Merge pull request #350 from jrgnicho/fix/switch-to-newer-ur-ros-driv…

…er-repo Fix/switch to newer ur ros driver repo
ros-industrial · Oct 2, 2021 · 33fa655 · 33fa655
2 parents 82070ab + a41f867
commit 33fa655
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Showing 99 changed files with 2,046 additions and 1,181 deletions.
diff --git a/exercises/Perception-Driven_Manipulation/solution_ws/src/.rosinstall b/exercises/Perception-Driven_Manipulation/solution_ws/src/.rosinstall
@@ -1 +1,15 @@
-- git: {local-name: universal_robot, uri: 'https://github.com/ros-industrial/universal_robot.git', version: kinetic-devel}
+- git:
+    local-name: Universal_Robots_ROS_Driver
+    uri: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git
+    version: 54e24c03f07e1a3c6c92569dcb24e51cc013b976
+- git:
+    local-name: universal_robot
+    uri: https://github.com/ros-industrial/universal_robot.git
+    version: melodic-devel-staging
+- git:
+    local-name: ur_msgs
+    uri: https://github.com/ros-industrial/ur_msgs.git
+    version: melodic-devel
+
+
+
diff --git a/...ution_ws/src/collision_avoidance_pick_and_place/config/ur5/pick_and_place_parameters.yaml b/...ution_ws/src/collision_avoidance_pick_and_place/config/ur5/pick_and_place_parameters.yaml
@@ -3,7 +3,7 @@ ar_frame_id: ar_tag
 arm_group_name: manipulator
 tcp_link_name: tcp_frame
 attached_object_link: attached_object_link
-wrist_link_name: ee_link
+wrist_link_name: tool0
 home_pose_name: home
 wait_pose_name: wait
 approach_distance: 0.05

diff --git a/...nipulation/solution_ws/src/collision_avoidance_pick_and_place/config/ur5/rviz_config.rviz b/...nipulation/solution_ws/src/collision_avoidance_pick_and_place/config/ur5/rviz_config.rviz
@@ -8,14 +8,15 @@ Panels:
         - /Status1
         - /TF1/Frames1
         - /TF1/Tree1
+        - /RobotModel1
         - /PointCloud21
         - /Marker1
         - /Marker1/Namespaces1
         - /PlanningScene1/Scene Geometry1
         - /PlanningScene1/Scene Robot1
         - /MarkerArray1
-      Splitter Ratio: 0.770750999
-    Tree Height: 771
+      Splitter Ratio: 0.7707509994506836
+    Tree Height: 858
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -24,7 +25,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -35,6 +36,10 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -44,7 +49,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -61,6 +66,7 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
+      Marker Alpha: 1
       Marker Scale: 0.5
       Name: TF
       Show Arrows: false
@@ -85,10 +91,18 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         base_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+        base_link_inertia:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
           Value: true
         base_padding:
           Alpha: 1
@@ -105,7 +119,7 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        ee_link:
+        flange:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -190,6 +204,10 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: false
+        tool0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         upper_arm_link:
           Alpha: 1
           Show Axes: false
@@ -219,11 +237,6 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        wrist_3_padding:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -245,17 +258,16 @@ Visualization Manager:
       Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: false
       Size (Pixels): 3
-      Size (m): 0.00999999978
+      Size (m): 0.009999999776482582
       Style: Points
       Topic: /kinect/depth_registered/points
+      Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
       Value: false
@@ -264,14 +276,14 @@ Visualization Manager:
       Marker Topic: /pick_and_place_marker
       Name: Marker
       Namespaces:
-        {}
+        "": true
       Queue Size: 1
       Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 0.414799005
-        Min Value: 0.0300000999
+        Max Value: 0.4147990047931671
+        Min Value: 0.030000099912285805
         Value: true
       Axis: Z
       Channel Name: x
@@ -282,29 +294,29 @@ Visualization Manager:
       Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 0.780611992
       Min Color: 0; 0; 0
-      Min Intensity: -0.820245028
       Name: PointCloud2
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.00999999978
+      Size (m): 0.009999999776482582
       Style: Points
       Topic: /filtered_cloud
+      Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
       Value: false
     - Class: moveit_rviz_plugin/PlanningScene
       Enabled: true
+      Move Group Namespace: ""
       Name: PlanningScene
       Planning Scene Topic: /move_group/monitored_planning_scene
       Robot Description: robot_description
       Scene Geometry:
-        Scene Alpha: 0.899999976
+        Scene Alpha: 0.8999999761581421
         Scene Color: 255; 255; 0
-        Scene Display Time: 0.200000003
+        Scene Display Time: 0.20000000298023224
         Show Scene Geometry: true
         Voxel Coloring: Z-Axis
         Voxel Rendering: Occupied Voxels
@@ -321,10 +333,18 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
           base_link:
             Alpha: 1
             Show Axes: false
             Show Trail: false
+          base_link_inertia:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
             Value: true
           base_padding:
             Alpha: 1
@@ -341,7 +361,7 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-          ee_link:
+          flange:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -426,6 +446,10 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          tool0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
           upper_arm_link:
             Alpha: 1
             Show Axes: false
@@ -455,11 +479,6 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-          wrist_3_padding:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
         Robot Alpha: 0.5
         Show Robot Collision: false
         Show Robot Visual: false
@@ -475,6 +494,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
+    Default Light: true
     Fixed Frame: world_frame
     Frame Rate: 30
   Name: root
@@ -486,7 +506,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -496,32 +519,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.23730516
+      Distance: 2.0280113220214844
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.611654341
-        Y: -0.108969152
-        Z: 0.483999252
+        X: -0.6116543412208557
+        Y: -0.10896915197372437
+        Z: 0.48399925231933594
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 1.48020375
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.0452042892575264
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 1.0835638
+      Yaw: 2.743565082550049
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1056
+  Height: 1163
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001a80000039dfc0200000009fb0000001200530065006c0065006300740069006f006e0000000028000000e10000006f00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000039d000000f300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e0067000000010b0000017f0000000000000000000000010000010f00000361fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000361000000bb00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003bfc0100000002fb0000000800540069006d00650100000000000007800000027600fffffffb0000000800540069006d00650100000000000004500000000000000000000005d20000039d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001a8000003f0fc0200000009fb0000001200530065006c0065006300740069006f006e0000000028000000e10000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003f0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e0067000000010b0000017f0000000000000000000000010000010f00000361fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000361000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003bfc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005d2000003f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -531,5 +555,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1920
-  X: 1920
-  Y: 24
+  X: 1680
+  Y: 0
diff --git a/...ation/solution_ws/src/collision_avoidance_pick_and_place/launch/ur5_pick_and_place.launch b/...ation/solution_ws/src/collision_avoidance_pick_and_place/launch/ur5_pick_and_place.launch
@@ -6,10 +6,4 @@
     <rosparam command="load" file="$(find collision_avoidance_pick_and_place)/config/ur5/pick_and_place_parameters.yaml"/>
   </node>
 
-  <include file="$(find ur5_collision_avoidance_moveit_config)/launch/move_group.launch">
-    <arg name="publish_monitored_planning_scene" value="true" />
-  </include>
-
-  <rosparam command="load" file="$(find ur5_collision_avoidance_moveit_config)/config/joint_names.yaml"/>
-
 </launch>