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CeTI
ROS
ROS Packages
panda_simulation
Commits
e70e564f
Commit
e70e564f
authored
5 years ago
by
Johannes Mey
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include gazebo zone spawner in safety aware planner
parent
6a216a42
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CMakeLists.txt
+1
-1
1 addition, 1 deletion
CMakeLists.txt
launch/simulation_safety.launch
+62
-0
62 additions, 0 deletions
launch/simulation_safety.launch
src/SafetyAwarePlanner.cpp
+4
-0
4 additions, 0 deletions
src/SafetyAwarePlanner.cpp
with
67 additions
and
1 deletion
CMakeLists.txt
+
1
−
1
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e70e564f
...
...
@@ -77,6 +77,6 @@ add_executable(SafetyAwarePlanner src/SafetyAwarePlanner.cpp)
target_link_libraries
(
robot_control_node
${
catkin_LIBRARIES
}
boost_filesystem
${
JSONCPP_LIBRARIES
}
${
SDF_LIBRARIES
}
GazeboZoneSpawner
)
target_link_libraries
(
box_publisher_node
${
catkin_LIBRARIES
}
)
target_link_libraries
(
robot_state_initializer_node
${
catkin_LIBRARIES
}
)
target_link_libraries
(
SafetyAwarePlanner
${
catkin_LIBRARIES
}
SafetyEnvironmentCreator
)
target_link_libraries
(
SafetyAwarePlanner
${
catkin_LIBRARIES
}
SafetyEnvironmentCreator
GazeboZoneSpawner
)
# target_link_libraries(constraint_planner ${catkin_LIBRARIES} ${Boost_LIBRARIES} SafetyEnvironmentCreator)
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launch/simulation_safety.launch
0 → 100644
+
62
−
0
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e70e564f
<launch>
<param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
<!-- GAZEBO arguments -->
<arg name="paused" default="false" />
<arg name="use_sim_time" default="true" />
<arg name="gui" default="true" />
<arg name="headless" default="false" />
<arg name="debug" default="false" />
<arg name="load_gripper" default="true" />
<!--launch GAZEBO with own world configuration -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<!-- <arg name="world_name" value="$(find robotics_assisted_tomography)/worlds/tomography.world"/> -->
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)" />
<arg name="use_sim_time" value="$(arg use_sim_time)" />
<arg name="headless" value="$(arg headless)" />
</include>
<node name="rqt_console" pkg="rqt_console" type="rqt_console" />
<!-- <node name="rqt_logger_level" pkg="rqt_logger_level" type="rqt_logger_level" /> -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model panda" />
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find panda_simulation)/config/panda_control.yaml" command="load" />
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller panda_arm_controller" />
<node if="$(arg load_gripper)" name="controller_spawner_hand" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="panda_hand_controller" />
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<include file="$(find panda_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true" />
<arg name="load_gripper" value="$(arg load_gripper)" />
</include>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="load_gripper" value="$(arg load_gripper)" />
</include>
<group if="$(arg gui)">
<include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
</group>
<node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
<!-- launch robot control node for moveit motion planning -->
<node pkg="panda_simulation" type="robot_control_node" name="robot_control_node" output="screen" />
<!-- load (not start!) custom joint position controller -->
<node pkg="controller_manager" type="spawner" name="joint_position_launcher" args="--stopped joint_position_controller" />
<!-- run custom node for automatic intialization -->
<node pkg="panda_simulation" type="robot_state_initializer_node" name="robot_state_initializer_node" />
<node name="SampleConstraintPlanner" pkg="panda_simulation" type="SafetyAwarePlanner" respawn="false" output="screen"/>
</launch>
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src/SafetyAwarePlanner.cpp
+
4
−
0
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e70e564f
...
...
@@ -4,6 +4,7 @@
#include
<moveit_visual_tools/moveit_visual_tools.h>
#include
"SafetyZones/SafetyEnvironmentCreator.cpp"
#include
"SafetyZones/GazeboZoneSpawner.h"
int
main
(
int
argc
,
char
**
argv
)
{
...
...
@@ -61,6 +62,9 @@ int main(int argc, char** argv)
SafetyEnvironmentCreator
sec
(
safety_box
,
safety_box_pose
);
std
::
vector
<
moveit_msgs
::
CollisionObject
>
collision_objects
=
sec
.
createCentralizedSafetyEnvironment
(
move_group
);
// show safety box in gazebo
GazeboZoneSpawner
::
spawnCollisionBox
(
safety_box
,
safety_box_pose
);
//visual_tools.processCollisionObjectMsg(collision_objects[2], rviz_visual_tools::RED);
// visual_tools.setAlpha(0.0);
// Now, let's add the collision object into the world
...
...
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