diff --git a/fanuc_moveit_config/config/chomp_planning.yaml b/fanuc_moveit_config/config/chomp_planning.yaml
index f98e1c53..96950bc6 100644
--- a/fanuc_moveit_config/config/chomp_planning.yaml
+++ b/fanuc_moveit_config/config/chomp_planning.yaml
@@ -1,3 +1,11 @@
+planning_plugin: chomp_interface/CHOMPPlanner
+request_adapters: >-
+ 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
+start_state_max_bounds_error: 0.1
planning_time_limit: 10.0
max_iterations: 200
max_iterations_after_collision_free: 5
diff --git a/fanuc_moveit_config/config/fake_controllers.yaml b/fanuc_moveit_config/config/fake_controllers.yaml
deleted file mode 100644
index 19cd38ef..00000000
--- a/fanuc_moveit_config/config/fake_controllers.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-controller_list:
- - name: fake_manipulator_controller
- joints:
- - joint_1
- - joint_2
- - joint_3
- - joint_4
- - joint_5
- - joint_6
-initial: # Define initial robot poses.
- - group: manipulator
- pose: all-zeros
diff --git a/fanuc_moveit_config/config/fanuc.ros2_control.xacro b/fanuc_moveit_config/config/fanuc.ros2_control.xacro
new file mode 100644
index 00000000..f9c2c58b
--- /dev/null
+++ b/fanuc_moveit_config/config/fanuc.ros2_control.xacro
@@ -0,0 +1,55 @@
+
+
+
+
+
+
+
+
+ fake_components/GenericSystem
+
+
+
+
+ ${initial_positions['joint_1']}
+
+
+
+
+
+
+ ${initial_positions['joint_2']}
+
+
+
+
+
+
+ ${initial_positions['joint_3']}
+
+
+
+
+
+
+ ${initial_positions['joint_4']}
+
+
+
+
+
+
+ ${initial_positions['joint_5']}
+
+
+
+
+
+
+ ${initial_positions['joint_6']}
+
+
+
+
+
+
diff --git a/fanuc_moveit_config/config/fanuc.urdf.xacro b/fanuc_moveit_config/config/fanuc.urdf.xacro
new file mode 100644
index 00000000..c2077df3
--- /dev/null
+++ b/fanuc_moveit_config/config/fanuc.urdf.xacro
@@ -0,0 +1,12 @@
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/fanuc_moveit_config/config/initial_positions.yaml b/fanuc_moveit_config/config/initial_positions.yaml
new file mode 100644
index 00000000..842abde6
--- /dev/null
+++ b/fanuc_moveit_config/config/initial_positions.yaml
@@ -0,0 +1,8 @@
+# Default initial positions for the FANUC arm's ros2_control fake system
+initial_positions:
+ joint_1: 0.0
+ joint_2: 0.0
+ joint_3: 0.0
+ joint_4: 0.0
+ joint_5: 0.0
+ joint_6: 0.0
diff --git a/fanuc_moveit_config/config/moveit_controllers.yaml b/fanuc_moveit_config/config/moveit_controllers.yaml
new file mode 100644
index 00000000..96e83ac3
--- /dev/null
+++ b/fanuc_moveit_config/config/moveit_controllers.yaml
@@ -0,0 +1,23 @@
+# MoveIt uses this configuration for controller management
+trajectory_execution:
+ allowed_execution_duration_scaling: 1.2
+ allowed_goal_duration_margin: 0.5
+ allowed_start_tolerance: 0.01
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+ controller_names:
+ - fanuc_controller
+
+ fanuc_controller:
+ action_ns: follow_joint_trajectory
+ type: FollowJointTrajectory
+ default: true
+ joints:
+ - joint_1
+ - joint_2
+ - joint_3
+ - joint_4
+ - joint_5
+ - joint_6
diff --git a/fanuc_moveit_config/config/ompl_planning.yaml b/fanuc_moveit_config/config/ompl_planning.yaml
index 96d846b6..9076dd64 100644
--- a/fanuc_moveit_config/config/ompl_planning.yaml
+++ b/fanuc_moveit_config/config/ompl_planning.yaml
@@ -1,3 +1,12 @@
+planning_plugin: ompl_interface/OMPLPlanner
+request_adapters: >-
+ default_planner_request_adapters/AddTimeOptimalParameterization
+ 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
+start_state_max_bounds_error: 0.1
planner_configs:
AnytimePathShortening:
type: geometric::AnytimePathShortening
diff --git a/fanuc_moveit_config/config/ros2_controllers.yaml b/fanuc_moveit_config/config/ros2_controllers.yaml
new file mode 100644
index 00000000..f70562e6
--- /dev/null
+++ b/fanuc_moveit_config/config/ros2_controllers.yaml
@@ -0,0 +1,26 @@
+# This config file is used by ros2_control
+controller_manager:
+ ros__parameters:
+ update_rate: 100 # Hz
+
+ fanuc_controller:
+ type: joint_trajectory_controller/JointTrajectoryController
+
+ joint_state_broadcaster:
+ type: joint_state_broadcaster/JointStateBroadcaster
+
+
+fanuc_controller:
+ ros__parameters:
+ command_interfaces:
+ - position
+ state_interfaces:
+ - position
+ - velocity
+ joints:
+ - joint_1
+ - joint_2
+ - joint_3
+ - joint_4
+ - joint_5
+ - joint_6
diff --git a/fanuc_moveit_config/config/ros_controllers.yaml b/fanuc_moveit_config/config/ros_controllers.yaml
deleted file mode 100644
index 1806f48d..00000000
--- a/fanuc_moveit_config/config/ros_controllers.yaml
+++ /dev/null
@@ -1,35 +0,0 @@
-# Simulation settings for using moveit_sim_controllers
-moveit_sim_hw_interface:
- joint_model_group: manipulator
- joint_model_group_pose: all-zeros
-# Settings for ros_control_boilerplate control loop
-generic_hw_control_loop:
- loop_hz: 300
- cycle_time_error_threshold: 0.01
-# Settings for ros_control hardware interface
-hardware_interface:
- joints:
- - joint_1
- - joint_2
- - joint_3
- - joint_4
- - joint_5
- - joint_6
- sim_control_mode: 1 # 0: position, 1: velocity
-# Publish all joint states
-# Creates the /joint_states topic necessary in ROS
-joint_state_broadcaster:
- type: joint_state_broadcaster/JointStateBroadcaster
- publish_rate: 50
-controller_list:
- - name: manipulator_controller
- action_ns: follow_joint_trajectory
- default: True
- type: FollowJointTrajectory
- joints:
- - joint_1
- - joint_2
- - joint_3
- - joint_4
- - joint_5
- - joint_6
diff --git a/fanuc_moveit_config/launch/chomp_planning_pipeline.launch.xml b/fanuc_moveit_config/launch/chomp_planning_pipeline.launch.xml
deleted file mode 100644
index d0e8dd37..00000000
--- a/fanuc_moveit_config/launch/chomp_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-
-
-
-
-
-
-
-
-
-
diff --git a/fanuc_moveit_config/launch/default_warehouse_db.launch b/fanuc_moveit_config/launch/default_warehouse_db.launch
deleted file mode 100644
index e588849e..00000000
--- a/fanuc_moveit_config/launch/default_warehouse_db.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
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-
-
diff --git a/fanuc_moveit_config/launch/demo.launch b/fanuc_moveit_config/launch/demo.launch
deleted file mode 100644
index d577b415..00000000
--- a/fanuc_moveit_config/launch/demo.launch
+++ /dev/null
@@ -1,62 +0,0 @@
-
-
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- [move_group/fake_controller_joint_states]
-
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diff --git a/fanuc_moveit_config/launch/demo.launch.py b/fanuc_moveit_config/launch/demo.launch.py
new file mode 100644
index 00000000..e17d51bb
--- /dev/null
+++ b/fanuc_moveit_config/launch/demo.launch.py
@@ -0,0 +1,122 @@
+import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition, UnlessCondition
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
+from ament_index_python.packages import get_package_share_directory
+from moveit_configs_utils import MoveItConfigsBuilder
+
+
+def generate_launch_description():
+
+ # Command-line arguments
+ db_arg = DeclareLaunchArgument(
+ "db", default_value="False", description="Database flag"
+ )
+
+ moveit_config = (
+ MoveItConfigsBuilder("moveit_resources_fanuc")
+ .robot_description(file_path="config/fanuc.urdf.xacro")
+ .robot_description_semantic(file_path="config/fanuc.srdf")
+ .trajectory_execution(file_path="config/moveit_controllers.yaml")
+ .to_moveit_configs()
+ )
+
+ # Start the actual move_group node/action server
+ run_move_group_node = Node(
+ package="moveit_ros_move_group",
+ executable="move_group",
+ output="screen",
+ parameters=[moveit_config.to_dict()],
+ )
+
+ # RViz
+ rviz_base = os.path.join(
+ get_package_share_directory("moveit_resources_fanuc_moveit_config"), "launch"
+ )
+ rviz_full_config = os.path.join(rviz_base, "moveit.rviz")
+
+ rviz_node = Node(
+ package="rviz2",
+ executable="rviz2",
+ name="rviz2",
+ output="log",
+ arguments=["-d", rviz_full_config],
+ parameters=[
+ moveit_config.robot_description,
+ moveit_config.robot_description_semantic,
+ moveit_config.planning_pipelines,
+ moveit_config.robot_description_kinematics,
+ ],
+ )
+
+ # Static TF
+ static_tf = Node(
+ package="tf2_ros",
+ executable="static_transform_publisher",
+ name="static_transform_publisher",
+ output="log",
+ arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "base_link"],
+ )
+
+ # Publish TF
+ robot_state_publisher = Node(
+ package="robot_state_publisher",
+ executable="robot_state_publisher",
+ name="robot_state_publisher",
+ output="both",
+ parameters=[moveit_config.robot_description],
+ )
+
+ # ros2_control using FakeSystem as hardware
+ ros2_controllers_path = os.path.join(
+ get_package_share_directory("moveit_resources_fanuc_moveit_config"),
+ "config",
+ "ros2_controllers.yaml",
+ )
+ ros2_control_node = Node(
+ package="controller_manager",
+ executable="ros2_control_node",
+ parameters=[moveit_config.robot_description, ros2_controllers_path],
+ output="both",
+ )
+
+ # Load controllers
+ load_controllers = []
+ for controller in ["fanuc_controller", "joint_state_broadcaster"]:
+ load_controllers += [
+ ExecuteProcess(
+ cmd=["ros2 run controller_manager spawner {}".format(controller)],
+ shell=True,
+ output="screen",
+ )
+ ]
+
+ # Warehouse mongodb server
+ db_config = LaunchConfiguration("db")
+ mongodb_server_node = Node(
+ package="warehouse_ros_mongo",
+ executable="mongo_wrapper_ros.py",
+ parameters=[
+ {"warehouse_port": 33829},
+ {"warehouse_host": "localhost"},
+ {"warehouse_plugin": "warehouse_ros_mongo::MongoDatabaseConnection"},
+ ],
+ output="screen",
+ condition=IfCondition(db_config),
+ )
+
+ return LaunchDescription(
+ [
+ db_arg,
+ rviz_node,
+ static_tf,
+ robot_state_publisher,
+ run_move_group_node,
+ ros2_control_node,
+ mongodb_server_node,
+ ]
+ + load_controllers
+ )
diff --git a/fanuc_moveit_config/launch/demo_chomp.launch b/fanuc_moveit_config/launch/demo_chomp.launch
deleted file mode 100644
index 797d3225..00000000
--- a/fanuc_moveit_config/launch/demo_chomp.launch
+++ /dev/null
@@ -1,48 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- [/move_group/fake_controller_joint_states]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
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-
diff --git a/fanuc_moveit_config/launch/demo_gazebo.launch b/fanuc_moveit_config/launch/demo_gazebo.launch
deleted file mode 100644
index f9d704d1..00000000
--- a/fanuc_moveit_config/launch/demo_gazebo.launch
+++ /dev/null
@@ -1,70 +0,0 @@
-
-
-
-
-
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-
-
-
- [/joint_states]
-
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-
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-
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-
-
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-
-
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diff --git a/fanuc_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/fanuc_moveit_config/launch/fake_moveit_controller_manager.launch.xml
deleted file mode 100644
index 8a44cf5e..00000000
--- a/fanuc_moveit_config/launch/fake_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-
-
-
-
-
-
-
-
-
diff --git a/fanuc_moveit_config/launch/fanuc_moveit_controller_manager.launch.xml b/fanuc_moveit_config/launch/fanuc_moveit_controller_manager.launch.xml
deleted file mode 100644
index ac5e62be..00000000
--- a/fanuc_moveit_config/launch/fanuc_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-
-
-
-
-
-
-
-
-
diff --git a/fanuc_moveit_config/launch/fanuc_moveit_sensor_manager.launch.xml b/fanuc_moveit_config/launch/fanuc_moveit_sensor_manager.launch.xml
deleted file mode 100644
index 5d02698d..00000000
--- a/fanuc_moveit_config/launch/fanuc_moveit_sensor_manager.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-
-
-
diff --git a/fanuc_moveit_config/launch/gazebo.launch b/fanuc_moveit_config/launch/gazebo.launch
deleted file mode 100644
index 85f9ff9f..00000000
--- a/fanuc_moveit_config/launch/gazebo.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-
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-
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diff --git a/fanuc_moveit_config/launch/joystick_control.launch b/fanuc_moveit_config/launch/joystick_control.launch
deleted file mode 100644
index 9411f6e6..00000000
--- a/fanuc_moveit_config/launch/joystick_control.launch
+++ /dev/null
@@ -1,17 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
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-
diff --git a/fanuc_moveit_config/launch/move_group.launch b/fanuc_moveit_config/launch/move_group.launch
deleted file mode 100644
index b6b02dcd..00000000
--- a/fanuc_moveit_config/launch/move_group.launch
+++ /dev/null
@@ -1,82 +0,0 @@
-
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diff --git a/fanuc_moveit_config/launch/moveit.rviz b/fanuc_moveit_config/launch/moveit.rviz
index d411f27b..f1f2802c 100644
--- a/fanuc_moveit_config/launch/moveit.rviz
+++ b/fanuc_moveit_config/launch/moveit.rviz
@@ -1,15 +1,20 @@
Panels:
- - Class: rviz/Displays
- Help Height: 84
+ - Class: rviz_common/Displays
+ Help Height: 78
Name: Displays
Property Tree Widget:
- Expanded:
- - /MotionPlanning1
- Splitter Ratio: 0.74256
- Tree Height: 664
- - Class: rviz/Help
- Name: Help
- - Class: rviz/Views
+ Expanded: ~
+ Splitter Ratio: 0.5
+ Tree Height: 423
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
@@ -19,11 +24,11 @@ Visualization Manager:
Displays:
- Alpha: 0.5
Cell Size: 1
- Class: rviz/Grid
+ Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
- Line Width: 0.03
+ Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
@@ -35,302 +40,233 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame:
Value: true
- - Class: moveit_rviz_plugin/MotionPlanning
+ - Class: rviz_default_plugins/MarkerArray
Enabled: true
- MoveIt_Goal_Tolerance: 0
- MoveIt_Planning_Time: 5
- MoveIt_Use_Constraint_Aware_IK: true
- MoveIt_Warehouse_Host: 127.0.0.1
- MoveIt_Warehouse_Port: 33829
- Name: MotionPlanning
- Planned Path:
+ Name: MarkerArray
+ Namespaces:
+ {}
+ Topic:
+ Depth: 100
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /rviz_visual_tools
+ 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
+ base:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_5:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_6:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tool0:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ 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: /display_planned_path
+ Value: true
+ - Class: moveit_rviz_plugin/PlanningScene
+ Enabled: true
+ Move Group Namespace: ""
+ Name: PlanningScene
+ Planning Scene Topic: /monitored_planning_scene
+ Robot Description: robot_description
+ Scene Geometry:
+ Scene Alpha: 0.8999999761581421
+ Scene Color: 50; 230; 50
+ Scene Display Time: 0.009999999776482582
+ Show Scene Geometry: true
+ Voxel Coloring: Z-Axis
+ Voxel Rendering: Occupied Voxels
+ Scene Robot:
+ Attached Body Color: 150; 50; 150
Links:
- base_bellow_link:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
- base_footprint:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- bl_caster_l_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bl_caster_r_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bl_caster_rotation_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- br_caster_l_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- br_caster_r_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- br_caster_rotation_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- double_stereo_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fl_caster_l_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fl_caster_r_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fl_caster_rotation_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fr_caster_l_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fr_caster_r_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fr_caster_rotation_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_mount_kinect_ir_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_mount_kinect_rgb_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_mount_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_mount_prosilica_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_pan_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_plate_frame:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_tilt_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_elbow_flex_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_forearm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_forearm_roll_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_gripper_l_finger_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_gripper_l_finger_tip_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_gripper_motor_accelerometer_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_gripper_palm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_gripper_r_finger_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_gripper_r_finger_tip_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_shoulder_lift_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_shoulder_pan_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_upper_arm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_upper_arm_roll_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_wrist_flex_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_wrist_roll_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- laser_tilt_mount_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_elbow_flex_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_forearm_link:
+ link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_forearm_roll_link:
+ link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_gripper_l_finger_link:
+ link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_gripper_l_finger_tip_link:
+ link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_gripper_motor_accelerometer_link:
+ link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_gripper_palm_link:
+ link_6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_gripper_r_finger_link:
+ tool0:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
- r_gripper_r_finger_tip_link:
+ Robot Alpha: 1
+ Show Robot Collision: false
+ Show Robot Visual: true
+ Value: true
+ - Acceleration_Scaling_Factor: 0.1
+ Class: moveit_rviz_plugin/MotionPlanning
+ Enabled: true
+ Move Group Namespace: ""
+ MoveIt_Allow_Approximate_IK: false
+ MoveIt_Allow_External_Program: false
+ MoveIt_Allow_Replanning: false
+ MoveIt_Allow_Sensor_Positioning: false
+ MoveIt_Planning_Attempts: 10
+ MoveIt_Planning_Time: 5
+ MoveIt_Use_Cartesian_Path: false
+ MoveIt_Use_Constraint_Aware_IK: false
+ 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
+ base:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
- r_shoulder_lift_link:
+ base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_shoulder_pan_link:
+ link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_upper_arm_link:
+ link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_upper_arm_roll_link:
+ link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_wrist_flex_link:
+ link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- r_wrist_roll_link:
+ link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- sensor_mount_link:
+ link_6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- torso_lift_link:
+ tool0:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
- Loop Animation: true
+ Loop Animation: false
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
+ State Display Time: 3x
+ Trail Step Size: 1
Trajectory Topic: /display_planned_path
Planning Metrics:
Payload: 1
@@ -338,13 +274,14 @@ Visualization Manager:
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: left_arm
+ Planning Group: manipulator
Query Goal State: true
Query Start State: false
Show Workspace: false
@@ -353,337 +290,153 @@ Visualization Manager:
Planning Scene Topic: /monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
- Scene Alpha: 1
+ Scene Alpha: 0.8999999761581421
Scene Color: 50; 230; 50
- Scene Display Time: 0.2
+ Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
- base_bellow_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- base_footprint:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- bl_caster_l_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bl_caster_r_wheel_link:
+ link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- bl_caster_rotation_link:
+ link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- br_caster_l_wheel_link:
+ link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- br_caster_r_wheel_link:
+ link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- br_caster_rotation_link:
+ link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- double_stereo_link:
+ link_6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- fl_caster_l_wheel_link:
+ tool0:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
- fl_caster_r_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fl_caster_rotation_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fr_caster_l_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fr_caster_r_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fr_caster_rotation_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_mount_kinect_ir_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_mount_kinect_rgb_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_mount_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_mount_prosilica_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_pan_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_plate_frame:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- head_tilt_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_elbow_flex_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_forearm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_forearm_roll_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_gripper_l_finger_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_gripper_l_finger_tip_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_gripper_motor_accelerometer_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_gripper_palm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_gripper_r_finger_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_gripper_r_finger_tip_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_shoulder_lift_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_shoulder_pan_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_upper_arm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_upper_arm_roll_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_wrist_flex_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- l_wrist_roll_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- laser_tilt_mount_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_elbow_flex_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_forearm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_forearm_roll_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_gripper_l_finger_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_gripper_l_finger_tip_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_gripper_motor_accelerometer_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_gripper_palm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_gripper_r_finger_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_gripper_r_finger_tip_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_shoulder_lift_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_shoulder_pan_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_upper_arm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_upper_arm_roll_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_wrist_flex_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- r_wrist_roll_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- sensor_mount_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- torso_lift_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- Robot Alpha: 0.5
- Show Scene Robot: true
+ Robot Alpha: 1
+ Show Robot Collision: false
+ Show Robot Visual: true
Value: true
+ Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_link
+ Frame Rate: 30
Name: root
Tools:
- - Class: rviz/Interact
+ - Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- - Class: rviz/MoveCamera
- - Class: rviz/Select
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
Value: true
Views:
Current:
- Class: rviz/XYOrbit
- Distance: 2.9965
+ Class: rviz_default_plugins/Orbit
+ Distance: 3.119211196899414
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
Focal Point:
- X: 0.113567
- Y: 0.10592
- Z: 2.23518e-07
+ X: 0.02386285550892353
+ Y: 0.15478567779064178
+ Z: 0.039489321410655975
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
Name: Current View
- Near Clip Distance: 0.01
- Pitch: 0.509797
- Target Frame: /base_link
- Value: XYOrbit (rviz)
- Yaw: 5.65995
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.5953981876373291
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 5.958578109741211
Saved: ~
Window Geometry:
- Displays:
+ "":
collapsed: false
- Height: 1337
- Help:
+ " - Trajectory Slider":
collapsed: false
+ Displays:
+ collapsed: false
+ Height: 1024
Hide Left Dock: false
- Hide Right Dock: false
- Motion Planning:
+ Hide Right Dock: true
+ QMainWindow State: 000000ff00000000fd0000000400000000000001ca000003aafc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000230000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000003f00fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000003f00fffffffbffffffff0100000271000001740000016900ffffff000000010000010f000003abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003ab000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000574000003aa00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
collapsed: false
- QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
- Views:
+ Tool Properties:
collapsed: false
- Width: 1828
- X: 459
- Y: -243
+ Trajectory - Trajectory Slider:
+ collapsed: false
+ Views:
+ collapsed: true
+ Width: 1860
+ X: 2620
+ Y: 27
diff --git a/fanuc_moveit_config/launch/moveit_rviz.launch b/fanuc_moveit_config/launch/moveit_rviz.launch
deleted file mode 100644
index 615b2f12..00000000
--- a/fanuc_moveit_config/launch/moveit_rviz.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/fanuc_moveit_config/launch/ompl_planning_pipeline.launch.xml b/fanuc_moveit_config/launch/ompl_planning_pipeline.launch.xml
deleted file mode 100644
index f1ffcc22..00000000
--- a/fanuc_moveit_config/launch/ompl_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/fanuc_moveit_config/launch/planning_context.launch b/fanuc_moveit_config/launch/planning_context.launch
deleted file mode 100644
index 6fa31b63..00000000
--- a/fanuc_moveit_config/launch/planning_context.launch
+++ /dev/null
@@ -1,25 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
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-
diff --git a/fanuc_moveit_config/launch/planning_pipeline.launch.xml b/fanuc_moveit_config/launch/planning_pipeline.launch.xml
deleted file mode 100644
index 00a08b59..00000000
--- a/fanuc_moveit_config/launch/planning_pipeline.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-
-
-
-
-
-
-
-
-
diff --git a/fanuc_moveit_config/launch/ros_controllers.launch b/fanuc_moveit_config/launch/ros_controllers.launch
deleted file mode 100644
index 46bf5ea4..00000000
--- a/fanuc_moveit_config/launch/ros_controllers.launch
+++ /dev/null
@@ -1,11 +0,0 @@
-
-
-
-
-
-
-
-
-
-
diff --git a/fanuc_moveit_config/launch/run_benchmark_ompl.launch b/fanuc_moveit_config/launch/run_benchmark_ompl.launch
deleted file mode 100644
index ff71d3d8..00000000
--- a/fanuc_moveit_config/launch/run_benchmark_ompl.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/fanuc_moveit_config/launch/sensor_manager.launch.xml b/fanuc_moveit_config/launch/sensor_manager.launch.xml
deleted file mode 100644
index efd02218..00000000
--- a/fanuc_moveit_config/launch/sensor_manager.launch.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/fanuc_moveit_config/launch/setup_assistant.launch b/fanuc_moveit_config/launch/setup_assistant.launch
deleted file mode 100644
index dcda2688..00000000
--- a/fanuc_moveit_config/launch/setup_assistant.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/fanuc_moveit_config/launch/test_environment.launch b/fanuc_moveit_config/launch/test_environment.launch
deleted file mode 100644
index d1ca70d7..00000000
--- a/fanuc_moveit_config/launch/test_environment.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-
-
-
-
-
-
diff --git a/fanuc_moveit_config/launch/trajectory_execution.launch.xml b/fanuc_moveit_config/launch/trajectory_execution.launch.xml
deleted file mode 100644
index 287bc75e..00000000
--- a/fanuc_moveit_config/launch/trajectory_execution.launch.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
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diff --git a/fanuc_moveit_config/launch/warehouse.launch b/fanuc_moveit_config/launch/warehouse.launch
deleted file mode 100644
index c4320522..00000000
--- a/fanuc_moveit_config/launch/warehouse.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
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-
-
diff --git a/fanuc_moveit_config/launch/warehouse_settings.launch.xml b/fanuc_moveit_config/launch/warehouse_settings.launch.xml
deleted file mode 100644
index e473b083..00000000
--- a/fanuc_moveit_config/launch/warehouse_settings.launch.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-
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-
-
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