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Commit 867b46b9 authored by Johannes Mey's avatar Johannes Mey
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parent 0caa230a
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...@@ -17,6 +17,15 @@ ...@@ -17,6 +17,15 @@
<group name="panda_arm" /> <group name="panda_arm" />
<group name="hand" /> <group name="hand" />
</group> </group>
<group_state name="ready" group="panda_arm">
<joint name="panda_joint1" value="0" />
<joint name="panda_joint2" value="-0.785" />
<joint name="panda_joint3" value="0" />
<joint name="panda_joint4" value="-2.356" />
<joint name="panda_joint5" value="0" />
<joint name="panda_joint6" value="1.571" />
<joint name="panda_joint7" value="0.785" />
</group_state>
<group_state name="open" group="hand"> <group_state name="open" group="hand">
<joint name="panda_finger_joint1" value="0.035" /> <joint name="panda_finger_joint1" value="0.035" />
<joint name="panda_finger_joint2" value="0.035" /> <joint name="panda_finger_joint2" value="0.035" />
...@@ -26,7 +35,7 @@ ...@@ -26,7 +35,7 @@
<joint name="panda_finger_joint2" value="0" /> <joint name="panda_finger_joint2" value="0" />
</group_state> </group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.--> <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" /> <end_effector name="hand" parent_link="panda_link8" 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: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" /> <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" /> <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" />
......
controller_list: controller_list:
- name: position_joint_trajectory_controller - name: panda_arm_controller
action_ns: follow_joint_trajectory action_ns: follow_joint_trajectory
type: FollowJointTrajectory type: FollowJointTrajectory
default: true default: true
......
controller_list: controller_list:
- name: position_joint_trajectory_controller - name: panda_arm_controller
action_ns: follow_joint_trajectory action_ns: follow_joint_trajectory
type: FollowJointTrajectory type: FollowJointTrajectory
default: true default: true
...@@ -11,9 +11,9 @@ ...@@ -11,9 +11,9 @@
- panda_joint5 - panda_joint5
- panda_joint6 - panda_joint6
- panda_joint7 - panda_joint7
- name: franka_gripper - name: panda_hand_controller
action_ns: gripper_action action_ns: follow_joint_trajectory
type: GripperCommand type: FollowJointTrajectory
default: true default: true
joints: joints:
- panda_finger_joint1 - panda_finger_joint1
......
...@@ -9,9 +9,9 @@ ...@@ -9,9 +9,9 @@
default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixStartStatePathConstraints
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/AddTimeParameterization" default_planner_request_adapters/AddTimeParameterization"
/> />
<!-- default_planner_request_adapters/ResolveConstraintFrames -->
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml" /> <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml" />
......
...@@ -4,10 +4,9 @@ Panels: ...@@ -4,10 +4,9 @@ Panels:
Name: Displays Name: Displays
Property Tree Widget: Property Tree Widget:
Expanded: Expanded:
- /MarkerArray1 - /MotionPlanning1
- /PlanningScene1/Scene Robot1 Splitter Ratio: 0.7425600290298462
Splitter Ratio: 0.742560029 Tree Height: 703
Tree Height: 408
- Class: rviz/Help - Class: rviz/Help
Name: Help Name: Help
- Class: rviz/Views - Class: rviz/Views
...@@ -15,8 +14,10 @@ Panels: ...@@ -15,8 +14,10 @@ Panels:
- /Current View1 - /Current View1
Name: Views Name: Views
Splitter Ratio: 0.5 Splitter Ratio: 0.5
- Class: rviz_visual_tools/RvizVisualToolsGui Preferences:
Name: RvizVisualToolsGui PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager: Visualization Manager:
Class: "" Class: ""
Displays: Displays:
...@@ -26,7 +27,7 @@ Visualization Manager: ...@@ -26,7 +27,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
...@@ -38,21 +39,33 @@ Visualization Manager: ...@@ -38,21 +39,33 @@ Visualization Manager:
Plane Cell Count: 10 Plane Cell Count: 10
Reference Frame: <Fixed Frame> Reference Frame: <Fixed Frame>
Value: true Value: true
- Class: rviz/MarkerArray - Acceleration_Scaling_Factor: 1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true Enabled: true
Marker Topic: /rviz_visual_tools Move Group Namespace: ""
Name: MarkerArray MoveIt_Allow_Approximate_IK: false
Namespaces: MoveIt_Allow_External_Program: false
Cylinder: true MoveIt_Allow_Replanning: false
Sphere: true MoveIt_Allow_Sensor_Positioning: false
Text: true MoveIt_Goal_Tolerance: 0
goal: true MoveIt_Planning_Attempts: 10
start: true MoveIt_Planning_Time: 5
Queue Size: 100 MoveIt_Use_Cartesian_Path: false
Value: true MoveIt_Use_Constraint_Aware_IK: true
- Class: moveit_rviz_plugin/Trajectory MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false Color Enabled: false
Enabled: true
Interrupt Display: false Interrupt Display: false
Links: Links:
All Links Enabled: true All Links Enabled: true
...@@ -119,28 +132,44 @@ Visualization Manager: ...@@ -119,28 +132,44 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
Loop Animation: false world:
Name: Trajectory Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: true
Robot Alpha: 0.5 Robot Alpha: 0.5
Robot Color: 150; 50; 150 Robot Color: 150; 50; 150
Robot Description: robot_description
Show Robot Collision: false Show Robot Collision: false
Show Robot Visual: true Show Robot Visual: true
Show Trail: false Show Trail: false
State Display Time: 0.05 s State Display Time: 0.05 s
Trail Step Size: 1 Trail Step Size: 1
Trajectory Topic: /move_group/display_planned_path Trajectory Topic: move_group/display_planned_path
Value: true Planning Metrics:
- Class: moveit_rviz_plugin/PlanningScene Payload: 1
Enabled: true Show Joint Torques: false
Move Group Namespace: "" Show Manipulability: false
Name: PlanningScene Show Manipulability Index: false
Planning Scene Topic: /move_group/monitored_planning_scene Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: 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: robot_description Robot Description: robot_description
Scene Geometry: Scene Geometry:
Scene Alpha: 0.899999976 Scene Alpha: 1
Scene Color: 50; 230; 50 Scene Color: 50; 230; 50
Scene Display Time: 0.200000003 Scene Display Time: 0.20000000298023224
Show Scene Geometry: true Show Scene Geometry: true
Voxel Coloring: Z-Axis Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels Voxel Rendering: Occupied Voxels
...@@ -211,10 +240,15 @@ Visualization Manager: ...@@ -211,10 +240,15 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
Robot Alpha: 1 world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 0.5
Show Robot Collision: false Show Robot Collision: false
Show Robot Visual: true Show Robot Visual: true
Value: true Value: true
Velocity_Scaling_Factor: 1
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
...@@ -227,46 +261,45 @@ Visualization Manager: ...@@ -227,46 +261,45 @@ Visualization Manager:
Hide Inactive Objects: true Hide Inactive Objects: true
- Class: rviz/MoveCamera - Class: rviz/MoveCamera
- Class: rviz/Select - Class: rviz/Select
- Class: rviz_visual_tools/KeyTool
Value: true Value: true
Views: Views:
Current: Current:
Class: rviz/XYOrbit Class: rviz/XYOrbit
Distance: 2.82759404 Distance: 2.996500015258789
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: 0.113567002 X: 0.11356700211763382
Y: 0.105920002 Y: 0.10592000186443329
Z: 2.23518001e-07 Z: 2.2351800055275817e-7
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: 0.470203578 Pitch: 0.5097969770431519
Target Frame: panda_link0 Target Frame: panda_link0
Value: XYOrbit (rviz) Value: XYOrbit (rviz)
Yaw: 6.06496 Yaw: 5.659949779510498
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 741 Height: 1406
Help: Help:
collapsed: false collapsed: false
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000001000000000000017800000282fc020000000efb000000100044006900730070006c006100790073010000004200000232000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000294000002410000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c0073004700750069010000027a0000004a0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c006900640065007201000002df000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004800ffffff000003d80000028200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 MotionPlanning:
RvizVisualToolsGui:
collapsed: false collapsed: false
Trajectory - Trajectory Slider: MotionPlanning - Trajectory Slider:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a200000528fc0200000007fb000000100044006900730070006c006100790073010000003b0000034e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072010000038f0000003f0000003f00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000003d40000018f0000018300ffffff000007580000052800000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views: Views:
collapsed: false collapsed: false
Width: 1366 Width: 2560
X: 1906 X: 0
Y: 1440 Y: 18
...@@ -10,9 +10,9 @@ ...@@ -10,9 +10,9 @@
default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixStartStatePathConstraints
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/AddTimeParameterization" default_planner_request_adapters/AddTimeParameterization"
/> />
<!-- default_planner_request_adapters/ResolveConstraintFrames -->
<arg name="start_state_max_bounds_error" value="0.1" /> <arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" /> <param name="planning_plugin" value="$(arg planning_plugin)" />
......
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
<launch> <launch>
<arg name="load_gripper" default="true" /> <arg name="load_gripper" default="true" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="position_joint_trajectory_controller"/> <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="panda_arm_controller"/>
<include file="$(find panda_moveit_config)/launch/move_group.launch"> <include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="load_gripper" value="$(arg load_gripper)" /> <arg name="load_gripper" value="$(arg load_gripper)" />
......
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