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Adding RPBT config #43

Merged
merged 28 commits into from
Nov 2, 2020
Merged

Adding RPBT config #43

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25a8fde
adding RPBT config
ct2034 Sep 16, 2020
b22e6d1
removing roslaunch check becasue of removed dependencies
ct2034 Sep 21, 2020
c3ba4f1
adding pilz pipeline config for panda
ct2034 Sep 21, 2020
d3744e5
add remaining prbt-related packages
jschleicher Sep 23, 2020
07ccd47
drop no longer needed dependency
jschleicher Sep 24, 2020
d143eba
add remaining prbt-related packages
jschleicher Sep 23, 2020
320eb2d
add argument to enable last point execution
jschleicher Sep 17, 2020
c8ad76f
last point execution for pg70 gripper
jschleicher Sep 24, 2020
40a00ec
drop system_info
jschleicher Sep 24, 2020
3804863
actually use pg70 package
jschleicher Sep 24, 2020
c347c91
drop depend on prbt_hardware_support
jschleicher Sep 24, 2020
4b68399
add execution type for panda config
jschleicher Sep 24, 2020
e942e4f
fixup 4bc2ce drop system_info
jschleicher Sep 24, 2020
3fff73b
fix roslaunch and CMakeLists checks
jschleicher Sep 24, 2020
6259626
also adding capabilities here
ct2034 Sep 24, 2020
c63ee5d
drop more dependencies
jschleicher Sep 25, 2020
28c4513
using pg70 support from moveit_resources
ct2034 Sep 28, 2020
1397a4c
add execution_type to gripper
jschleicher Sep 30, 2020
8eb0d2f
drop Werror
jschleicher Sep 30, 2020
3e83b3d
update deprecated macro to INSTANTIATE_TEST_SUITE_P
jschleicher Oct 6, 2020
c41a161
Revert "update deprecated macro to INSTANTIATE_TEST_SUITE_P"
jschleicher Oct 6, 2020
211b6dd
update version numbers to be consitant across the meta-package
jschleicher Oct 6, 2020
4287333
version increase fo pilz packages
ct2034 Oct 13, 2020
124807a
removing patch files
ct2034 Oct 14, 2020
268ea19
tiny fix
jschleicher Oct 16, 2020
54b2c08
update panda config from templates
jschleicher Oct 16, 2020
0d98506
update fanuc package from MSA
jschleicher Oct 22, 2020
e114eb6
drop remapping to joint_states_desired
jschleicher Oct 30, 2020
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5 changes: 5 additions & 0 deletions fanuc_moveit_config/config/cartesian_limits.yaml
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cartesian_limits:
max_trans_vel: 1
max_trans_acc: 2.25
max_trans_dec: -5
max_rot_vel: 1.57
1 change: 1 addition & 0 deletions fanuc_moveit_config/config/fake_controllers.yaml
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controller_list:
- name: fake_manipulator_controller
type: $(arg execution_type)
joints:
- joint_1
- joint_2
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32 changes: 26 additions & 6 deletions fanuc_moveit_config/launch/chomp_planning_pipeline.launch.xml
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<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="$(arg planning_plugin)" />
<param name="start_state_max_bounds_error" value="$(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_fanuc_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_fanuc_moveit_config)/config/chomp_planning.yaml" />
</launch>
5 changes: 4 additions & 1 deletion fanuc_moveit_config/launch/fake_moveit_controller_manager.launch.xml
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<launch>

<!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
<arg name="execution_type" default="interpolate" />

<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>

<!-- The rest of the params are specific to this plugin -->
<rosparam file="$(find moveit_resources_fanuc_moveit_config)/config/fake_controllers.yaml"/>
<rosparam subst_value="true" file="$(find moveit_resources_fanuc_moveit_config)/config/fake_controllers.yaml"/>

</launch>
6 changes: 4 additions & 2 deletions fanuc_moveit_config/launch/move_group.launch
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Expand Up @@ -15,6 +15,7 @@
<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"/>
Expand Down Expand Up @@ -46,13 +47,16 @@
<!-- Planning Functionality -->
<include ns="move_group" file="$(find moveit_resources_fanuc_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg pipeline)" />
<param name="capabilities" value="$(arg capabilities)"/>
<param name="disable_capabilities" value="$(arg disable_capabilities)"/>
</include>

<!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(find moveit_resources_fanuc_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="fanuc" unless="$(arg fake_execution)"/>
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
<arg name="execution_type" value="$(arg execution_type)" />
</include>

<!-- Sensors Functionality -->
Expand All @@ -68,8 +72,6 @@
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<param name="capabilities" value="$(arg capabilities)"/>
<param name="disable_capabilities" value="$(arg disable_capabilities)"/>


<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
Expand Down
8 changes: 8 additions & 0 deletions fanuc_moveit_config/launch/ompl_planning_pipeline.launch.xml
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Expand Up @@ -3,6 +3,12 @@
<!-- OMPL Plugin for MoveIt -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />

<!-- 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"
Expand All @@ -19,6 +25,8 @@
<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_fanuc_moveit_config)/config/ompl_planning.yaml"/>

Expand Down
28 changes: 28 additions & 0 deletions fanuc_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
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<launch>

<!-- 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, 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>
1 change: 1 addition & 0 deletions fanuc_moveit_config/launch/planning_context.launch
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Expand Up @@ -14,6 +14,7 @@
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find moveit_resources_fanuc_moveit_config)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find moveit_resources_fanuc_moveit_config)/config/cartesian_limits.yaml"/>
</group>

<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
Expand Down
11 changes: 10 additions & 1 deletion fanuc_moveit_config/launch/planning_pipeline.launch.xml
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Expand Up @@ -5,6 +5,15 @@

<arg name="pipeline" default="ompl" />

<include file="$(find moveit_resources_fanuc_moveit_config)/launch/$(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="$(find moveit_resources_fanuc_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml">
<arg name="capabilities" value="$(arg capabilities)"/>
<arg name="disable_capabilities" value="$(arg disable_capabilities)"/>
</include>

</launch>
6 changes: 5 additions & 1 deletion fanuc_moveit_config/launch/trajectory_execution.launch.xml
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<!-- This file makes it easy to include the settings for trajectory execution -->

<arg name="execution_type" default="interpolate" />

<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
Expand All @@ -15,6 +17,8 @@

<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
<arg name="moveit_controller_manager" default="fanuc" />
<include file="$(find moveit_resources_fanuc_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
<include file="$(find moveit_resources_fanuc_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml">
<arg name="execution_type" value="$(arg execution_type)" />
</include>

</launch>
5 changes: 5 additions & 0 deletions panda_moveit_config/CHANGELOG.rst
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Changelog for package moveit_resources_panda_moveit_config
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Forthcoming
-----------
* add execution_type and pilz pipeline to panda config
* Contributors: Pilz GmbH and Co. KG

0.7.1 (2020-10-09)
------------------
* Fix self-colliding 'extended' pose (`#42 <https://github.com/ros-planning/moveit_resources/issues/42>`_)
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5 changes: 5 additions & 0 deletions panda_moveit_config/config/cartesian_limits.yaml
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cartesian_limits:
max_trans_vel: 1
max_trans_acc: 2.25
max_trans_dec: -5
max_rot_vel: 1.57
2 changes: 2 additions & 0 deletions panda_moveit_config/config/fake_controllers.yaml
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controller_list:
- name: fake_panda_arm_controller
type: $(arg execution_type)
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This should be specified for the "fake_hand_controller" below as well.

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done.

joints:
- panda_joint1
- panda_joint2
Expand All @@ -9,6 +10,7 @@ controller_list:
- panda_joint6
- panda_joint7
- name: fake_hand_controller
type: $(arg execution_type)
joints:
- panda_finger_joint1
- panda_finger_joint2
Expand Down
8 changes: 4 additions & 4 deletions panda_moveit_config/config/joint_limits.yaml
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Expand Up @@ -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
39 changes: 26 additions & 13 deletions panda_moveit_config/launch/chomp_planning_pipeline.launch.xml
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<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="$(find moveit_resources_panda_moveit_config)/config/chomp_planning.yaml" />
</launch>
1 change: 0 additions & 1 deletion panda_moveit_config/launch/demo.launch
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Expand Up @@ -33,7 +33,6 @@
<param name="/use_gui" value="$(arg use_gui)"/>
<rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />

<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
Expand Down
5 changes: 4 additions & 1 deletion panda_moveit_config/launch/fake_moveit_controller_manager.launch.xml
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<launch>

<!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
<arg name="execution_type" default="interpolate" />

<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>

<!-- The rest of the params are specific to this plugin -->
<rosparam file="$(find moveit_resources_panda_moveit_config)/config/fake_controllers.yaml"/>
<rosparam subst_value="true" file="$(find moveit_resources_panda_moveit_config)/config/fake_controllers.yaml"/>

</launch>
47 changes: 29 additions & 18 deletions panda_moveit_config/launch/move_group.launch
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Expand Up @@ -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="$(arg debug)" name="launch_prefix" value="" />
Expand All @@ -20,15 +18,43 @@
<arg if="$(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 -->
Expand All @@ -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 -->
Expand All @@ -53,29 +80,13 @@
<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="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />

<remap from="/joint_states" to="/joint_states_desired" />
</node>

</launch>
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