Rename cartesian_limits.yaml

moveit2.repos

@@ -1 +1,10 @@
 repositories:
+  # https://github.com/ros-planning/moveit_resources/pull/147
+  moveit_resources:
+    type: git
+    url: https://github.com/ros-planning/moveit_resources.git
+    version: ros2
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: 2.12.0

moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py

@@ -13,9 +13,8 @@
         joint_limits.yaml -> Overriding position/velocity/acceleration limits from the URDF file
         moveit_cpp.yaml -> MoveItCpp related parameters
         *_planning.yaml -> planning pipelines parameters
-        cartesian_limits.yaml -> Pilz planner parameters
-        # TODO(JafarAbdi): Check to see if this is a good default value
-        robot_name_controllers.yaml -> trajectory execution manager's parameters
+        pilz_cartesian_limits.yaml -> Pilz planner parameters
+        moveit_controllers.yaml -> trajectory execution manager's parameters
         ...
 
 Example:
@@ -32,7 +31,7 @@
     moveit_configs.move_group_capabilities
     moveit_configs.joint_limits
     moveit_configs.moveit_cpp
-    moveit_configs.cartesian_limits
+    moveit_configs.pilz_cartesian_limits
     # Or to get all the parameters as a dictionary
     moveit_configs.to_dict()
 
@@ -112,7 +111,7 @@ class MoveItConfigs:
     # A dictionary containing MoveItCpp related parameters.
     moveit_cpp: Dict = field(default_factory=dict)
     # A dictionary containing the cartesian limits for the Pilz planner.
-    cartesian_limits: Dict = field(default_factory=dict)
+    pilz_cartesian_limits: Dict = field(default_factory=dict)
 
     def to_dict(self):
         parameters = {}
@@ -125,7 +124,7 @@ def to_dict(self):
         parameters.update(self.sensors_3d)
         parameters.update(self.joint_limits)
         parameters.update(self.moveit_cpp)
-        parameters.update(self.cartesian_limits)
+        parameters.update(self.pilz_cartesian_limits)
         return parameters
 
 
@@ -425,17 +424,25 @@ def planning_pipelines(
 
         return self
 
-    def cartesian_limits(self, file_path: Optional[str] = None):
+    def pilz_cartesian_limits(self, file_path: Optional[str] = None):
         """Load cartesian limits.
 
         :param file_path: Absolute or relative path to the cartesian limits file (w.r.t. robot_name_moveit_config).
-        :return: Instance of MoveItConfigsBuilder with cartesian_limits loaded.
+        :return: Instance of MoveItConfigsBuilder with pilz_cartesian_limits loaded.
         """
-        self.__moveit_configs.cartesian_limits = {
+        deprecated_path = self._package_path / (
+            file_path or self.__config_dir_path / "cartesian_limits.yaml"
+        )
+        if deprecated_path.exists():
+            logging.warning(
+                f"\x1b[33;21mcartesian_limits.yaml is deprecated, please rename to pilz_cartesian_limits.yaml\x1b[0m"
+            )
+
+        self.__moveit_configs.pilz_cartesian_limits = {
             self.__robot_description
             + "_planning": load_yaml(
                 self._package_path
-                / (file_path or self.__config_dir_path / "cartesian_limits.yaml")
+                / (file_path or self.__config_dir_path / "pilz_cartesian_limits.yaml")
             )
         }
         return self
@@ -464,8 +471,8 @@ def to_moveit_configs(self):
         # TODO(JafarAbdi): We should have a default moveit_cpp.yaml as port of a moveit config package
         # if not self.__moveit_configs.moveit_cpp:
         #     self.moveit_cpp()
-        if not self.__moveit_configs.cartesian_limits:
-            self.cartesian_limits()
+        if not self.__moveit_configs.pilz_cartesian_limits:
+            self.pilz_cartesian_limits()
         return self.__moveit_configs
 
     def to_dict(self, include_moveit_configs: bool = True):

moveit_planners/pilz_industrial_motion_planner/test/unit_tests/launch/common_parameters.py

@@ -51,7 +51,7 @@ def load_moveit_config():
     robot_description_semantic_file = "config/prbt.srdf.xacro"
     robot_description_kinematics_file = "config/kinematics.yaml"
     joint_limits_file = "config/joint_limits.yaml"
-    cartesian_limits_file = "config/cartesian_limits.yaml"
+    pilz_cartesian_limits_file = "config/pilz_cartesian_limits.yaml"
     # TODO(henningkayser): Switch to MoveItConfigsBuilder once #591 is merged
     # return (
     #     MoveItConfigsBuilder(moveit_config_package_name)
@@ -62,7 +62,7 @@ def load_moveit_config():
     #     .robot_description_semantic(file_path=robot_description_semantic_file)
     #     .robot_description_kinematics(file_path=robot_description_kinematics_file)
     #     .joint_limits(file_path=joint_limits_file)
-    #     .cartesian_limits(file_path=cartesian_limits_file)
+    #     .pilz_cartesian_limits(file_path=pilz_cartesian_limits_file)
     #     .to_moveit_configs()
     # )
 
@@ -98,7 +98,7 @@ def load_moveit_config():
     configs.robot_description_planning = {
         "robot_description_planning": {
             **load_yaml(moveit_config_package_name, joint_limits_file),
-            **load_yaml(moveit_config_package_name, cartesian_limits_file),
+            **load_yaml(moveit_config_package_name, pilz_cartesian_limits_file),
         }
     }
 

moveit_planners/test_configs/prbt_moveit_config/launch/demo.launch.py

@@ -59,13 +59,13 @@ def generate_launch_description():
     joint_limits_yaml = load_yaml(
         "moveit_resources_prbt_moveit_config", "config/joint_limits.yaml"
     )
-    cartesian_limits_yaml = load_yaml(
-        "moveit_resources_prbt_moveit_config", "config/cartesian_limits.yaml"
+    pilz_cartesian_limits_yaml = load_yaml(
+        "moveit_resources_prbt_moveit_config", "config/pilz_cartesian_limits.yaml"
     )
     robot_description_planning = {
         "robot_description_planning": {
             **joint_limits_yaml,
-            **cartesian_limits_yaml,
+            **pilz_cartesian_limits_yaml,
         }
     }
     kinematics_yaml = load_yaml(

moveit_planners/test_configs/prbt_support/urdf/prbt.ros2_control.xacro

@@ -6,7 +6,7 @@
 		<ros2_control name="${name}" type="system">
 			<hardware>
 				<xacro:if value="${use_fake_hardware}">
-					<plugin>fake_components/GenericSystem</plugin>
+					<plugin>mock_components/GenericSystem</plugin>
 					<param name="fake_sensor_commands">${fake_sensor_commands}</param>
 					<param name="state_following_offset">0.0</param>
 				</xacro:if>

moveit_setup_assistant/moveit_setup_controllers/templates/config/ros2_control.xacro

@@ -6,7 +6,7 @@
         <ros2_control name="${name}" type="system">
             <hardware>
                 <!-- By default, set up controllers for simulation. This won't work on real hardware -->
-                <plugin>fake_components/GenericSystem</plugin>
+                <plugin>mock_components/GenericSystem</plugin>
             </hardware>
 [ROS2_CONTROL_JOINTS]
         </ros2_control>

moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/srdf_config.hpp

@@ -59,7 +59,7 @@ enum InformationFields
 };
 
 static const std::string JOINT_LIMITS_FILE = "config/joint_limits.yaml";
-static const std::string CARTESIAN_LIMITS_FILE = "config/cartesian_limits.yaml";
+static const std::string CARTESIAN_LIMITS_FILE = "config/pilz_cartesian_limits.yaml";
 
 class SRDFConfig : public SetupConfig
 {

moveit_setup_assistant/moveit_setup_framework/templates/config/cartesian_limits.yaml → moveit_setup_assistant/moveit_setup_framework/templates/config/pilz_cartesian_limits.yaml

@@ -1,3 +1,4 @@
+# Limits for the Pilz planner
 cartesian_limits:
   max_trans_vel: 1.0
   max_trans_acc: 2.25