035899b902a1dca744a0534a..e3a3f947df83346b42516b20258874c1a1a6e33e 100644
--- a/franka_control/config/default_controllers.yaml
+++ b/franka_control/config/default_controllers.yaml
@@ -1,64 +1,64 @@
position_joint_trajectory_controller:
type: position_controllers/JointTrajectoryController
joints:
- - franka_emika_joint1
- - franka_emika_joint2
- - franka_emika_joint3
- - franka_emika_joint4
- - franka_emika_joint5
- - franka_emika_joint6
- - franka_emika_joint7
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
constraints:
goal_time: 0.5
- franka_emika_joint1:
+ panda_joint1:
goal: 0.05
- franka_emika_joint2:
+ panda_joint2:
goal: 0.05
- franka_emika_joint3:
+ panda_joint3:
goal: 0.05
- franka_emika_joint4:
+ panda_joint4:
goal: 0.05
- franka_emika_joint5:
+ panda_joint5:
goal: 0.05
- franka_emika_joint6:
+ panda_joint6:
goal: 0.05
- franka_emika_joint7:
+ panda_joint7:
goal: 0.05
effort_joint_trajectory_controller:
type: effort_controllers/JointTrajectoryController
joints:
- - franka_emika_joint1
- - franka_emika_joint2
- - franka_emika_joint3
- - franka_emika_joint4
- - franka_emika_joint5
- - franka_emika_joint6
- - franka_emika_joint7
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
constraints:
goal_time: 0.5
- franka_emika_joint1:
+ panda_joint1:
goal: 0.05
- franka_emika_joint2:
+ panda_joint2:
goal: 0.05
- franka_emika_joint3:
+ panda_joint3:
goal: 0.05
- franka_emika_joint4:
+ panda_joint4:
goal: 0.05
- franka_emika_joint5:
+ panda_joint5:
goal: 0.05
- franka_emika_joint6:
+ panda_joint6:
goal: 0.05
- franka_emika_joint7:
+ panda_joint7:
goal: 0.05
gains:
- franka_emika_joint1: {p: 100, d: 10, i: 0, i_clamp: 1}
- franka_emika_joint2: {p: 100, d: 10, i: 0, i_clamp: 1}
- franka_emika_joint3: {p: 100, d: 10, i: 0, i_clamp: 1}
- franka_emika_joint4: {p: 100, d: 10, i: 0, i_clamp: 1}
- franka_emika_joint5: {p: 100, d: 10, i: 0, i_clamp: 1}
- franka_emika_joint6: {p: 100, d: 10, i: 0, i_clamp: 1}
- franka_emika_joint7: {p: 100, d: 10, i: 0, i_clamp: 1}
+ panda_joint1: {p: 100, d: 10, i: 0, i_clamp: 1}
+ panda_joint2: {p: 100, d: 10, i: 0, i_clamp: 1}
+ panda_joint3: {p: 100, d: 10, i: 0, i_clamp: 1}
+ panda_joint4: {p: 100, d: 10, i: 0, i_clamp: 1}
+ panda_joint5: {p: 100, d: 10, i: 0, i_clamp: 1}
+ panda_joint6: {p: 100, d: 10, i: 0, i_clamp: 1}
+ panda_joint7: {p: 100, d: 10, i: 0, i_clamp: 1}
franka_state_controller:
type: franka_control/FrankaStateController
diff --git a/franka_control/config/franka_control.yaml b/franka_control/config/franka_control.yaml
index b8f7795bb7d087f97916988a161ab22d7cf687a8..52e2e2871912654af44dcecdd1f26c75401cd791 100644
--- a/franka_control/config/franka_control.yaml
+++ b/franka_control/config/franka_control.yaml
@@ -1,11 +1,11 @@
joint_names:
- - franka_emika_joint1
- - franka_emika_joint2
- - franka_emika_joint3
- - franka_emika_joint4
- - franka_emika_joint5
- - franka_emika_joint6
- - franka_emika_joint7
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
-arm_id: franka_emika
+arm_id: panda
robot_ip: 127.0.0.1
diff --git a/franka_control/launch/franka_control.launch b/franka_control/launch/franka_control.launch
index 23134312c171da838f5b10be8a9a2e0c9a0eb834..11098d3585fd98917b91e73a1340269aa75adb58 100644
--- a/franka_control/launch/franka_control.launch
+++ b/franka_control/launch/franka_control.launch
@@ -1,15 +1,15 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" default="robot.franka.de" />
- <arg name="arm_id" default="franka_emika" />
+ <arg name="arm_id" default="panda" />
<arg name="load_gripper" default="true" />
<node name="$(arg arm_id)" pkg="franka_control" type="franka_control_node" output="screen" required="true">
<rosparam command="load" file="$(find franka_control)/config/franka_control.yaml" />
<param name="robot_ip" value="$(arg robot_ip)" />
<param name="arm_id" value="$(arg arm_id)" />
- <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/FEA_01_01_Gripper.urdf.xacro'" if="$(arg load_gripper)" />
- <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/FEA_01_01.urdf.xacro'" unless="$(arg load_gripper)" />
+ <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" />
+ <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" />
</node>
<group ns="$(arg arm_id)">
@@ -17,7 +17,7 @@
<node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller --shutdown-timeout 2"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
- <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/FEA_01_01_Gripper.urdf.xacro'" />
+ <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
<rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states, franka_gripper_node/joint_states] </rosparam>
<rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
<param name="rate" value="30"/>
diff --git a/franka_example_controllers/config/franka_example_controllers.yaml b/franka_example_controllers/config/franka_example_controllers.yaml
index 292cf836ec0649ee07e3dd732cda910eb3c07ed5..699fea415dc3e22d21c6cb908866a1cf75b2b603 100644
--- a/franka_example_controllers/config/franka_example_controllers.yaml
+++ b/franka_example_controllers/config/franka_example_controllers.yaml
@@ -12,19 +12,19 @@ cartesian_velocity_example_controller:
model_example_controller:
type: franka_example_controllers/ModelExampleController
- arm_id: franka_emika
+ arm_id: panda
joint_impedance_example_controller:
type: franka_example_controllers/JointImpedanceExampleController
- arm_id: franka_emika
+ arm_id: panda
joint_names:
- - franka_emika_joint1
- - franka_emika_joint2
- - franka_emika_joint3
- - franka_emika_joint4
- - franka_emika_joint5
- - franka_emika_joint6
- - franka_emika_joint7
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
k_gains:
- 1000.0
- 1000.0
diff --git a/franka_example_controllers/launch/cartesian_pose_example_controller.launch b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
index a6275085304d623ce19a93f51866721a724e900f..0b07cb362a4a4bef0d3f07d6fa4ffe8668a5a95d 100644
--- a/franka_example_controllers/launch/cartesian_pose_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" default="robot.franka.de" />
- <arg name="arm_id" value="franka_emika" />
+ <arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_hw)/launch/franka_hw.launch" >
<arg name="robot_ip" value="$(arg robot_ip)" />
diff --git a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
index 58a0ac24da4412f6405f40f5ad26c49989805fb6..ea9f7b0491ca9248fd20c5955cd0766c56333309 100644
--- a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" default="robot.franka.de" />
- <arg name="arm_id" value="franka_emika" />
+ <arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_hw)/launch/franka_hw.launch" >
<arg name="robot_ip" value="$(arg robot_ip)" />
diff --git a/franka_example_controllers/launch/joint_impedance_example_controller.launch b/franka_example_controllers/launch/joint_impedance_example_controller.launch
index 3334e76b59f7565310209eb61b8b080a35309c75..a676caf478e04a665fce29d62d7b3776969d8641 100644
--- a/franka_example_controllers/launch/joint_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/joint_impedance_example_controller.launch
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" default="robot.franka.de" />
- <arg name="arm_id" value="franka_emika" />
+ <arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_hw)/launch/franka_hw.launch" >
<arg name="robot_ip" value="$(arg robot_ip)" />
diff --git a/franka_example_controllers/launch/joint_position_example_controller.launch b/franka_example_controllers/launch/joint_position_example_controller.launch
index fdab1380631edd7bccf764f14b35e7606d8967fd..d1f9d60416152a3f4242ab1b53bd9371f736433f 100644
--- a/franka_example_controllers/launch/joint_position_example_controller.launch
+++ b/franka_example_controllers/launch/joint_position_example_controller.launch
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" default="robot.franka.de" />
- <arg name="arm_id" value="franka_emika" />
+ <arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_hw)/launch/franka_hw.launch" >
<arg name="robot_ip" value="$(arg robot_ip)" />
diff --git a/franka_example_controllers/launch/joint_velocity_example_controller.launch b/franka_example_controllers/launch/joint_velocity_example_controller.launch
index 4c4c244bbcedb99bfa2546ba8582de5fa5bf9d69..e8e2412c4baf8ea1d81f9c9cafd09a88ab5466c1 100644
--- a/franka_example_controllers/launch/joint_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/joint_velocity_example_controller.launch
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" default="robot.franka.de" />
- <arg name="arm_id" value="franka_emika" />
+ <arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_hw)/launch/franka_hw.launch" >
<arg name="robot_ip" value="$(arg robot_ip)" />
diff --git a/franka_example_controllers/launch/model_example_controller.launch b/franka_example_controllers/launch/model_example_controller.launch
index 8804c4698a3019867fa40688e64178cac22e2fe5..ab19ad062590eda0f2f1149c97b22eddc0fe7d40 100644
--- a/franka_example_controllers/launch/model_example_controller.launch
+++ b/franka_example_controllers/launch/model_example_controller.launch
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" default="robot.franka.de" />
- <arg name="arm_id" value="franka_emika" />
+ <arg name="arm_id" value="panda" />
<arg name="load_gripper" default="true" />
<include file="$(find franka_hw)/launch/franka_hw.launch" >
<arg name="robot_ip" value="$(arg robot_ip)" />
diff --git a/franka_gripper/config/gripper_node_config.yaml b/franka_gripper/config/gripper_node_config.yaml
index eb375d850b055cf7771b18cb011e84bf8a863af4..20223f24babe9597f28205d422ef127af094f764 100644
--- a/franka_gripper/config/gripper_node_config.yaml
+++ b/franka_gripper/config/gripper_node_config.yaml
@@ -1,6 +1,6 @@
publish_rate: 30 # [Hz]
joint_names:
- - franka_emika_finger_joint1
- - franka_emika_finger_joint2
+ - panda_finger_joint1
+ - panda_finger_joint2
width_tolerance: 0.01 # [m]
default_speed: 0.1 # [m/s]
\ No newline at end of file
diff --git a/franka_gripper/launch/franka_gripper.launch b/franka_gripper/launch/franka_gripper.launch
index 3580cb0f16c8c43e1f3aa66a862b9f0f219b7ad9..d990574d4c8511c770b9612fe60a074a25fbb1ad 100644
--- a/franka_gripper/launch/franka_gripper.launch
+++ b/franka_gripper/launch/franka_gripper.launch
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" default="robot.franka.de" />
- <arg name="arm_id" default="franka_emika" />
+ <arg name="arm_id" default="panda" />
<group ns="$(arg arm_id)">
<node name="franka_gripper_node" pkg="franka_gripper" type="franka_gripper_node" output="screen">
<param name="robot_ip" value="$(arg robot_ip)"/>
diff --git a/franka_hw/test/franka_hw_controller_switching_test.cpp b/franka_hw/test/franka_hw_controller_switching_test.cpp
index 4fe9571d3f575f25824f75383ddda053e237f30b..be2b72ad24e732f89dc9388e3dfbeca19adb91b8 100644
--- a/franka_hw/test/franka_hw_controller_switching_test.cpp
+++ b/franka_hw/test/franka_hw_controller_switching_test.cpp
@@ -21,7 +21,7 @@ using std::set;
using hardware_interface::InterfaceResources;
using hardware_interface::ControllerInfo;
-std::string arm_id("franka_emika");
+std::string arm_id("panda");
std::array<std::string, 7> joint_names = {arm_id + "_joint1",
arm_id + "_joint2",
arm_id + "_joint3",
@@ -93,7 +93,7 @@ public:
std::unique_ptr<FrankaHW> robot_;
};
-string arm_id2("franka_emika2");
+string arm_id2("panda2");
string jp_iface_str("hardware_interface::PositionJointInterface");
string jv_iface_str("hardware_interface::VelocityJointInterface");
string jt_iface_str("hardware_interface::EffortJointInterface");
diff --git a/franka_hw/test/launch/franka_hw_test.test b/franka_hw/test/launch/franka_hw_test.test
index 8c606a21e51a5166fe8b1de41faafbf7da660a76..53dfa12ed4015436ad3dfc2257c2197e90fa92bb 100644
--- a/franka_hw/test/launch/franka_hw_test.test
+++ b/franka_hw/test/launch/franka_hw_test.test
@@ -1,5 +1,5 @@
<launch>
<env name="ROSCONSOLE_CONFIG_FILE" value="$(find franka_hw)/test/config/ros_console_settings_for_tests.conf"/>
- <param name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_01_01.urdf.xacro" />
+ <param name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm.urdf.xacro" />
<test test-name="franka_hw_test" pkg="franka_hw" type="franka_hw_test" />
</launch>
diff --git a/franka_moveit_config/config/fake_controllers.yaml b/franka_moveit_config/config/fake_controllers.yaml
deleted file mode 100644
index 6e42dd23e5a02ed0ad8d5501978359bb95836c3f..0000000000000000000000000000000000000000
--- a/franka_moveit_config/config/fake_controllers.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-controller_list:
- - name: fake_franka_controller
- joints:
- - franka_emika_joint1
- - franka_emika_joint2
- - franka_emika_joint3
- - franka_emika_joint4
- - franka_emika_joint5
- - franka_emika_joint6
- - franka_emika_joint7
- - name: fake_franka_with_gripper_controller
- joints:
- - franka_emika_joint1
- - franka_emika_joint2
- - franka_emika_joint3
- - franka_emika_joint4
- - franka_emika_joint5
- - franka_emika_joint6
- - franka_emika_joint7
- - name: fake_franka_gripper_controller
- joints:
- - franka_emika_finger_joint1
- - franka_emika_finger_joint2
diff --git a/franka_moveit_config/config/franka_emika.srdf b/franka_moveit_config/config/franka_emika.srdf
deleted file mode 100644
index 5a93cec1f714b955d26f779998eb6b4a3d19a418..0000000000000000000000000000000000000000
--- a/franka_moveit_config/config/franka_emika.srdf
+++ /dev/null
@@ -1,137 +0,0 @@
-<?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="franka_emika">
- <!--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="franka">
- <link name="franka_emika_link0" />
- <link name="franka_emika_link1" />
- <link name="franka_emika_link2" />
- <link name="franka_emika_link3" />
- <link name="franka_emika_link4" />
- <link name="franka_emika_link5" />
- <link name="franka_emika_link6" />
- <link name="franka_emika_link7" />
- <link name="franka_emika_link8" />
- <joint name="franka_emika_joint1" />
- <joint name="franka_emika_joint2" />
- <joint name="franka_emika_joint3" />
- <joint name="franka_emika_joint4" />
- <joint name="franka_emika_joint5" />
- <joint name="franka_emika_joint6" />
- <joint name="franka_emika_joint7" />
- <joint name="franka_emika_joint8" />
- <chain base_link="franka_emika_link0" tip_link="franka_emika_link8" />
- </group>
- <group name="franka_with_gripper">
- <link name="franka_emika_link0" />
- <link name="franka_emika_link1" />
- <link name="franka_emika_link2" />
- <link name="franka_emika_link3" />
- <link name="franka_emika_link4" />
- <link name="franka_emika_link5" />
- <link name="franka_emika_link6" />
- <link name="franka_emika_link7" />
- <link name="franka_emika_link8" />
- <link name="franka_emika_hand" />
- <joint name="franka_emika_joint1" />
- <joint name="franka_emika_joint2" />
- <joint name="franka_emika_joint3" />
- <joint name="franka_emika_joint4" />
- <joint name="franka_emika_joint5" />
- <joint name="franka_emika_joint6" />
- <joint name="franka_emika_joint7" />
- <joint name="franka_emika_joint8" />
- <joint name="franka_emika_hand_joint" />
- <chain base_link="franka_emika_link0" tip_link="franka_emika_hand" />
- </group>
- <group name="franka_gripper">
- <link name="franka_emika_hand" />
- <link name="franka_emika_leftfinger" />
- <link name="franka_emika_rightfinger" />
- <joint name="franka_emika_finger_joint1" />
- <joint name="franka_emika_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'-->
- <group_state name="zero" group="franka">
- <joint name="franka_emika_joint1" value="0" />
- <joint name="franka_emika_joint2" value="0" />
- <joint name="franka_emika_joint3" value="0" />
- <joint name="franka_emika_joint4" value="0" />
- <joint name="franka_emika_joint5" value="0" />
- <joint name="franka_emika_joint6" value="0" />
- <joint name="franka_emika_joint7" value="0" />
- </group_state>
- <group_state name="ready" group="franka">
- <joint name="franka_emika_joint1" value="0" />
- <joint name="franka_emika_joint2" value="-0.2128" />
- <joint name="franka_emika_joint3" value="0" />
- <joint name="franka_emika_joint4" value="-1.928" />
- <joint name="franka_emika_joint5" value="0" />
- <joint name="franka_emika_joint6" value="1.7741" />
- <joint name="franka_emika_joint7" value="0" />
- </group_state>
- <group_state name="home_hand" group="franka_with_gripper">
- <joint name="franka_emika_joint1" value="0" />
- <joint name="franka_emika_joint2" value="0" />
- <joint name="franka_emika_joint3" value="0" />
- <joint name="franka_emika_joint4" value="0" />
- <joint name="franka_emika_joint5" value="0" />
- <joint name="franka_emika_joint6" value="0" />
- <joint name="franka_emika_joint7" value="0.7918" />
- </group_state>
- <group_state name="ready_hand" group="franka_with_gripper">
- <joint name="franka_emika_joint1" value="0" />
- <joint name="franka_emika_joint2" value="-0.3912" />
- <joint name="franka_emika_joint3" value="0" />
- <joint name="franka_emika_joint4" value="-1.9161" />
- <joint name="franka_emika_joint5" value="0" />
- <joint name="franka_emika_joint6" value="1.5029" />
- <joint name="franka_emika_joint7" value="0.7918" />
- </group_state>
- <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
- <end_effector name="franka_gripper" parent_link="franka_emika_hand" group="franka_gripper" parent_group="franka_with_gripper" />
- <!--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="franka_emika_hand" link2="franka_emika_leftfinger" reason="Adjacent" />
- <disable_collisions link1="franka_emika_hand" link2="franka_emika_link3" reason="Never" />
- <disable_collisions link1="franka_emika_hand" link2="franka_emika_link4" reason="Never" />
- <disable_collisions link1="franka_emika_hand" link2="franka_emika_link5" reason="Default" />
- <disable_collisions link1="franka_emika_hand" link2="franka_emika_link6" reason="Never" />
- <disable_collisions link1="franka_emika_hand" link2="franka_emika_link7" reason="Adjacent" />
- <disable_collisions link1="franka_emika_hand" link2="franka_emika_rightfinger" reason="Adjacent" />
- <disable_collisions link1="franka_emika_leftfinger" link2="franka_emika_link3" reason="Never" />
- <disable_collisions link1="franka_emika_leftfinger" link2="franka_emika_link4" reason="Never" />
- <disable_collisions link1="franka_emika_leftfinger" link2="franka_emika_link6" reason="Never" />
- <disable_collisions link1="franka_emika_leftfinger" link2="franka_emika_link7" reason="Never" />
- <disable_collisions link1="franka_emika_leftfinger" link2="franka_emika_rightfinger" reason="Default" />
- <disable_collisions link1="franka_emika_link0" link2="franka_emika_link1" reason="Adjacent" />
- <disable_collisions link1="franka_emika_link0" link2="franka_emika_link2" reason="Never" />
- <disable_collisions link1="franka_emika_link0" link2="franka_emika_link3" reason="Never" />
- <disable_collisions link1="franka_emika_link0" link2="franka_emika_link4" reason="Never" />
- <disable_collisions link1="franka_emika_link1" link2="franka_emika_link2" reason="Adjacent" />
- <disable_collisions link1="franka_emika_link1" link2="franka_emika_link3" reason="Never" />
- <disable_collisions link1="franka_emika_link1" link2="franka_emika_link4" reason="Never" />
- <disable_collisions link1="franka_emika_link2" link2="franka_emika_link3" reason="Adjacent" />
- <disable_collisions link1="franka_emika_link2" link2="franka_emika_link4" reason="Never" />
- <disable_collisions link1="franka_emika_link2" link2="franka_emika_link6" reason="Never" />
- <disable_collisions link1="franka_emika_link3" link2="franka_emika_link4" reason="Adjacent" />
- <disable_collisions link1="franka_emika_link3" link2="franka_emika_link5" reason="Never" />
- <disable_collisions link1="franka_emika_link3" link2="franka_emika_link6" reason="Never" />
- <disable_collisions link1="franka_emika_link3" link2="franka_emika_link7" reason="Never" />
- <disable_collisions link1="franka_emika_link3" link2="franka_emika_rightfinger" reason="Never" />
- <disable_collisions link1="franka_emika_link4" link2="franka_emika_link5" reason="Adjacent" />
- <disable_collisions link1="franka_emika_link4" link2="franka_emika_link6" reason="Never" />
- <disable_collisions link1="franka_emika_link4" link2="franka_emika_link7" reason="Never" />
- <disable_collisions link1="franka_emika_link4" link2="franka_emika_rightfinger" reason="Never" />
- <disable_collisions link1="franka_emika_link5" link2="franka_emika_link6" reason="Adjacent" />
- <disable_collisions link1="franka_emika_link5" link2="franka_emika_link7" reason="Default" />
- <disable_collisions link1="franka_emika_link6" link2="franka_emika_link7" reason="Adjacent" />
- <disable_collisions link1="franka_emika_link6" link2="franka_emika_rightfinger" reason="Never" />
- <disable_collisions link1="franka_emika_link7" link2="franka_emika_rightfinger" reason="Never" />
-</robot>
diff --git a/franka_visualization/launch/franka_visualization.launch b/franka_visualization/launch/franka_visualization.launch
index ca829a2fccdade0476df8673a46dc1e502707089..99fe15ae2236afc9a14e877a867c194618996c8a 100644
--- a/franka_visualization/launch/franka_visualization.launch
+++ b/franka_visualization/launch/franka_visualization.launch
@@ -4,15 +4,15 @@
<arg name="load_gripper" default="true" />
<arg name="robot_ip" default="robot.franka.de" />
- <param unless="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/FEA_01_01.urdf.xacro" />
- <param if="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/FEA_01_01_Gripper.urdf.xacro" />
+ <param unless="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm.urdf.xacro" />
+ <param if="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
<node name="franka_joint_state_publisher" pkg="franka_visualization" type="franka_joint_state_publisher" output="screen">
<rosparam command="load" file="$(find franka_visualization)/param/robot_read_settings.yaml" />
<param name="robot_ip" value="$(arg robot_ip)" />
</node>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
- <param if="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/FEA_01_01_Gripper.urdf.xacro'" />
- <param unless="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/FEA_01_01.urdf.xacro'" />
+ <param if="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
+ <param unless="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" />
<rosparam param="source_list">[franka_joint_state_publisher/joint_states] </rosparam>
<param if="$(arg load_gripper)" name="publish_default_positions" value="true" />
</node>
diff --git a/franka_visualization/param/robot_read_settings.yaml b/franka_visualization/param/robot_read_settings.yaml
index a2b6f4fd5d6158418caa0a1b322034739d282061..2c1154d6598b98487a3622331279a220372b8933 100644
--- a/franka_visualization/param/robot_read_settings.yaml
+++ b/franka_visualization/param/robot_read_settings.yaml
@@ -1,9 +1,9 @@
joint_names:
- - franka_emika_joint1
- - franka_emika_joint2
- - franka_emika_joint3
- - franka_emika_joint4
- - franka_emika_joint5
- - franka_emika_joint6
- - franka_emika_joint7
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
diff --git a/franka_moveit_config/.setup_assistant b/panda_moveit_config/.setup_assistant
similarity index 53%
rename from franka_moveit_config/.setup_assistant
rename to panda_moveit_config/.setup_assistant
index 4fe299f4e227101a23504ad1081c1d41bea05dca..2388fcc6116498156258c80c999a4334e7ccd1d2 100644
--- a/franka_moveit_config/.setup_assistant
+++ b/panda_moveit_config/.setup_assistant
@@ -1,10 +1,10 @@
moveit_setup_assistant_config:
URDF:
package: franka_description
- relative_path: robots/FEA_01_01_Gripper.urdf.xacro
+ relative_path: robots/panda_arm_hand.urdf.xacro
SRDF:
- relative_path: config/franka_emika.srdf
+ relative_path: config/panda_arm_hand.srdf
CONFIG:
author_name: Franka Emika GmbH
author_email: info@franka.de
- generated_timestamp: 1501848099
\ No newline at end of file
+ generated_timestamp: 1501848099
diff --git a/franka_moveit_config/CMakeLists.txt b/panda_moveit_config/CMakeLists.txt
similarity index 90%
rename from franka_moveit_config/CMakeLists.txt
rename to panda_moveit_config/CMakeLists.txt
index 78fde91f51468c74941ca68b0fefa5b31eedb546..b4e880c67048e6eadc6a48a994880593a9903906 100644
--- a/franka_moveit_config/CMakeLists.txt
+++ b/panda_moveit_config/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 2.8.3)
-project(franka_moveit_config)
+project(panda_moveit_config)
find_package(catkin REQUIRED)
diff --git a/panda_moveit_config/config/fake_controllers.yaml b/panda_moveit_config/config/fake_controllers.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34a8e375c1612baea1eb4189e63048e7f8442910
--- /dev/null
+++ b/panda_moveit_config/config/fake_controllers.yaml
@@ -0,0 +1,23 @@
+controller_list:
+ - name: fake_panda_controller
+ joints:
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
+ - name: fake_panda_arm_hand_controller
+ joints:
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
+ - name: fake_hand_controller
+ joints:
+ - panda_finger_joint1
+ - panda_finger_joint2
diff --git a/franka_moveit_config/config/joint_limits.yaml b/panda_moveit_config/config/joint_limits.yaml
similarity index 85%
rename from franka_moveit_config/config/joint_limits.yaml
rename to panda_moveit_config/config/joint_limits.yaml
index b263b5ccb79dd29e44f624b86f17d8168a294578..43237845670eb47148ea238bd589988294a4d782 100644
--- a/franka_moveit_config/config/joint_limits.yaml
+++ b/panda_moveit_config/config/joint_limits.yaml
@@ -2,47 +2,47 @@
# 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:
- franka_emika_finger_joint1:
+ panda_finger_joint1:
has_velocity_limits: true
max_velocity: 0.3
has_acceleration_limits: true
max_acceleration: 0.5
- franka_emika_finger_joint2:
+ panda_finger_joint2:
has_velocity_limits: true
max_velocity: 0.3
has_acceleration_limits: true
max_acceleration: 0.5
- franka_emika_joint1:
+ panda_joint1:
has_velocity_limits: true
max_velocity: 0.5
has_acceleration_limits: true
max_acceleration: 0.5
- franka_emika_joint2:
+ panda_joint2:
has_velocity_limits: true
max_velocity: 0.5
has_acceleration_limits: true
max_acceleration: 0.5
- franka_emika_joint3:
+ panda_joint3:
has_velocity_limits: true
max_velocity: 0.5
has_acceleration_limits: true
max_acceleration: 0.5
- franka_emika_joint4:
+ panda_joint4:
has_velocity_limits: true
max_velocity: 0.5
has_acceleration_limits: true
max_acceleration: 0.5
- franka_emika_joint5:
+ panda_joint5:
has_velocity_limits: true
max_velocity: 0.5
has_acceleration_limits: true
max_acceleration: 0.5
- franka_emika_joint6:
+ panda_joint6:
has_velocity_limits: true
max_velocity: 0.5
has_acceleration_limits: true
max_acceleration: 0.5
- franka_emika_joint7:
+ panda_joint7:
has_velocity_limits: true
max_velocity: 0.5
has_acceleration_limits: true
diff --git a/franka_moveit_config/config/kinematics.yaml b/panda_moveit_config/config/kinematics.yaml
similarity index 92%
rename from franka_moveit_config/config/kinematics.yaml
rename to panda_moveit_config/config/kinematics.yaml
index 1ddcc0cc5b9681893b2ca9cc6ee87d932e293bb2..c64ffe30854d552745a9b49237cd6d7d50fa567e 100644
--- a/franka_moveit_config/config/kinematics.yaml
+++ b/panda_moveit_config/config/kinematics.yaml
@@ -1,9 +1,9 @@
-franka:
+panda:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
-franka_with_gripper:
+panda_arm_hand:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
diff --git a/franka_moveit_config/config/ompl_planning.yaml b/panda_moveit_config/config/ompl_planning.yaml
similarity index 99%
rename from franka_moveit_config/config/ompl_planning.yaml
rename to panda_moveit_config/config/ompl_planning.yaml
index 53acaa08e04b55964c98796d585bce2a8d4c0681..9251f54c717d95c756e281cf95f9363f7ba6f5cc 100644
--- a/franka_moveit_config/config/ompl_planning.yaml
+++ b/panda_moveit_config/config/ompl_planning.yaml
@@ -120,7 +120,7 @@ planner_configs:
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
-franka:
+panda:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
@@ -145,7 +145,7 @@ franka:
- LazyPRMstarkConfigDefault
- SPARSkConfigDefault
- SPARStwokConfigDefault
-franka_with_gripper:
+panda_arm_hand:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
@@ -170,7 +170,7 @@ franka_with_gripper:
- LazyPRMstarkConfigDefault
- SPARSkConfigDefault
- SPARStwokConfigDefault
-franka_gripper:
+hand:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
diff --git a/panda_moveit_config/config/panda_arm_hand.srdf b/panda_moveit_config/config/panda_arm_hand.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..d7697ec845fa2584f724ecba21de7fafaa6889e8
--- /dev/null
+++ b/panda_moveit_config/config/panda_arm_hand.srdf
@@ -0,0 +1,137 @@
+<?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">
+ <!--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">
+ <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="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 name="panda_arm_hand">
+ <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" />
+ <link name="panda_hand" />
+ <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" />
+ <joint name="panda_hand_joint" />
+ <chain base_link="panda_link0" tip_link="panda_hand" />
+ </group>
+ <group name="hand">
+ <link name="panda_hand" />
+ <link name="panda_leftfinger" />
+ <link name="panda_rightfinger" />
+ <joint name="panda_finger_joint1" />
+ <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'-->
+ <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="0" />
+ <joint name="panda_joint7" value="0" />
+ </group_state>
+ <group_state name="ready" group="panda_arm">
+ <joint name="panda_joint1" value="0" />
+ <joint name="panda_joint2" value="-0.2128" />
+ <joint name="panda_joint3" value="0" />
+ <joint name="panda_joint4" value="-1.928" />
+ <joint name="panda_joint5" value="0" />
+ <joint name="panda_joint6" value="1.7741" />
+ <joint name="panda_joint7" value="0" />
+ </group_state>
+ <group_state name="home" group="panda_arm_hand">
+ <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="0" />
+ <joint name="panda_joint7" value="0.7918" />
+ </group_state>
+ <group_state name="ready" group="panda_arm_hand">
+ <joint name="panda_joint1" value="0" />
+ <joint name="panda_joint2" value="-0.3912" />
+ <joint name="panda_joint3" value="0" />
+ <joint name="panda_joint4" value="-1.9161" />
+ <joint name="panda_joint5" value="0" />
+ <joint name="panda_joint6" value="1.5029" />
+ <joint name="panda_joint7" value="0.7918" />
+ </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_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" />
+ <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never" />
+ <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent" />
+ <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never" />
+ <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never" />
+ <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent" />
+ <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never" />
+ <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never" />
+ <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent" />
+ <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" />
+</robot>
diff --git a/franka_moveit_config/launch/default_warehouse_db.launch b/panda_moveit_config/launch/default_warehouse_db.launch
similarity index 73%
rename from franka_moveit_config/launch/default_warehouse_db.launch
rename to panda_moveit_config/launch/default_warehouse_db.launch
index db6572f05e34bfd2dc306f509632176a2ecabde4..69019606f9df7c2bbe5317b847db325e226c59d8 100644
--- a/franka_moveit_config/launch/default_warehouse_db.launch
+++ b/panda_moveit_config/launch/default_warehouse_db.launch
@@ -2,10 +2,10 @@
<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
- <arg name="moveit_warehouse_database_path" default="$(find franka_moveit_config)/default_warehouse_mongo_db" />
+ <arg name="moveit_warehouse_database_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
- <include file="$(find franka_moveit_config)/launch/warehouse.launch">
+ <include file="$(find panda_moveit_config)/launch/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include>
diff --git a/franka_moveit_config/launch/demo.launch b/panda_moveit_config/launch/demo.launch
similarity index 83%
rename from franka_moveit_config/launch/demo.launch
rename to panda_moveit_config/launch/demo.launch
index 6b7de59f11466365276c3e808ae089fc034000fd..1faff8e823a4f40e5c984b5e3c8eab991434401a 100644
--- a/franka_moveit_config/launch/demo.launch
+++ b/panda_moveit_config/launch/demo.launch
@@ -3,7 +3,7 @@
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
- <arg name="db_path" default="$(find franka_moveit_config)/default_warehouse_mongo_db" />
+ <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
@@ -19,7 +19,7 @@
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
- <include file="$(find franka_moveit_config)/launch/planning_context.launch">
+ <include file="$(find panda_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
@@ -36,7 +36,7 @@
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
- <include file="$(find franka_moveit_config)/launch/move_group.launch">
+ <include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
@@ -44,13 +44,13 @@
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
- <include file="$(find franka_moveit_config)/launch/moveit_rviz.launch">
+ <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
- <include file="$(find franka_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+ <include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
diff --git a/franka_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/panda_moveit_config/launch/fake_moveit_controller_manager.launch.xml
similarity index 78%
rename from franka_moveit_config/launch/fake_moveit_controller_manager.launch.xml
rename to panda_moveit_config/launch/fake_moveit_controller_manager.launch.xml
index 9f3148a7fcd5fde3f083331404aaccb80c11043d..c95563d3a5a5a63bc8ce5bfb553a5fb8b2ba4fa2 100644
--- a/franka_moveit_config/launch/fake_moveit_controller_manager.launch.xml
+++ b/panda_moveit_config/launch/fake_moveit_controller_manager.launch.xml
@@ -4,6 +4,6 @@
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin -->
- <rosparam file="$(find franka_moveit_config)/config/fake_controllers.yaml"/>
+ <rosparam file="$(find panda_moveit_config)/config/fake_controllers.yaml"/>
</launch>
diff --git a/franka_moveit_config/launch/joystick_control.launch b/panda_moveit_config/launch/joystick_control.launch
similarity index 100%
rename from franka_moveit_config/launch/joystick_control.launch
rename to panda_moveit_config/launch/joystick_control.launch
diff --git a/franka_moveit_config/launch/move_group.launch b/panda_moveit_config/launch/move_group.launch
similarity index 79%
rename from franka_moveit_config/launch/move_group.launch
rename to panda_moveit_config/launch/move_group.launch
index c7e0a7bb8203ed404cb0c3e7bc35f7936a01a9b7..5b8c8665ad9d5fcd871f8dc43a42c27875a232a4 100644
--- a/franka_moveit_config/launch/move_group.launch
+++ b/panda_moveit_config/launch/move_group.launch
@@ -1,11 +1,11 @@
<launch>
- <include file="$(find franka_moveit_config)/launch/planning_context.launch" />
+ <include file="$(find panda_moveit_config)/launch/planning_context.launch" />
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
- <arg if="$(arg debug)" name="launch_prefix" value="gdb -x $(find franka_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
+ <arg if="$(arg debug)" name="launch_prefix" value="gdb -x $(find panda_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
@@ -20,20 +20,20 @@
<arg name="publish_monitored_planning_scene" default="true"/>
<!-- Planning Functionality -->
- <include ns="move_group" file="$(find franka_moveit_config)/launch/planning_pipeline.launch.xml">
+ <include ns="move_group" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" />
</include>
<!-- Trajectory Execution Functionality -->
- <include ns="move_group" file="$(find franka_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+ <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="franka_emika" unless="$(arg fake_execution)"/>
+ <arg name="moveit_controller_manager" value="panda" unless="$(arg fake_execution)"/>
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
</include>
<!-- Sensors Functionality -->
- <include ns="move_group" file="$(find franka_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
- <arg name="moveit_sensor_manager" value="franka_emika" />
+ <include ns="move_group" file="$(find panda_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+ <arg name="moveit_sensor_manager" value="panda" />
</include>
<!-- Start the actual move_group node/action server -->
diff --git a/franka_moveit_config/launch/move_to_start.launch b/panda_moveit_config/launch/move_to_start.launch
similarity index 50%
rename from franka_moveit_config/launch/move_to_start.launch
rename to panda_moveit_config/launch/move_to_start.launch
index 54c7adab4a1d3aad5c107acf9989918bdaf97bda..a6a966e950beec65182db255fbd4fd406756ab9a 100644
--- a/franka_moveit_config/launch/move_to_start.launch
+++ b/panda_moveit_config/launch/move_to_start.launch
@@ -1,16 +1,16 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" default="robot.franka.de" />
- <arg name="arm_id" default="franka_emika" />
+ <arg name="arm_id" default="panda" />
- <include file="$(find franka_hw)/launch/franka_hw.launch">
+ <include file="$(find franka_control)/launch/franka_control.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="arm_id" value="$(arg arm_id)" />
</include>
- <include file="$(find franka_moveit_config)/launch/franka_moveit.launch">
+ <include file="$(find panda_moveit_config)/launch/panda_moveit.launch">
<arg name="arm_id" value="$(arg arm_id)" />
</include>
<group ns="$(arg arm_id)">
- <node name="move_to_start" pkg="franka_moveit_config" type="move_to_start.py" output="screen" required="true" />
+ <node name="move_to_start" pkg="panda_moveit_config" type="move_to_start.py" output="screen" required="true" />
</group>
</launch>
diff --git a/franka_moveit_config/launch/moveit.rviz b/panda_moveit_config/launch/moveit.rviz
similarity index 89%
rename from franka_moveit_config/launch/moveit.rviz
rename to panda_moveit_config/launch/moveit.rviz
index 5e2fc059e8dbec77a4655004d90b5a728109de3c..da6da92f89cc3cc270db2cd029609b62668dfa48 100644
--- a/franka_moveit_config/launch/moveit.rviz
+++ b/panda_moveit_config/launch/moveit.rviz
@@ -66,61 +66,61 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- franka_emika_hand:
+ panda_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_leftfinger:
+ panda_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link0:
+ panda_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link1:
+ panda_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link2:
+ panda_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link3:
+ panda_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link4:
+ panda_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link5:
+ panda_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link6:
+ panda_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link7:
+ panda_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link8:
+ panda_link8:
Alpha: 1
Show Axes: false
Show Trail: false
- franka_emika_rightfinger:
+ panda_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
@@ -147,14 +147,14 @@ Visualization Manager:
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
- Planning Group: franka_with_gripper
+ Planning Group: panda_arm_hand
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: franka_emika/robot_description
+ Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
@@ -170,61 +170,61 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- franka_emika_hand:
+ panda_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_leftfinger:
+ panda_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link0:
+ panda_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link1:
+ panda_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link2:
+ panda_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link3:
+ panda_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link4:
+ panda_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link5:
+ panda_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link6:
+ panda_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link7:
+ panda_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- franka_emika_link8:
+ panda_link8:
Alpha: 1
Show Axes: false
Show Trail: false
- franka_emika_rightfinger:
+ panda_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
@@ -236,7 +236,7 @@ Visualization Manager:
Enabled: true
Global Options:
Background Color: 48; 48; 48
- Fixed Frame: franka_emika_link0
+ Fixed Frame: panda_link0
Frame Rate: 30
Name: root
Tools:
@@ -263,7 +263,7 @@ Visualization Manager:
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.104796879
- Target Frame: franka_emika_link0
+ Target Frame: panda_link0
Value: XYOrbit (rviz)
Yaw: 5.9349494
Saved: ~
diff --git a/franka_moveit_config/launch/moveit_rviz.launch b/panda_moveit_config/launch/moveit_rviz.launch
similarity index 75%
rename from franka_moveit_config/launch/moveit_rviz.launch
rename to panda_moveit_config/launch/moveit_rviz.launch
index d7291cda2533ddb95d123ce70c6155dfc5d67ac6..71f196efab7eb3e525978ab35d8d1f31a0d4e018 100644
--- a/franka_moveit_config/launch/moveit_rviz.launch
+++ b/panda_moveit_config/launch/moveit_rviz.launch
@@ -6,14 +6,14 @@
<arg name="config" default="true" />
<arg unless="$(arg config)" name="command_args" value="" />
- <arg if="$(arg config)" name="command_args" value="-d $(find franka_moveit_config)/launch/moveit.rviz" />
+ <arg if="$(arg config)" name="command_args" value="-d $(find panda_moveit_config)/launch/moveit.rviz" />
- <arg name="arm_id" default="franka_emika" />
+ <arg name="arm_id" default="panda" />
<group ns="$(arg arm_id)">
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
- <rosparam command="load" file="$(find franka_moveit_config)/config/kinematics.yaml"/>
+ <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
</group>
diff --git a/franka_moveit_config/launch/ompl_planning_pipeline.launch.xml b/panda_moveit_config/launch/ompl_planning_pipeline.launch.xml
similarity index 91%
rename from franka_moveit_config/launch/ompl_planning_pipeline.launch.xml
rename to panda_moveit_config/launch/ompl_planning_pipeline.launch.xml
index 211506b3b3e6834ad743f160a375b125540ae5ef..b2918d98e0aaa2ec821eff22e82111c5098503b2 100644
--- a/franka_moveit_config/launch/ompl_planning_pipeline.launch.xml
+++ b/panda_moveit_config/launch/ompl_planning_pipeline.launch.xml
@@ -17,6 +17,6 @@
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
- <rosparam command="load" file="$(find franka_moveit_config)/config/ompl_planning.yaml"/>
+ <rosparam command="load" file="$(find panda_moveit_config)/config/ompl_planning.yaml"/>
</launch>
diff --git a/franka_moveit_config/launch/franka_moveit.launch b/panda_moveit_config/launch/panda_moveit.launch
similarity index 74%
rename from franka_moveit_config/launch/franka_moveit.launch
rename to panda_moveit_config/launch/panda_moveit.launch
index 58cf112820c71df02959fa78b6d982364f4c0324..4af35f9af5a4cb1df73dac5949bd98d8bb97249d 100644
--- a/franka_moveit_config/launch/franka_moveit.launch
+++ b/panda_moveit_config/launch/panda_moveit.launch
@@ -1,11 +1,11 @@
<?xml version="1.0" ?>
<launch>
- <arg name="arm_id" default="franka_emika" />
+ <arg name="arm_id" default="panda" />
<!-- Valid values: "position", "effort" -->
<arg name="controller" default="position" />
<group ns="$(arg arm_id)">
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg controller)_joint_trajectory_controller --shutdown-timeout 2"/>
- <include file="$(find franka_moveit_config)/launch/move_group.launch" />
+ <include file="$(find panda_moveit_config)/launch/move_group.launch" />
</group>
</launch>
diff --git a/franka_moveit_config/launch/franka_emika_moveit_controller_manager.launch.xml b/panda_moveit_config/launch/panda_moveit_controller_manager.launch.xml
similarity index 100%
rename from franka_moveit_config/launch/franka_emika_moveit_controller_manager.launch.xml
rename to panda_moveit_config/launch/panda_moveit_controller_manager.launch.xml
diff --git a/franka_moveit_config/launch/franka_emika_moveit_sensor_manager.launch.xml b/panda_moveit_config/launch/panda_moveit_sensor_manager.launch.xml
similarity index 100%
rename from franka_moveit_config/launch/franka_emika_moveit_sensor_manager.launch.xml
rename to panda_moveit_config/launch/panda_moveit_sensor_manager.launch.xml
diff --git a/franka_moveit_config/launch/planning_context.launch b/panda_moveit_config/launch/planning_context.launch
similarity index 76%
rename from franka_moveit_config/launch/planning_context.launch
rename to panda_moveit_config/launch/planning_context.launch
index 6f0455a9d6b6985f1419cb83430f04f4bf7a9352..1d4b6e048d31ab5bd3144bc324cc69945b5d90ae 100644
--- a/franka_moveit_config/launch/planning_context.launch
+++ b/panda_moveit_config/launch/planning_context.launch
@@ -6,19 +6,19 @@
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
- <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/FEA_01_01_Gripper.urdf.xacro'"/>
+ <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
<!-- The semantic description that corresponds to the URDF -->
- <param name="$(arg robot_description)_semantic" textfile="$(find franka_moveit_config)/config/franka_emika.srdf" />
+ <param name="$(arg robot_description)_semantic" textfile="$(find panda_moveit_config)/config/panda_arm_hand.srdf" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
- <rosparam command="load" file="$(find franka_moveit_config)/config/joint_limits.yaml"/>
+ <rosparam command="load" file="$(find panda_moveit_config)/config/joint_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 franka_moveit_config)/config/kinematics.yaml"/>
+ <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</group>
</launch>
diff --git a/franka_moveit_config/launch/planning_pipeline.launch.xml b/panda_moveit_config/launch/planning_pipeline.launch.xml
similarity index 69%
rename from franka_moveit_config/launch/planning_pipeline.launch.xml
rename to panda_moveit_config/launch/planning_pipeline.launch.xml
index 69fd5f316516de62dfe2c5aa777ea79706f3e09e..ac6838d6d4ca8a1619a5e1de4e467a790929488e 100644
--- a/franka_moveit_config/launch/planning_pipeline.launch.xml
+++ b/panda_moveit_config/launch/planning_pipeline.launch.xml
@@ -5,6 +5,6 @@
<arg name="pipeline" default="ompl" />
- <include file="$(find franka_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+ <include file="$(find panda_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch>
diff --git a/franka_moveit_config/launch/run_benchmark_ompl.launch b/panda_moveit_config/launch/run_benchmark_ompl.launch
similarity index 63%
rename from franka_moveit_config/launch/run_benchmark_ompl.launch
rename to panda_moveit_config/launch/run_benchmark_ompl.launch
index ae1e81634096560550ddd517a48762301544b9d2..6bf8ba21f0ddcbecbcd1cf36a4c2c604fc9983c2 100644
--- a/franka_moveit_config/launch/run_benchmark_ompl.launch
+++ b/panda_moveit_config/launch/run_benchmark_ompl.launch
@@ -4,19 +4,19 @@
<arg name="cfg" />
<!-- Load URDF -->
- <include file="$(find franka_moveit_config)/launch/planning_context.launch">
+ <include file="$(find panda_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
- <include file="$(find franka_moveit_config)/launch/warehouse.launch">
+ <include file="$(find panda_moveit_config)/launch/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>
<!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
- <rosparam command="load" file="$(find franka_moveit_config)/config/kinematics.yaml"/>
- <rosparam command="load" file="$(find franka_moveit_config)/config/ompl_planning.yaml"/>
+ <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
+ <rosparam command="load" file="$(find panda_moveit_config)/config/ompl_planning.yaml"/>
</node>
</launch>
diff --git a/franka_moveit_config/launch/sensor_manager.launch.xml b/panda_moveit_config/launch/sensor_manager.launch.xml
similarity index 72%
rename from franka_moveit_config/launch/sensor_manager.launch.xml
rename to panda_moveit_config/launch/sensor_manager.launch.xml
index 197fffa92a246d400270fbe561b28dee706a5182..c74d05c68465ddd1fc27ca0e6800f0a2697f6a33 100644
--- a/franka_moveit_config/launch/sensor_manager.launch.xml
+++ b/panda_moveit_config/launch/sensor_manager.launch.xml
@@ -8,7 +8,7 @@
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
- <arg name="moveit_sensor_manager" default="franka_emika" />
- <include file="$(find franka_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+ <arg name="moveit_sensor_manager" default="panda" />
+ <include file="$(find panda_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>
diff --git a/franka_moveit_config/launch/setup_assistant.launch b/panda_moveit_config/launch/setup_assistant.launch
similarity index 75%
rename from franka_moveit_config/launch/setup_assistant.launch
rename to panda_moveit_config/launch/setup_assistant.launch
index 0bff4275e892c179fe6d5d59526aef64b14618e6..28e4e8b1874b55c2aed17ae5526db1d9bde6e99e 100644
--- a/franka_moveit_config/launch/setup_assistant.launch
+++ b/panda_moveit_config/launch/setup_assistant.launch
@@ -7,6 +7,6 @@
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<!-- Run -->
- <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" args="--config_pkg=franka_moveit_config" launch-prefix="$(arg launch_prefix)" output="screen" />
+ <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" args="--config_pkg=panda_moveit_config" launch-prefix="$(arg launch_prefix)" output="screen" />
</launch>
diff --git a/franka_moveit_config/launch/trajectory_execution.launch.xml b/panda_moveit_config/launch/trajectory_execution.launch.xml
similarity index 85%
rename from franka_moveit_config/launch/trajectory_execution.launch.xml
rename to panda_moveit_config/launch/trajectory_execution.launch.xml
index 6c53f1375d0ddfcaf762d17c7d14755f70160fe1..b6c03c9b75d36198aa21aecd195f6a62ad4bf96a 100644
--- a/franka_moveit_config/launch/trajectory_execution.launch.xml
+++ b/panda_moveit_config/launch/trajectory_execution.launch.xml
@@ -14,7 +14,7 @@
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
- <arg name="moveit_controller_manager" default="franka_emika" />
- <include file="$(find franka_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+ <arg name="moveit_controller_manager" default="panda" />
+ <include file="$(find panda_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
</launch>
diff --git a/franka_moveit_config/launch/warehouse.launch b/panda_moveit_config/launch/warehouse.launch
similarity index 83%
rename from franka_moveit_config/launch/warehouse.launch
rename to panda_moveit_config/launch/warehouse.launch
index 3c2b0c6ee7a61ed0e24da19376d733c156d17ce2..6889b8eef1055816ed7b7b079aac7bdeb3b9a394 100644
--- a/franka_moveit_config/launch/warehouse.launch
+++ b/panda_moveit_config/launch/warehouse.launch
@@ -4,7 +4,7 @@
<arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters -->
- <include file="$(find franka_moveit_config)/launch/warehouse_settings.launch.xml" />
+ <include file="$(find panda_moveit_config)/launch/warehouse_settings.launch.xml" />
<!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
diff --git a/franka_moveit_config/launch/warehouse_settings.launch.xml b/panda_moveit_config/launch/warehouse_settings.launch.xml
similarity index 100%
rename from franka_moveit_config/launch/warehouse_settings.launch.xml
rename to panda_moveit_config/launch/warehouse_settings.launch.xml
diff --git a/franka_moveit_config/mainpage.dox b/panda_moveit_config/mainpage.dox
similarity index 100%
rename from franka_moveit_config/mainpage.dox
rename to panda_moveit_config/mainpage.dox
diff --git a/franka_moveit_config/package.xml b/panda_moveit_config/package.xml
similarity index 82%
rename from franka_moveit_config/package.xml
rename to panda_moveit_config/package.xml
index 299d891e0fd4738f0859b2824c66680d916a0625..0d07bf3bcc25f576535e496e93d15d333146e7cf 100644
--- a/franka_moveit_config/package.xml
+++ b/panda_moveit_config/package.xml
@@ -1,12 +1,12 @@
<?xml version="1.0"?>
<package format="2">
- <name>franka_moveit_config</name>
+ <name>panda_moveit_config</name>
<version>0.0.1</version>
- <description> A partly automatically generated package with all the configuration and launch files for using FRANKA EMIKA with MoveIt!</description>
- <maintainer email="info@franka.de">FRANKA EMIKA Research Interface Team</maintainer>
+ <description> A partly automatically generated package with all the configuration and launch files for using Panda research with MoveIt!</description>
+ <maintainer email="info@franka.de">FRANKA EMIKA Research Interface Team</maintainer>
<license>NONE</license>
-
- <url type="website">http://wiki.ros.org/franka_moveit_config</url>
+
+ <url type="website">http://wiki.ros.org/panda_moveit_config</url>
<url type="repository">https://github.com/frankaemika/franka_ros</url>
<url type="bugtracker">https://github.com/frankaemika/franka_ros/issues</url>
<author>FRANKA EMIKA Research Interface Team</author>
@@ -14,7 +14,7 @@
<buildtool_depend>catkin</buildtool_depend>
<depend>franka_description</depend>
-
+
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>moveit_commander</exec_depend>
diff --git a/franka_moveit_config/rosdoc.yaml b/panda_moveit_config/rosdoc.yaml
similarity index 100%
rename from franka_moveit_config/rosdoc.yaml
rename to panda_moveit_config/rosdoc.yaml
diff --git a/franka_moveit_config/scripts/move_to_start.py b/panda_moveit_config/scripts/move_to_start.py
similarity index 86%
rename from franka_moveit_config/scripts/move_to_start.py
rename to panda_moveit_config/scripts/move_to_start.py
index 7ab4a50a17d7b1470eb8b42c85463ce28059850a..f6d5221494cdf8e07aa36713f0ba4610ad5381da 100755
--- a/franka_moveit_config/scripts/move_to_start.py
+++ b/panda_moveit_config/scripts/move_to_start.py
@@ -7,6 +7,6 @@ from actionlib_msgs.msg import GoalStatusArray
if __name__ == '__main__':
rospy.init_node('move_to_start')
rospy.wait_for_message('move_group/status', GoalStatusArray)
- commander = MoveGroupCommander('franka')
+ commander = MoveGroupCommander('panda_arm')
commander.set_named_target('ready')
commander.go()