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MoveIt! - Constraint-aware planning
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@erdalpekel
erdalpekel committed Mar 1, 2019
1 parent 8607de6 commit 060c90c
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5 changes: 5 additions & 0 deletions .clang-format
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@@ -0,0 +1,5 @@
BraceWrapping:
AfterFunction: false
ColumnLimit: 120
AllowShortBlocksOnASingleLine: true
AllowShortIfStatementsOnASingleLine: false
180 changes: 17 additions & 163 deletions CMakeLists.txt
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Expand Up @@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 2.8.3)
project(panda_simulation)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
add_compile_options(-std=c++14)
set(GCC_COVERAGE_COMPILE_FLAGS "-fpermissive")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GCC_COVERAGE_COMPILE_FLAGS} ${GAZEBO_CXX_FLAGS}" )

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
Expand All @@ -19,102 +21,29 @@ find_package(catkin REQUIRED COMPONENTS
std_msgs
tf
xacro
moveit_core
moveit_visual_tools
moveit_ros_planning
moveit_ros_planning_interface
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(Boost REQUIRED COMPONENTS filesystem)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
find_package(PkgConfig REQUIRED)
pkg_check_modules(JSONCPP jsoncpp)
message(${JSONCPP_LIBRARIES})

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES panda_simulation
# CATKIN_DEPENDS controller_manager effort_controllers gazebo_ros joint_state_controller joint_state_publisher joint_trajectory_controller robot_state_publisher roscpp std_msgs tf xacro
# DEPENDS system_lib
CATKIN_DEPENDS
moveit_core
moveit_visual_tools
moveit_ros_planning_interface
)

###########
Expand All @@ -124,84 +53,9 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/panda_simulation.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/panda_simulation_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_panda_simulation.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
add_executable(robot_control_node src/robot_control_node.cpp)

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
target_link_libraries(robot_control_node ${catkin_LIBRARIES} boost_filesystem ${JSONCPP_LIBRARIES})
6 changes: 5 additions & 1 deletion README.md
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Expand Up @@ -3,7 +3,7 @@
This package was built for ROS melodic running under Ubuntu 18.04. Run the following command to make sure that all additional packages are installed:

```
sudo apt-get install ros-melodic-moveit-ros-move-group ros-melodic-controller-manager* ros-melodic-moveit* ros-melodic-effort-controllers ros-melodic-joint-trajectory-controller ros-melodic-gazebo-ros* ros-melodic-rviz*
sudo apt-get install ros-melodic-moveit-ros-move-group ros-melodic-controller-manager* ros-melodic-moveit* ros-melodic-effort-controllers ros-melodic-joint-trajectory-controller ros-melodic-gazebo-ros* ros-melodic-rviz* libboost-filesystem-dev libjsoncpp-dev
```
It is also important that you build the *libfranka* library from source and pass its directory to *catkin_make* when building this ROS package as described in [this tutorial](https://frankaemika.github.io/docs/installation.html#building-from-source).

Expand All @@ -25,3 +25,7 @@ Otherwise, the robot will appear in rviz in a collapsed state.


You can see the full explanation in my [blog post](https://erdalpekel.de/?p=55).

## Extension: _MoveIt!_ constraint-aware planning

This repository was extended with a _MoveIt!_ planning where the motion planning pipeline avoids collision objects in the environment specified by the user in a separate directory (`~/.panda_simulation`) as _JSON_ files. You can read more about it in the accompanying [blog post](https://erdalpekel.de/?p=123).
3 changes: 3 additions & 0 deletions launch/simulation.launch
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Expand Up @@ -39,5 +39,8 @@
<include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />

<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" />

</launch>
37 changes: 5 additions & 32 deletions package.xml
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Expand Up @@ -16,38 +16,6 @@
<license>TODO</license>


<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/panda_simulation</url> -->


<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->


<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>controller_manager</build_depend>
<build_depend>effort_controllers</build_depend>
Expand Down Expand Up @@ -83,6 +51,11 @@
<exec_depend>tf</exec_depend>
<exec_depend>xacro</exec_depend>

<!-- CUSTOM -->
<depend>moveit_core</depend>
<depend>moveit_ros_planning_interface</depend>
<depend>moveit_perception</depend>
<depend>moveit_visual_tools</depend>

<!-- The export tag contains other, unspecified, tags -->
<export>
Expand Down

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