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Commit 74190dd3 authored by Johannes Mey's avatar Johannes Mey
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align with repo tag 0.8.1

parent e6757bb9
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.setup_assistant
View file @ 74190dd3
moveit_setup_assistant_config:
URDF:
package: franka_description
relative_path: robots/panda_arm.urdf.xacro
relative_path: robots/panda/panda.urdf.xacro
xacro_args: hand:=true
SRDF:
relative_path: config/panda.srdf.xacro
......
CHANGELOG.rst 0 → 100644
View file @ 74190dd3
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package panda_moveit_config
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.8.1 (2022-09-11)
------------------
* Update to franka_description 0.10.0 (`#119 <https://github.com/ros-planning/panda_moveit_config/issues/119>`_)
* Example use of ns parameter in sensors.yaml (`#88 <https://github.com/ros-planning/panda_moveit_config/issues/88>`_)
* Drop link8 from ACM as this link doesn't have any collision model anymore
* srdf: Use loop macros to reduce code redundancy
* Unify calls to xacro
* Contributors: Matt Droter, Robert Haschke, Tim Redick
0.8.0 (2022-09-01)
------------------
* Thorough rework based on franka_description 0.9.1 (using fine and coarse collision models)
The internal robot controller uses coarse collision models for self-collision checking.
In MoveIt, these coarse models should be used for self-collision checking only as well.
Particularly, these coarse models should not be used for collision checking with the environment.
config/arm.xacro
View file @ 74190dd3
......@@ -7,67 +7,67 @@
<!--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="${name}">
<chain base_link="panda_link0" tip_link="${tip_link}" />
<chain base_link="$(arg arm_id)_link0" tip_link="${tip_link}" />
</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="${name}">
<joint name="panda_joint1" value="0" />
<joint name="panda_joint2" value="${-pi/4}" />
<joint name="panda_joint3" value="0" />
<joint name="panda_joint4" value="${-3*pi/4}" />
<joint name="panda_joint5" value="0" />
<joint name="panda_joint6" value="${pi/2}" />
<joint name="panda_joint7" value="${pi/4}" />
<joint name="$(arg arm_id)_joint1" value="0" />
<joint name="$(arg arm_id)_joint2" value="${-pi/4}" />
<joint name="$(arg arm_id)_joint3" value="0" />
<joint name="$(arg arm_id)_joint4" value="${-3*pi/4}" />
<joint name="$(arg arm_id)_joint5" value="0" />
<joint name="$(arg arm_id)_joint6" value="${pi/2}" />
<joint name="$(arg arm_id)_joint7" value="${pi/4}" />
</group_state>
<group_state name="extended" group="${name}">
<joint name="panda_joint1" value="0" />
<joint name="panda_joint2" value="0" />
<joint name="panda_joint3" value="0" />
<joint name="panda_joint4" value="-0.1" />
<joint name="panda_joint5" value="0" />
<joint name="panda_joint6" value="${pi}" />
<joint name="panda_joint7" value="${pi/4}" />
<joint name="$(arg arm_id)_joint1" value="0" />
<joint name="$(arg arm_id)_joint2" value="0" />
<joint name="$(arg arm_id)_joint3" value="0" />
<joint name="$(arg arm_id)_joint4" value="-0.1" />
<joint name="$(arg arm_id)_joint5" value="0" />
<joint name="$(arg arm_id)_joint6" value="${pi}" />
<joint name="$(arg arm_id)_joint7" value="${pi/4}" />
</group_state>
</xacro:macro>
<!--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" />
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="$(arg arm_id)_link0" />
<xacro:macro name="collision" params="link">
<!-- Enable (environmental) collisions of ${link}_sc -->
<disable_default_collisions link="${link}_sc" />
<!-- Disable collisions of link with any other arm link, as these are handled by the "sc" links -->
<disable_collisions link1="${link}" link2="panda_link0" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link1" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link2" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link3" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link4" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link5" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link6" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link7" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link8" reason="Never" />
<xacro:macro name="disable_collisions_for" params="link:=^ others:=^">
<xacro:if value="${others}">
<xacro:property name="other" value="${others.pop(0)}" />
<disable_collisions link1="${link}" link2="${other}" reason="Never" />
<!-- recursively call -->
<xacro:disable_collisions_for />
</xacro:if>
</xacro:macro>
<xacro:collision link="panda_link0"/>
<enable_collisions link1="panda_link0_sc" link2="panda_link5_sc" />
<enable_collisions link1="panda_link0_sc" link2="panda_link6_sc" />
<enable_collisions link1="panda_link0_sc" link2="panda_link7_sc" />
<enable_collisions link1="panda_link0_sc" link2="panda_link8_sc" />
<xacro:collision link="panda_link1" />
<enable_collisions link1="panda_link1_sc" link2="panda_link5_sc" />
<enable_collisions link1="panda_link1_sc" link2="panda_link6_sc" />
<enable_collisions link1="panda_link1_sc" link2="panda_link7_sc" />
<enable_collisions link1="panda_link1_sc" link2="panda_link8_sc" />
<xacro:collision link="panda_link2" />
<enable_collisions link1="panda_link2_sc" link2="panda_link5_sc" />
<enable_collisions link1="panda_link2_sc" link2="panda_link6_sc" />
<enable_collisions link1="panda_link2_sc" link2="panda_link7_sc" />
<enable_collisions link1="panda_link2_sc" link2="panda_link8_sc" />
<xacro:collision link="panda_link3" />
<enable_collisions link1="panda_link3_sc" link2="panda_link7_sc" />
<enable_collisions link1="panda_link3_sc" link2="panda_link8_sc" />
<xacro:collision link="panda_link4" />
<xacro:collision link="panda_link5" />
<xacro:collision link="panda_link6" />
<xacro:collision link="panda_link7" />
<xacro:collision link="panda_link8" />
<xacro:macro name="enable_collisions_for" params="link:=^ others:=^">
<xacro:if value="${others}">
<xacro:property name="other" value="${others.pop(0)}" />
<enable_collisions link1="${link}" link2="${other}" />
<!-- recursively call -->
<xacro:enable_collisions_for />
</xacro:if>
</xacro:macro>
<xacro:macro name="configure_collisions" params="link enabled:=${[]}">
<!-- Disable collision checking between normal links, as these are handled by "sc" links -->
<xacro:property name="link_fmt" value="$(arg arm_id)_link{}" />
<xacro:disable_collisions_for link="${link_fmt.format(link)}" others="${[link_fmt.format(i) for i in python.range(8)]}" />
<!-- Disable all collision checking for ${link}_sc -->
<xacro:property name="link_fmt" value="$(arg arm_id)_link{}_sc" />
<disable_default_collisions link="${link_fmt.format(link)}" />
<!-- Re-enable collisions checking for selected links -->
<xacro:enable_collisions_for link="${link_fmt.format(link)}" others="${[link_fmt.format(i) for i in enabled]}" />
</xacro:macro>
<!-- Configure ACM -->
<xacro:configure_collisions link="0" enabled="${[5,6,7]}" />
<xacro:configure_collisions link="1" enabled="${[5,6,7]}" />
<xacro:configure_collisions link="2" enabled="${[5,6,7]}" />
<xacro:configure_collisions link="3" enabled="${[7]}" />
<xacro:configure_collisions link="4" />
<xacro:configure_collisions link="5" />
<xacro:configure_collisions link="6" />
<xacro:configure_collisions link="7" />
</robot>
config/fake_controllers.yaml
View file @ 74190dd3
controller_list:
- name: fake_panda_arm_controller
- name: fake_$(arg arm_id)_arm_controller
type: $(arg fake_execution_type)
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
- name: fake_hand_controller
- $(arg arm_id)_joint1
- $(arg arm_id)_joint2
- $(arg arm_id)_joint3
- $(arg arm_id)_joint4
- $(arg arm_id)_joint5
- $(arg arm_id)_joint6
- $(arg arm_id)_joint7
- name: fake_$(arg arm_id)_hand_controller
type: $(arg fake_execution_type)
joints:
- panda_finger_joint1
- name: fake_panda_arm_hand_controller
type: $(arg fake_execution_type)
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
- panda_finger_joint1
- $(arg arm_id)_finger_joint1
initial: # Define initial robot poses per group
- group: panda_arm
- group: $(arg arm_id)_arm
pose: ready
- group: hand
pose: open
\ No newline at end of file
- group: $(arg arm_id)_hand
pose: open
config/hand.xacro
View file @ 74190dd3
<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:macro name="finger_collisions" params="finger">
<!-- Disable all self-collisions between finger and arm links,
as these are already covered by the coarser hand collision model -->
<disable_collisions link1="${finger}" link2="panda_link0" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link1" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link2" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link3" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link4" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link5" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link6" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link7" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link8" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_hand" reason="Never" />
</xacro:macro>
<xacro:macro name="hand">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="hand">
<link name="panda_hand"/>
<link name="panda_leftfinger"/>
<link name="panda_rightfinger"/>
<group name="$(arg arm_id)_hand">
<link name="$(arg arm_id)_hand"/>
<link name="$(arg arm_id)_leftfinger"/>
<link name="$(arg arm_id)_rightfinger"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="open" group="hand">
<joint name="panda_finger_joint1" value="0.035"/>
<joint name="panda_finger_joint2" value="0.035"/>
<group_state name="open" group="$(arg arm_id)_hand">
<joint name="$(arg arm_id)_finger_joint1" value="0.035"/>
<joint name="$(arg arm_id)_finger_joint2" value="0.035"/>
</group_state>
<group_state name="close" group="hand">
<joint name="panda_finger_joint1" value="0"/>
<joint name="panda_finger_joint2" value="0"/>
<group_state name="close" group="$(arg arm_id)_hand">
<joint name="$(arg arm_id)_finger_joint1" value="0"/>
<joint name="$(arg arm_id)_finger_joint2" value="0"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<!--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)-->
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<!--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_default_collisions link="panda_hand_sc" />
<enable_collisions link1="panda_hand_sc" link2="panda_link0_sc" />
<enable_collisions link1="panda_hand_sc" link2="panda_link1_sc" />
<enable_collisions link1="panda_hand_sc" link2="panda_link2_sc" />
<enable_collisions link1="panda_hand_sc" link2="panda_link3_sc" />
<!-- Disable collision of hand with all arm links. These are handled by the *_sc links -->
<disable_collisions link1="panda_hand" link2="panda_link0" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link1" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link2" reason="Never" />
<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="Never" />
<disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link7" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link8" reason="Never" />
<xacro:finger_collisions finger="panda_leftfinger" />
<xacro:finger_collisions finger="panda_rightfinger" />
<disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Never" />
<!-- Disable collisions for hand_sc by default (with environment) -->
<disable_default_collisions link="$(arg arm_id)_hand_sc" />
<!-- Reenable collision of hand_sc for selected arm sc links -->
<xacro:property name="link_fmt" value="$(arg arm_id)_link{}_sc" />
<xacro:enable_collisions_for link="$(arg arm_id)_hand_sc" others="${[link_fmt.format(i) for i in [0,1,2,3]]}" />
<!-- Disable collision of hand link with all arm links. These are handled by the *_sc links -->
<xacro:property name="link_fmt" value="$(arg arm_id)_link{}" />
<xacro:disable_collisions_for link="$(arg arm_id)_hand" others="${[link_fmt.format(i) for i in python.range(8)]}" />
<!-- Disable collision of fingers with all arm links -->
<xacro:property name="others" value="${[link_fmt.format(i) for i in python.range(8)] + [xacro.arg('arm_id') + '_hand']}" />
<xacro:disable_collisions_for link="$(arg arm_id)_leftfinger" others="${list(others)}" />
<xacro:disable_collisions_for link="$(arg arm_id)_rightfinger" others="${list(others)}" />
<disable_collisions link1="$(arg arm_id)_leftfinger" link2="$(arg arm_id)_rightfinger" reason="Never" />
</xacro:macro>
</robot>
config/joint_limits.yaml
View file @ 74190dd3
......@@ -14,47 +14,47 @@ default_acceleration_scaling_factor: 0.1
# max_jerk = (max_acceleration - min_acceleration) / 0.001
joint_limits:
panda_finger_joint1:
$(arg arm_id)_finger_joint1:
has_velocity_limits: true
max_velocity: 0.1
has_acceleration_limits: false
max_acceleration: 0
panda_finger_joint2:
$(arg arm_id)_finger_joint2:
has_velocity_limits: true
max_velocity: 0.1
has_acceleration_limits: false
max_acceleration: 0
panda_joint1:
$(arg arm_id)_joint1:
has_velocity_limits: true
max_velocity: 2.1750
has_acceleration_limits: true
max_acceleration: 3.75
panda_joint2:
$(arg arm_id)_joint2:
has_velocity_limits: true
max_velocity: 2.1750
has_acceleration_limits: true
max_acceleration: 1.875
panda_joint3:
$(arg arm_id)_joint3:
has_velocity_limits: true
max_velocity: 2.1750
has_acceleration_limits: true
max_acceleration: 2.5
panda_joint4:
$(arg arm_id)_joint4:
has_velocity_limits: true
max_velocity: 2.1750
has_acceleration_limits: true
max_acceleration: 3.125
panda_joint5:
$(arg arm_id)_joint5:
has_velocity_limits: true
max_velocity: 2.6100
has_acceleration_limits: true
max_acceleration: 3.75
panda_joint6:
$(arg arm_id)_joint6:
has_velocity_limits: true
max_velocity: 2.6100
has_acceleration_limits: true
max_acceleration: 5
panda_joint7:
$(arg arm_id)_joint7:
has_velocity_limits: true
max_velocity: 2.6100
has_acceleration_limits: true
......
config/kinematics.yaml
View file @ 74190dd3
panda_arm: &arm_config
$(arg arm_id)_arm: &arm_config
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.05
manipulator: *arm_config
$(arg arm_id)_manipulator: *arm_config
config/ompl_planning.yaml
View file @ 74190dd3
......@@ -127,7 +127,7 @@ 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
panda_arm: &arm_config
$(arg arm_id)_arm: &arm_config
planner_configs:
- AnytimePathShortening
- SBL
......@@ -153,10 +153,10 @@ panda_arm: &arm_config
- LazyPRMstar
- SPARS
- SPARStwo
projection_evaluator: joints(panda_joint1,panda_joint2)
projection_evaluator: joints($(arg arm_id)_joint1,$(arg arm_id)_joint2)
longest_valid_segment_fraction: 0.005
manipulator: *arm_config
hand:
$(arg arm_id)_manipulator: *arm_config
$(arg arm_id)_hand:
planner_configs:
- AnytimePathShortening
- SBL
......
config/panda.srdf.xacro
View file @ 74190dd3
......@@ -4,23 +4,24 @@
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:arg name="arm_id" default="panda" />
<xacro:include filename="$(find panda_moveit_config)/config/arm.xacro" />
<!-- panda_arm group: eef frame aligned to robot's flanche -->
<xacro:arm name="panda_arm" tip_link="panda_link8"/>
<xacro:arg name="hand" default="false" />
<xacro:arm name="$(arg arm_id)_arm" tip_link="$(arg arm_id)_link8"/>
<!--Add the hand if people request it-->
<xacro:arg name="hand" default="false" />
<xacro:if value="$(arg hand)">
<!-- manipulator group: eef frame aligned to hand -->
<xacro:arm name="manipulator" tip_link="panda_hand_tcp" />
<xacro:arm name="$(arg arm_id)_manipulator" tip_link="$(arg arm_id)_hand_tcp" />
<xacro:include filename="$(find panda_moveit_config)/config/hand.xacro" />
<xacro:hand />
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="hand_tcp" parent_link="panda_hand_tcp" group="hand" parent_group="manipulator" />
<end_effector name="$(arg arm_id)_hand_tcp" parent_link="$(arg arm_id)_hand_tcp" group="$(arg arm_id)_hand" parent_group="$(arg arm_id)_manipulator" />
<!-- old end-effector -->
<end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" />
<end_effector name="$(arg arm_id)_hand" parent_link="$(arg arm_id)_link8" group="$(arg arm_id)_hand" parent_group="$(arg arm_id)_arm" />
</xacro:if>
</robot>
config/sensors_kinect_depthmap.yaml
View file @ 74190dd3
......@@ -9,3 +9,4 @@ sensors:
padding_offset: 0.03
max_update_rate: 1.0
filtered_cloud_topic: filtered_cloud
ns: kinect
config/sensors_kinect_pointcloud.yaml
View file @ 74190dd3
......@@ -7,3 +7,4 @@ sensors:
padding_scale: 1.0
max_update_rate: 1.0
filtered_cloud_topic: filtered_cloud
ns: kinect
config/simple_moveit_controllers.yaml
View file @ 74190dd3
......@@ -4,16 +4,16 @@ controller_list:
type: FollowJointTrajectory
default: True
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
- $(arg arm_id)_joint1
- $(arg arm_id)_joint2
- $(arg arm_id)_joint3
- $(arg arm_id)_joint4
- $(arg arm_id)_joint5
- $(arg arm_id)_joint6
- $(arg arm_id)_joint7
- name: franka_gripper
action_ns: gripper_action
type: GripperCommand
default: True
joints:
- panda_finger_joint1
- $(arg arm_id)_finger_joint1
launch/demo.launch
View file @ 74190dd3
<launch>
<arg name="arm_id" default="panda" />
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
......@@ -31,7 +32,7 @@
<arg name="rviz_tutorial" default="false" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0" />
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world $(arg arm_id)_link0" />
......
launch/franka_control.launch
View file @ 74190dd3
<?xml version="1.0"?>
<launch>
<arg name="robot_ip" />
<arg name="load_gripper" />
<!-- Launch real-robot control -->
<include file="$(find franka_control)/launch/franka_control.launch" pass_all_args="true" />
<!-- By default use joint position controllers -->
<arg name="transmission" default="position" />
<!-- Start ROS controllers -->
<include file="$(dirname)/ros_controllers.launch" pass_all_args="true" />
<!-- as well as MoveIt demo -->
<include file="$(dirname)/demo.launch" pass_all_args="true">
......
launch/move_group.launch
View file @ 74190dd3
......@@ -24,6 +24,8 @@
<!--Other settings-->
<arg name="load_gripper" default="true" />
<arg name="transmission" default="effort" />
<arg name="arm_id" default="panda" />
<!-- load these non-default MoveGroup capabilities (space seperated) -->
<!--
......@@ -46,6 +48,7 @@
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="$(arg load_robot_description)" />
<arg name="load_gripper" value="$(arg load_gripper)" />
<arg name="arm_id" value="$(arg arm_id)" />
</include>
<!-- Planning Pipelines -->
......@@ -54,22 +57,26 @@
<!-- OMPL -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" />
<arg name="arm_id" value="$(arg arm_id)" />
</include>
<!-- CHOMP -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="chomp" />
<arg name="arm_id" value="$(arg arm_id)" />
</include>
<!-- Pilz Industrial Motion -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="pilz_industrial_motion_planner" />
<arg name="arm_id" value="$(arg arm_id)" />
</include>
<!-- Support custom planning pipeline -->
<include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg pipeline)" />
<arg name="arm_id" value="$(arg arm_id)" />
</include>
</group>
......
launch/moveit.rviz
View file @ 74190dd3
......@@ -5,9 +5,8 @@ Panels:
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /Tag Detection Camera1
Splitter Ratio: 0.5
Tree Height: 357
Tree Height: 226
- Class: rviz/Help
Name: Help
- Class: rviz/Views
......@@ -15,17 +14,6 @@ Panels:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Displays
Help Height: 70
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 371
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
......@@ -35,7 +23,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
......@@ -47,126 +35,31 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
- Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
panda_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_hand_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
panda_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link3:
Alpha: 1