update panda config from templates

re-generated from MSA with adapted templates see moveit 99c059f
moveit · Oct 20, 2020 · 28ede2a · 28ede2a
1 parent 2551e93
commit 28ede2a
Show file tree

Hide file tree

Showing 8 changed files with 110 additions and 52 deletions.
diff --git a/panda_moveit_config/config/cartesian_limits.yaml b/panda_moveit_config/config/cartesian_limits.yaml
@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57
diff --git a/panda_moveit_config/config/joint_limits.yaml b/panda_moveit_config/config/joint_limits.yaml
@@ -46,10 +46,10 @@ joint_limits:
   panda_finger_joint1:
     has_velocity_limits: true
     max_velocity: 0.1
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 0.1
   panda_finger_joint2:
     has_velocity_limits: true
     max_velocity: 0.1
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 0.1
diff --git a/panda_moveit_config/launch/chomp_planning_pipeline.launch.xml b/panda_moveit_config/launch/chomp_planning_pipeline.launch.xml
@@ -1,17 +1,30 @@
 <launch>
-   <!-- CHOMP Plugin for MoveIt! -->
-   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
-   <arg name="start_state_max_bounds_error" value="0.1" />
+  <!-- CHOMP Plugin for MoveIt -->
+  <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
 
-   <param name="planning_plugin" value="$(arg planning_plugin)" />
-   <param name="request_adapters" value="
-       default_planner_request_adapters/AddTimeParameterization
-       default_planner_request_adapters/FixWorkspaceBounds
-       default_planner_request_adapters/FixStartStateBounds
-       default_planner_request_adapters/FixStartStateCollision
-       default_planner_request_adapters/FixStartStatePathConstraints"
-       />
-   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <!-- define capabilites that are loaded on start (space seperated) -->
+  <arg name="capabilities" default=""/>
 
-   <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/chomp_planning.yaml" />
+  <!-- inhibit capabilites (space seperated) -->
+  <arg name="disable_capabilities" default=""/>
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+  <!-- The request adapters (plugins) used when planning.
+       ORDER MATTERS -->
+  <arg name="planning_adapters"
+       value="default_planner_request_adapters/AddTimeParameterization
+              default_planner_request_adapters/ResolveConstraintFrames
+              default_planner_request_adapters/FixWorkspaceBounds
+              default_planner_request_adapters/FixStartStateBounds
+              default_planner_request_adapters/FixStartStateCollision
+              default_planner_request_adapters/FixStartStatePathConstraints"
+              />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="capabilities" value="$(arg capabilities)" />
+  <param name="disable_capabilities" value="$(arg disable_capabilities)" />
+
+  <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/chomp_planning.yaml" />
 </launch>
diff --git a/panda_moveit_config/launch/move_group.launch b/panda_moveit_config/launch/move_group.launch
@@ -6,8 +6,6 @@
     <arg name="load_gripper" value="$(arg load_gripper)" />
   </include>
 
-  <arg name="pipeline" default="ompl" />
-
   <!-- GDB Debug Option -->
   <arg name="debug" default="false" />
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
@@ -20,15 +18,43 @@
   <arg     if="$(arg info)" name="command_args" value="--debug" />
 
   <!-- move_group settings -->
+  <arg name="pipeline" default="ompl" />
   <arg name="allow_trajectory_execution" default="true"/>
   <arg name="fake_execution" default="false"/>
+  <arg name="execution_type" default="interpolate"/> <!-- set to 'last point' to skip intermediate trajectory in fake execution -->
   <arg name="max_safe_path_cost" default="1"/>
   <arg name="jiggle_fraction" default="0.05" />
   <arg name="publish_monitored_planning_scene" default="true"/>
 
+  <arg name="capabilities" default=""/>
+  <arg name="disable_capabilities" default=""/>
+  <!-- load these non-default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="capabilities" value="
+                a_package/AwsomeMotionPlanningCapability
+                another_package/GraspPlanningPipeline
+                " />
+  -->
+
+  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="disable_capabilities" value="
+                move_group/MoveGroupKinematicsService
+                move_group/ClearOctomapService
+                " />
+  -->
+
+  <arg name="load_robot_description" default="true" />
+  <!-- load URDF, SRDF and joint_limits configuration -->
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="$(arg load_robot_description)" />
+  </include>
+
   <!-- Planning Functionality -->
   <include ns="move_group" file="$(find moveit_resources_panda_moveit_config)/launch/planning_pipeline.launch.xml">
     <arg name="pipeline" value="$(arg pipeline)" />
+    <param name="capabilities" value="$(arg capabilities)"/>
+    <param name="disable_capabilities" value="$(arg disable_capabilities)"/>
   </include>
 
   <!-- Trajectory Execution Functionality -->
@@ -37,6 +63,7 @@
     <arg name="moveit_controller_manager" value="panda" if="$(eval not arg('fake_execution') and not arg('load_gripper'))"/>
     <arg name="moveit_controller_manager" value="panda_gripper" if="$(eval not arg('fake_execution') and arg('load_gripper'))"/>
     <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+    <arg name="execution_type" value="$(arg execution_type)" />
   </include>
 
   <!-- Sensors Functionality -->
@@ -53,21 +80,6 @@
     <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
     <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-    <!-- load these non-default MoveGroup capabilities -->
-    <!--
-    <param name="capabilities" value="
-                  a_package/AwsomeMotionPlanningCapability
-                  another_package/GraspPlanningPipeline
-                  " />
-    -->
-
-    <!-- inhibit these default MoveGroup capabilities -->
-    <!--
-    <param name="disable_capabilities" value="
-                  move_group/MoveGroupKinematicsService
-                  move_group/ClearOctomapService
-                  " />
-    -->
 
     <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
     <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />

diff --git a/panda_moveit_config/launch/ompl_planning_pipeline.launch.xml b/panda_moveit_config/launch/ompl_planning_pipeline.launch.xml
@@ -1,23 +1,32 @@
 <launch>
 
-  <!-- OMPL Plugin for MoveIt! -->
+  <!-- OMPL Plugin for MoveIt -->
   <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
 
-  <!-- The request adapters (plugins) used when planning with OMPL. 
+  <!-- define capabilites that are loaded on start (space seperated) -->
+  <arg name="capabilities" default=""/>
+
+  <!-- inhibit capabilites (space seperated) -->
+  <arg name="disable_capabilities" default=""/>
+
+  <!-- The request adapters (plugins) used when planning with OMPL.
        ORDER MATTERS -->
-  <arg name="planning_adapters" default="
-       default_planner_request_adapters/AddTimeParameterization
-       default_planner_request_adapters/ResolveConstraintFrames
-       default_planner_request_adapters/FixWorkspaceBounds
-       default_planner_request_adapters/FixStartStateBounds
-       default_planner_request_adapters/FixStartStateCollision
-       default_planner_request_adapters/FixStartStatePathConstraints"
-       />
+  <arg name="planning_adapters"
+       value="default_planner_request_adapters/AddTimeParameterization
+              default_planner_request_adapters/ResolveConstraintFrames
+              default_planner_request_adapters/FixWorkspaceBounds
+              default_planner_request_adapters/FixStartStateBounds
+              default_planner_request_adapters/FixStartStateCollision
+              default_planner_request_adapters/FixStartStatePathConstraints"
+              />
+
   <arg name="start_state_max_bounds_error" value="0.1" />
 
   <param name="planning_plugin" value="$(arg planning_plugin)" />
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="capabilities" value="$(arg capabilities)" />
+  <param name="disable_capabilities" value="$(arg disable_capabilities)" />
 
   <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/ompl_planning.yaml"/>
 

diff --git a/panda_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/panda_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -1,19 +1,28 @@
 <launch>
 
-  <!-- Pilz Command Planner Plugin for MoveIt! -->
+  <!-- Pilz Command Planner Plugin for MoveIt -->
   <arg name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
 
+  <!-- The request adapters (plugins) used when planning.
+       ORDER MATTERS -->
   <arg name="planning_adapters" value="" />
 
+  <!-- define capabilites that are loaded on start (space seperated) -->
+  <arg name="capabilities" default=""/>
+
+  <!-- inhibit capabilites (space seperated) -->
+  <arg name="disable_capabilities" default=""/>
+
   <arg name="start_state_max_bounds_error" value="0.1" />
 
   <param name="planning_plugin" value="$(arg planning_plugin)" />
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
 
-
-  <!-- MoveGroup capabilities to load -->
-  <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
+  <!-- MoveGroup capabilities to load, append sequence capability -->
+  <param name="capabilities" value="$(arg capabilities)
+                                    pilz_industrial_motion_planner/MoveGroupSequenceAction
                                     pilz_industrial_motion_planner/MoveGroupSequenceService
-                    " />
+                                   " />
+  <param name="disable_capabilities" value="$(arg disable_capabilities)" />
 </launch>
diff --git a/panda_moveit_config/launch/planning_context.launch b/panda_moveit_config/launch/planning_context.launch
@@ -17,6 +17,7 @@
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
     <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find moveit_resources_panda_moveit_config)/config/cartesian_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->

diff --git a/panda_moveit_config/launch/planning_pipeline.launch.xml b/panda_moveit_config/launch/planning_pipeline.launch.xml
@@ -1,10 +1,19 @@
 <launch>
 
-  <!-- This file makes it easy to include different planning pipelines; 
-       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->  
+  <!-- This file makes it easy to include different planning pipelines;
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
 
   <arg name="pipeline" default="ompl" />
 
-  <include file="$(find moveit_resources_panda_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+  <!-- define capabilites that are loaded on start (space seperated) -->
+  <arg name="capabilities" default=""/>
+
+  <!-- inhibit capabilites (space seperated) -->
+  <arg name="disable_capabilities" default=""/>
+
+  <include file="$(find moveit_resources_panda_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml">
+    <arg name="capabilities" value="$(arg capabilities)"/>
+    <arg name="disable_capabilities" value="$(arg disable_capabilities)"/>
+  </include>
 
 </launch>