Make example MoveIt 2 configuration package(s) available

[gavanderhoorn]

MoveIt 2 is non-trivial to configure.

Especially when not using ros2_control, as almost all available documentation and examples assume ros2_control is being used.

We give some hint(s) in the README (Usage - With MoveIt), but that's really rather minimal, and assumes an already working MoveIt 2 configuration package has been created, and just needs to be modified for use with MotoROS2.

Providing an example, known good configuration package would help users set up something for their own / other robots.

[gavanderhoorn]

Note: while the default would probably be Python launch files, XML based launch files are still supported, and might be easier to understand.

Python launch files can quickly become very complex, especially since they don't directly get executed, but model a declarative description of what launch_ros should start when invoked.

[ted-miller]

@Aaron-Levan, did you keep any of your previous work on this topic?

[Aaron-Levan]

@Aaron-Levan, did you keep any of your previous work on this topic?

No, I had everything in a VM that is, unfortunately, no longer with us...

[gavanderhoorn]

I keep putting this on my TODO, but it's too long already ..

I have working package(s) for my GP25 + TSL1000, but it's for / from a very old version of MoveIt and not really suited for distribution.

[Skoven]

Hi,

We have a GP25 in our lab that we have managed to get the MotoRos2 driver running on it.
So far we don't have a working Moveit Config for it.
Is there any news on this topic, or has anyone else to managed to put together their own Motoman Ros2 Moveit Configs?

Best Regards
Jens Skov Damgaard

[gavanderhoorn]

Unfortunately I haven't had time to look into this yet.

It shouldn't be too much work to put something together, but as I have a basic setup working, it hasn't been a priority for me so far.

The main thing to keep in mind is ros2_control is not used at all, so the majority of the .yaml the MoveIt Setup Assistant generates relating to the driver interface will not be usable. I typically just remove it and replace it with what is needed, which is a single action server client configured with the correct joint names.

I'll see if I can dig that out and post it here later.

[drolleigh]

Hello,
I have a simple moveit 2 config package for a Motoman gp25-12. I have motoROS2 successfully installed on the YRC1000 controller, and it is publishing the joint states that match the prepended group name. And it is broadcasting TFs with R1 as the namespace. The TFs appear to be accurate to the physical state of the robot.

How do I make the moveit 2 launch files talk to motoROS2 on the robot controller?

Any help is appreciated,
-D

[gavanderhoorn]

We have some info in Usage - with MoveIt. Would that be enough?

Note that MoveIt will not care about TF. It ignores it completely for basic usage.

[akashjinandra]

We are more wondering, what moveit files need to be launched. With ROS 1 we had followed the example of planning execution launch that was provided by the ROS industrial group: http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot?action=AttachFile&do=view&target=moveit_planning_execution.launch.txt. I'm wondering now if there is a similar setup for motoros2. The MSA(moveit setup assistant) generates many files, but we aren't sure which one to launch when running with real robots.

[gavanderhoorn]

I keep saying I'll try to make something available, but due to time constraints, I never get to it.

So I can't / don't want to promise anything, but I'll again try to look into it.

As I wrote above: the majority of the output of the MSA, at least when it comes to configuring the the driver interface can be ignored, as it's all ros_control focused.