diff --git a/config/panda_arm_hand.srdf.xacro b/config/panda_arm_hand.srdf.xacro index 803cd374e697c1e1b6852ff1926d490a0dd85ce9..c2c065cbae96790c1f948d4dd1b4698716690df1 100644 --- a/config/panda_arm_hand.srdf.xacro +++ b/config/panda_arm_hand.srdf.xacro @@ -17,6 +17,15 @@ <group name="panda_arm" /> <group name="hand" /> </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"> <joint name="panda_finger_joint1" value="0.035" /> <joint name="panda_finger_joint2" value="0.035" /> @@ -26,7 +35,7 @@ <joint name="panda_finger_joint2" value="0" /> </group_state> <!--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 link1="panda_hand" link2="panda_link3" reason="Never" /> <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" /> diff --git a/config/panda_controllers.yaml b/config/panda_controllers.yaml index e47d6f20329cffdf9e2b331fe0638f3cfa6c81e3..efb03021c0aff383ac788786723b350af7a04d05 100644 --- a/config/panda_controllers.yaml +++ b/config/panda_controllers.yaml @@ -1,5 +1,5 @@ controller_list: - - name: position_joint_trajectory_controller + - name: panda_arm_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true diff --git a/config/panda_gripper_controllers.yaml b/config/panda_gripper_controllers.yaml index 76aa3ecd20b53f8a9d43744037edd6db9400eda8..05fffbba6989a9779a7e4e9c9d811ca34dd39d0b 100644 --- a/config/panda_gripper_controllers.yaml +++ b/config/panda_gripper_controllers.yaml @@ -1,5 +1,5 @@ controller_list: - - name: position_joint_trajectory_controller + - name: panda_arm_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true @@ -11,9 +11,9 @@ - panda_joint5 - panda_joint6 - panda_joint7 - - name: franka_gripper - action_ns: gripper_action - type: GripperCommand + - name: panda_hand_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory default: true joints: - panda_finger_joint1 diff --git a/launch/chomp_planning_pipeline.launch.xml b/launch/chomp_planning_pipeline.launch.xml index 456cbe27294cafd7a4a65b816aba637f7a88aba8..98f768b19c630a2f98e06db33abf435f92aefdbf 100644 --- a/launch/chomp_planning_pipeline.launch.xml +++ b/launch/chomp_planning_pipeline.launch.xml @@ -9,9 +9,9 @@ default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints - default_planner_request_adapters/ResolveConstraintFrames default_planner_request_adapters/AddTimeParameterization" /> + <!-- default_planner_request_adapters/ResolveConstraintFrames --> <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" /> diff --git a/launch/moveit.rviz b/launch/moveit.rviz index 9a49749803dd5534189e2c9d266fab209820a990..246020cfcd0d6f93967dc4c9d3b54841eb8ce630 100644 --- a/launch/moveit.rviz +++ b/launch/moveit.rviz @@ -4,10 +4,9 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /MarkerArray1 - - /PlanningScene1/Scene Robot1 - Splitter Ratio: 0.742560029 - Tree Height: 408 + - /MotionPlanning1 + Splitter Ratio: 0.7425600290298462 + Tree Height: 703 - Class: rviz/Help Name: Help - Class: rviz/Views @@ -15,8 +14,10 @@ Panels: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz_visual_tools/RvizVisualToolsGui - Name: RvizVisualToolsGui +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -26,7 +27,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.0299999993 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -38,109 +39,137 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: <Fixed Frame> Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /rviz_visual_tools - Name: MarkerArray - Namespaces: - Cylinder: true - Sphere: true - Text: true - goal: true - start: true - Queue Size: 100 - Value: true - - Class: moveit_rviz_plugin/Trajectory - Color Enabled: false - Enabled: true - 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_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 - Show Axes: false - Show Trail: false - Value: true - panda_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - panda_rightfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Loop Animation: false - Name: Trajectory - Robot Alpha: 0.5 - Robot Color: 150; 50; 150 - Robot Description: robot_description - Show Robot Collision: false - Show Robot Visual: true - Show Trail: false - State Display Time: 0.05 s - Trail Step Size: 1 - Trajectory Topic: /move_group/display_planned_path - Value: true - - Class: moveit_rviz_plugin/PlanningScene + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning Enabled: true Move Group Namespace: "" - Name: PlanningScene - Planning Scene Topic: /move_group/monitored_planning_scene + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: true + 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 + 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_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 + Show Axes: false + Show Trail: false + Value: true + panda_link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + panda_link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + panda_link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + panda_link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + panda_link8: + Alpha: 1 + Show Axes: false + Show Trail: false + panda_rightfinger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Loop Animation: true + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + 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 Scene Geometry: - Scene Alpha: 0.899999976 + Scene Alpha: 1 Scene Color: 50; 230; 50 - Scene Display Time: 0.200000003 + Scene Display Time: 0.20000000298023224 Show Scene Geometry: true Voxel Coloring: Z-Axis Voxel Rendering: Occupied Voxels @@ -211,10 +240,15 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - Robot Alpha: 1 + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 0.5 Show Robot Collision: false Show Robot Visual: true Value: true + Velocity_Scaling_Factor: 1 Enabled: true Global Options: Background Color: 48; 48; 48 @@ -227,46 +261,45 @@ Visualization Manager: Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - - Class: rviz_visual_tools/KeyTool Value: true Views: Current: Class: rviz/XYOrbit - Distance: 2.82759404 + Distance: 2.996500015258789 Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.113567002 - Y: 0.105920002 - Z: 2.23518001e-07 + X: 0.11356700211763382 + Y: 0.10592000186443329 + Z: 2.2351800055275817e-7 Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 + Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.470203578 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5097969770431519 Target Frame: panda_link0 Value: XYOrbit (rviz) - Yaw: 6.06496 + Yaw: 5.659949779510498 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 741 + Height: 1406 Help: collapsed: false Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000001000000000000017800000282fc020000000efb000000100044006900730070006c006100790073010000004200000232000000dc00fffffffb0000000800480065006c00700000000342000000bb0000007500fffffffb0000000a00560069006500770073000000026d000000b5000000b500fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000294000002410000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c0073004700750069010000027a0000004a0000004800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb000000120020002d00200053006c006900640065007201000002df000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004800ffffff000003d80000028200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - RvizVisualToolsGui: + MotionPlanning: collapsed: false - Trajectory - Trajectory Slider: + MotionPlanning - Trajectory Slider: collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a200000528fc0200000007fb000000100044006900730070006c006100790073010000003b0000034e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072010000038f0000003f0000003f00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000003d40000018f0000018300ffffff000007580000052800000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false - Width: 1366 - X: 1906 - Y: 1440 + Width: 2560 + X: 0 + Y: 18 diff --git a/launch/ompl_planning_pipeline.launch.xml b/launch/ompl_planning_pipeline.launch.xml index 1f35f0d4588cb6c97fe52bc2d56dbadcd2536908..a77c229909ba942caadbbca144074d5fd2662fa3 100644 --- a/launch/ompl_planning_pipeline.launch.xml +++ b/launch/ompl_planning_pipeline.launch.xml @@ -10,9 +10,9 @@ default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints - default_planner_request_adapters/ResolveConstraintFrames default_planner_request_adapters/AddTimeParameterization" /> + <!-- default_planner_request_adapters/ResolveConstraintFrames --> <arg name="start_state_max_bounds_error" value="0.1" /> <param name="planning_plugin" value="$(arg planning_plugin)" /> diff --git a/launch/panda_moveit.launch b/launch/panda_moveit.launch index 8559413cc2ad49c7d4deec9f2d219794fdbd3dca..2d2ea18da0b0061a68e862f308bc5b3c50fecdb8 100644 --- a/launch/panda_moveit.launch +++ b/launch/panda_moveit.launch @@ -2,7 +2,7 @@ <launch> <arg name="load_gripper" default="true" /> - <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="position_joint_trajectory_controller"/> + <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="panda_arm_controller"/> <include file="$(find panda_moveit_config)/launch/move_group.launch"> <arg name="load_gripper" value="$(arg load_gripper)" />