diff --git a/.github/workflows/ci_bionic.yml b/.github/workflows/ci_bionic.yml new file mode 100644 index 000000000..ce088e431 --- /dev/null +++ b/.github/workflows/ci_bionic.yml @@ -0,0 +1,46 @@ +name: CI - Ubuntu Bionic + +on: + # direct pushes to protected branches are not supported + pull_request: + # run every day, at 7am UTC + schedule: + - cron: '0 7 * * *' + # allow manually starting this workflow + workflow_dispatch: + +jobs: + industrial_ci: + name: ROS Melodic (${{ matrix.ros_repo }}) + runs-on: ubuntu-20.04 + + strategy: + fail-fast: false + matrix: + ros_distro: [ melodic ] + ros_repo: [ main, testing ] + + env: + CCACHE_DIR: "${{ github.workspace }}/.ccache" + + steps: + - name: Fetch repository + uses: actions/checkout@v2 + + - name: ccache cache + uses: actions/cache@v2 + with: + path: ${{ env.CCACHE_DIR }} + # we always want the ccache cache to be persisted, as we cannot easily + # determine whether dependencies have changed, and ccache will manage + # updating the cache for us. Adding 'run_id' to the key will force an + # upload at the end of the job. + key: ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}-${{github.run_id}} + restore-keys: | + ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }} + + - name: Run industrial_ci + uses: ros-industrial/industrial_ci@master + env: + ROS_DISTRO: ${{ matrix.ros_distro }} + ROS_REPO: ${{ matrix.ros_repo }} diff --git a/.github/workflows/ci_focal.yml b/.github/workflows/ci_focal.yml new file mode 100644 index 000000000..cd2ae3b7c --- /dev/null +++ b/.github/workflows/ci_focal.yml @@ -0,0 +1,46 @@ +name: CI - Ubuntu Focal + +on: + # direct pushes to protected branches are not supported + pull_request: + # run every day, at 7am UTC + schedule: + - cron: '0 7 * * *' + # allow manually starting this workflow + workflow_dispatch: + +jobs: + industrial_ci: + name: ROS Noetic (${{ matrix.ros_repo }}) + runs-on: ubuntu-20.04 + + strategy: + fail-fast: false + matrix: + ros_distro: [ noetic ] + ros_repo: [ main, testing ] + + env: + CCACHE_DIR: "${{ github.workspace }}/.ccache" + + steps: + - name: Fetch repository + uses: actions/checkout@v2 + + - name: ccache cache + uses: actions/cache@v2 + with: + path: ${{ env.CCACHE_DIR }} + # we always want the ccache cache to be persisted, as we cannot easily + # determine whether dependencies have changed, and ccache will manage + # updating the cache for us. Adding 'run_id' to the key will force an + # upload at the end of the job. + key: ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}-${{github.run_id}} + restore-keys: | + ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }} + + - name: Run industrial_ci + uses: ros-industrial/industrial_ci@master + env: + ROS_DISTRO: ${{ matrix.ros_distro }} + ROS_REPO: ${{ matrix.ros_repo }} diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 13da30625..000000000 --- a/.travis.yml +++ /dev/null @@ -1,25 +0,0 @@ -language: generic -services: - - docker - -notifications: - email: - on_success: always - on_failure: always -env: - matrix: - - ROS_DISTRO="kinetic" ROS_REPO=ros - - ROS_DISTRO="kinetic" ROS_REPO=ros-shadow-fixed - - ROS_DISTRO="kinetic" PRERELEASE=true - - ROS_DISTRO="melodic" ROS_REPO=ros - - ROS_DISTRO="melodic" ROS_REPO=ros-shadow-fixed - - ROS_DISTRO="melodic" PRERELEASE=true -matrix: - allow_failures: - - env: ROS_DISTRO="melodic" ROS_REPO=ros - - env: ROS_DISTRO="melodic" ROS_REPO=ros-shadow-fixed - - env: ROS_DISTRO="melodic" PRERELEASE=true -install: - - git clone --quiet --depth=1 https://github.com/ros-industrial/industrial_ci.git .ci_config -script: - - source .ci_config/travis.sh diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 000000000..1acf82db5 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,21 @@ +ROS-Industrial is a community project. We welcome contributions from any source, from those who are extremely active to casual users. The following sections outline the steps on how to contribute to ROS-Industrial. It assumes there is an existing repository to which one would like to contribute (item 1 in the figure above) and one is familiar with the Git "Fork and Branch" workflow, detailed [here](http://blog.scottlowe.org/2015/01/27/using-fork-branch-git-workflow/). + +1. Before any development is undertaken, a contributor would communicate a need and/or issue to the ROS-Industrial community. This can be done by submitting an issue on the appropriate GitHub repo, the [issues repo](https://github.com/ros-industrial/ros_industrial_issues), or by posting a message in the [ROS-Industrial category on ROS Discourse](//swri-ros-pkg-dev@googlegroups.com). . Doing so may save you time if similar development is underway and ensure that whatever approach you take is acceptable to the community of reviewers once it is submitted. +2. The second step (item 2) is to implement your change. If you are working on a code contribution, we highly recommend you utilize the [ROS Qt-Creator Plug-in](http://rosindustrial.org/news/2016/6/9/ros-qt-ide-plugin). Verify that your change successfully builds and passes all tests. +3. Next, push your changes to a "feature" branch in your personal fork of the repo and issue a pull request (PR)(item 3). The PR allows maintainers to review the submitted code. Before the PR can be accepted, the maintainer and contributor must agree that the contribution is implemented appropriately. This process can take several back-and-forth steps (see [example](https://github.com/ros-industrial/motoman/pull/89)). Contributors should expect to spend as much time reviewing/changing the code as on the initial implementation. This time can be minimized by communicating with the ROS-Industrial community before any contribution is made. +4. Issuing a Pull Request (PR) triggers the [Travis Continuous Integrations (CI)](https://github.com/ros-industrial/industrial_ci) step (item 4) which happens automatically in the background. The Travis CI performs several operations, and if any of the steps below fail, then the PR is marked accordingly for the maintainer. + * Travis Workflow: + * Installs a barebones ROS distribution on a fresh Ubuntu virtual machine. + * Creates a catkin workspace and puts the repository in it. + * Uses wstool to check out any from-source dependencies (i.e. other repositories). + * Resolves package dependencies using rosdep (i.e. install packages using apt-get). + * Compiles the catkin workspace. + * Runs all available unit tests. +5. If the PR passes Travis CI and one of the maintainers is satisfied with the changes, they post a +1 as a comment on the PR (item 5). The +1 signifies that the PR is ready to be merged. All PRs require at least one +1 and pass Travis CI before it can be merged. +6. The next step (item 6) is for the PR to be merged into the main branch. This is done through the GitHub web interface by selecting the “Merge pull request” button. After the PR is merged, all status badges are updated automatically. +7. Periodically, the maintainer will release the package (item 7), which then gets sent to the [ROS Build Farm](http://wiki.ros.org/build.ros.org) for Debian creation. +8. The publishing of the released packages (item 8) is managed by OSRF and is not on a set schedule. This usually happens when all packages for a given distro are built successfully and stable. The current status for the distro kinetic can be found [here](http://repositories.ros.org/status_page/ros_kinetic_default.html) . Navigating to other distros can be done by changing the distro name in the link. +9. Once the package has been published, it is available to be installed by the developer (item 9). +10. After the install of a new version, the developer may have questions, experience issues or it may not have the necessary functionality which should all be reported on the packages GitHub repository as an issue (item 10). If an issue is identified or there is missing functionality that the developer requires, the cycle starts back at (item 2). + +For more details, please refer to the [ROS-I wiki](http://wiki.ros.org/Industrial/DevProcess). diff --git a/README.md b/README.md index 9a973578f..be73ae28c 100644 --- a/README.md +++ b/README.md @@ -1,12 +1,14 @@ # Universal Robot -[![Build Status](http://build.ros.org/job/Kdev__universal_robot__ubuntu_xenial_amd64/badge/icon)](http://build.ros.org/job/Kdev__universal_robot__ubuntu_xenial_amd64) +[![Build Status: Ubuntu Bionic (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20Ubuntu%20Bionic/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+Ubuntu+Bionic%22) +[![Build Status: Ubuntu Focal (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20Ubuntu%20Focal/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+Ubuntu+Focal%22) + [![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0) [![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause) [![support level: community](https://img.shields.io/badge/support%20level-community-lightgray.png)](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform) -[ROS-Industrial](http://wiki.ros.org/Industrial) Universal Robot meta-package. See the [ROS wiki](http://wiki.ros.org/universal_robot) page for compatibility information and other more information. +[ROS-Industrial](https://wiki.ros.org/Industrial) Universal Robot meta-package. See the [ROS wiki](https://wiki.ros.org/universal_robots) page for compatibility information and other more information. __Installation__ @@ -16,24 +18,24 @@ There are two different ways to install the packages in this repository. The fol ___Using apt (Ubuntu, Debian)___ -On supported Linux distributions (Ubuntu, up to 16.04 (Xenial), `i386` and `amd64`) and ROS versions: +On supported Linux distributions (Ubuntu, 18.04 (Bionic) and 20.04 (Focal), `i386` and `amd64`) and ROS versions: ``` sudo apt-get install ros-$ROS_DISTRO-universal-robot ``` -replace `$ROS_DISTRO` with `hydro`, `indigo` or `kinetic`, depending on which ROS version you have installed. +replace `$ROS_DISTRO` with `melodic` or `noetic`, depending on which ROS version you have installed. ___Building from Source___ -There are releases available for ROS Hydro, Indigo and Kinetic. However, for the latest features and developments you might want to build the packages from source. +There *will soon be* releases available for ROS Melodic and Noetic. However, for the latest features and developments you might want to build the packages from source. **NOTE**: please prefer using the binary release (see previous section) over building from source where possible. Source installs will not be automatically updated by new package releases and require more work to setup. -The following instructions assume that a [Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace) has been created at `$HOME/catkin_ws` and that the source space is at `$HOME/catkin_ws/src`. Update paths appropriately if they are different on the build machine. +The following instructions assume that a [Catkin workspace](https://wiki.ros.org/catkin/Tutorials/create_a_workspace) has been created at `$HOME/catkin_ws` and that the source space is at `$HOME/catkin_ws/src`. Update paths appropriately if they are different on the build machine. -In all other cases the packages will have to be build from sources in a Catkin workspace: +In all other cases the packages will have to be build from sources in a Catkin workspace: ``` cd $HOME/catkin_ws/src @@ -58,73 +60,48 @@ source $HOME/catkin_ws/devel/setup.bash __Usage__ ___With real Hardware___ -There are launch files available to bringup a real robot - either UR5 or UR10. -In the following the commands for the UR5 are given. For the UR10, simply replace the prefix accordingly. - -Don't forget to source the correct setup shell files and use a new terminal for each command! - -To bring up the real robot, run: -```roslaunch ur_bringup ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]``` +For using real hardware, please use the +[`ur_robot_driver`](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver). Installation +and startup instructions are available there separately. +If you have a particular old robot running Software CB1 or CB2, please use the +[`ur_modern_driver`](https://github.com/ros-industrial/ur_modern_driver) instead. -CAUTION: +CAUTION: Remember that you should always have your hands on the big red button in case there is something in the way or anything unexpected happens. +___MoveIt! with real Hardware___ +Additionally, you can use MoveIt! to control the robot. +There exist MoveIt! configuration packages for all robots. -___MoveIt! with real Hardware___ -Additionally, you can use MoveIt! to control the robot. -There exist MoveIt! configuration packages for both robots. +In the following the commands for the UR5 are given. For other robots, simply replace the prefix accordingly. -For setting up the MoveIt! nodes to allow motion planning run: +For setting up the MoveIt! nodes to allow motion planning run e.g.: -```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch``` +```roslaunch ur5_moveit_config moveit_planning_execution.launch``` For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run: -```roslaunch ur5_moveit_config moveit_rviz.launch config:=true``` - - -NOTE: -As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.: - -```roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]``` - -```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true``` - -```roslaunch ur5_moveit_config moveit_rviz.launch config:=true``` +```roslaunch ur5_moveit_config moveit_rviz.launch``` +___Usage with Gazebo Simulation___ +There are launch files available to bringup a simulated robot. -___Usage with Gazebo Simulation___ -There are launch files available to bringup a simulated robot - either UR5 or UR10. -In the following the commands for the UR5 are given. For the UR10, simply replace the prefix accordingly. - -Don't forget to source the correct setup shell files and use a new terminal for each command! +Don't forget to source the correct setup shell files and use a new terminal for each command! To bring up the simulated robot in Gazebo, run: -```roslaunch ur_gazebo ur5.launch``` +```roslaunch ur_gazebo ur5_bringup.launch``` -___MoveIt! with a simulated robot___ -Again, you can use MoveIt! to control the simulated robot. +___MoveIt! with a simulated robot___ +Again, you can use MoveIt! to control the simulated robot. For setting up the MoveIt! nodes to allow motion planning run: -```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true``` +```roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true``` For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run: -```roslaunch ur5_moveit_config moveit_rviz.launch config:=true``` - - -NOTE: -As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.: - -```roslaunch ur_gazebo ur5.launch limited:=true``` - -```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true``` - -```roslaunch ur5_moveit_config moveit_rviz.launch config:=true``` - - +```roslaunch ur5_moveit_config moveit_rviz.launch``` diff --git a/universal_robot/CHANGELOG.rst b/universal_robot/CHANGELOG.rst deleted file mode 100644 index dde0d9998..000000000 --- a/universal_robot/CHANGELOG.rst +++ /dev/null @@ -1,48 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package universal_robot -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Update maintainer listing: add Miguel (`#410 `_) -* Add new metapackage, first step to rename the repo (`#409 `_) -* UR-E Series (`#380 `_) -* Update maintainer and author information. -* Contributors: Dave Niewinski, Nadia Hammoudeh García, gavanderhoorn - -1.2.1 (2018-01-06) ------------------- - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* No changes. - -1.1.6 (2016-04-01) ------------------- -* add moveit_config for ur3 -* Contributors: ipa-fxm - -1.0.2 (2014-03-31) ------------------- -* Merge branch 'hydro-devel' of github.com:ros-industrial/universal_robot into hydro -* added missing dependency -* Contributors: Florian Weisshardt, ipa-fxm - -1.0.1 (2014-03-31) ------------------- - -* Added all packages in dependency list of metapackage. -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* Contributors: IPR-SR2, Kelsey diff --git a/universal_robot/CMakeLists.txt b/universal_robot/CMakeLists.txt deleted file mode 100644 index 550252489..000000000 --- a/universal_robot/CMakeLists.txt +++ /dev/null @@ -1,4 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(universal_robot) -find_package(catkin REQUIRED) -catkin_metapackage() diff --git a/universal_robot/package.xml b/universal_robot/package.xml deleted file mode 100644 index fb67a0fc5..000000000 --- a/universal_robot/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - universal_robot - 1.2.5 - - Drivers, description, and utilities for Universal Robot Arms. - - - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - http://ros.org/wiki/universal_robot - - Shaun Edwards - Stuart Glaser - Kelsey Hawkins - Wim Meeussen - Felix Messmer - - catkin - universal_robots - - - - - diff --git a/universal_robots/CMakeLists.txt b/universal_robots/CMakeLists.txt index 5a8bb8f3b..47e36af54 100644 --- a/universal_robots/CMakeLists.txt +++ b/universal_robots/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(universal_robots) find_package(catkin REQUIRED) catkin_metapackage() diff --git a/universal_robots/package.xml b/universal_robots/package.xml index 9a6a18900..02be64f71 100644 --- a/universal_robots/package.xml +++ b/universal_robots/package.xml @@ -20,20 +20,16 @@ catkin - ur10_e_moveit_config + ur10e_moveit_config ur10_moveit_config - ur3_e_moveit_config + ur16e_moveit_config + ur3e_moveit_config ur3_moveit_config - ur5_e_moveit_config + ur5e_moveit_config ur5_moveit_config - ur_bringup ur_description - ur_driver - ur_e_description - ur_e_gazebo ur_gazebo ur_kinematics - ur_msgs diff --git a/ur10_e_moveit_config/.setup_assistant b/ur10_e_moveit_config/.setup_assistant deleted file mode 100644 index fb157102a..000000000 --- a/ur10_e_moveit_config/.setup_assistant +++ /dev/null @@ -1,8 +0,0 @@ -moveit_setup_assistant_config: - URDF: - package: ur_e_description - relative_path: urdf/ur10e_robot.urdf.xacro - SRDF: - relative_path: config/ur10e.srdf - CONFIG: - generated_timestamp: 1413893323 diff --git a/ur10_e_moveit_config/CHANGELOG.rst b/ur10_e_moveit_config/CHANGELOG.rst deleted file mode 100644 index c8a9469fa..000000000 --- a/ur10_e_moveit_config/CHANGELOG.rst +++ /dev/null @@ -1,10 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur10_e_moveit_config -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* First release (of this package) -* Update maintainer listing: add Miguel (`#410 `_) -* UR-E Series (`#380 `_) -* Contributors: Dave Niewinski, gavanderhoorn diff --git a/ur10_e_moveit_config/config/controllers.yaml b/ur10_e_moveit_config/config/controllers.yaml deleted file mode 100644 index bf2252cb2..000000000 --- a/ur10_e_moveit_config/config/controllers.yaml +++ /dev/null @@ -1,11 +0,0 @@ -controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur10_e_moveit_config/config/kinematics.yaml b/ur10_e_moveit_config/config/kinematics.yaml deleted file mode 100644 index 5d492ac1f..000000000 --- a/ur10_e_moveit_config/config/kinematics.yaml +++ /dev/null @@ -1,5 +0,0 @@ -manipulator: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 - kinematics_solver_attempts: 3 diff --git a/ur10_e_moveit_config/config/ompl_planning.yaml b/ur10_e_moveit_config/config/ompl_planning.yaml deleted file mode 100644 index 191879b4e..000000000 --- a/ur10_e_moveit_config/config/ompl_planning.yaml +++ /dev/null @@ -1,84 +0,0 @@ -planner_configs: - SBLkConfigDefault: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: - type: geometric::EST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LBKPIECEkConfigDefault: - type: geometric::LBKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - BKPIECEkConfigDefault: - type: geometric::BKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - KPIECEkConfigDefault: - type: geometric::KPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - RRTkConfigDefault: - type: geometric::RRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - RRTConnectkConfigDefault: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: - type: geometric::RRTstar - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 - TRRTkConfigDefault: - type: geometric::TRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - max_states_failed: 10 # when to start increasing temp. default: 10 - temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 - min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 - init_temperature: 10e-6 # initial temperature. default: 10e-6 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() - frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 - k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() - PRMkConfigDefault: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: - type: geometric::PRMstar -manipulator: - default_planner_config: RRTConnectkConfigDefault - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) - longest_valid_segment_fraction: 0.01 -endeffector: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault diff --git a/ur10_e_moveit_config/launch/default_warehouse_db.launch b/ur10_e_moveit_config/launch/default_warehouse_db.launch deleted file mode 100644 index 8a207a25a..000000000 --- a/ur10_e_moveit_config/launch/default_warehouse_db.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/ur10_e_moveit_config/launch/demo.launch b/ur10_e_moveit_config/launch/demo.launch deleted file mode 100644 index f05986790..000000000 --- a/ur10_e_moveit_config/launch/demo.launch +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - [/move_group/fake_controller_joint_states] - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur10_e_moveit_config/launch/moveit_rviz.launch b/ur10_e_moveit_config/launch/moveit_rviz.launch deleted file mode 100644 index 4859a41f4..000000000 --- a/ur10_e_moveit_config/launch/moveit_rviz.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch b/ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch deleted file mode 100644 index b701ce754..000000000 --- a/ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/ur10_e_moveit_config/tests/moveit_planning_execution.xml b/ur10_e_moveit_config/tests/moveit_planning_execution.xml deleted file mode 100644 index 20e58cb05..000000000 --- a/ur10_e_moveit_config/tests/moveit_planning_execution.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/ur10_moveit_config/.setup_assistant b/ur10_moveit_config/.setup_assistant index 9129e624c..a613a4fcc 100644 --- a/ur10_moveit_config/.setup_assistant +++ b/ur10_moveit_config/.setup_assistant @@ -1,8 +1,11 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur10_robot.urdf.xacro + relative_path: urdf/ur10.xacro + xacro_args: "" SRDF: relative_path: config/ur10.srdf CONFIG: - generated_timestamp: 1413893323 \ No newline at end of file + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur10_moveit_config/CMakeLists.txt b/ur10_moveit_config/CMakeLists.txt index 3ca9ac83b..81cac99c9 100644 --- a/ur10_moveit_config/CMakeLists.txt +++ b/ur10_moveit_config/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(ur10_moveit_config) find_package(catkin REQUIRED) diff --git a/ur10_moveit_config/config/chomp_planning.yaml b/ur10_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur10_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur10_moveit_config/config/controllers.yaml b/ur10_moveit_config/config/controllers.yaml deleted file mode 100644 index bf2252cb2..000000000 --- a/ur10_moveit_config/config/controllers.yaml +++ /dev/null @@ -1,11 +0,0 @@ -controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur10_moveit_config/config/fake_controllers.yaml b/ur10_moveit_config/config/fake_controllers.yaml index 5e24f9451..afbfa6e6c 100644 --- a/ur10_moveit_config/config/fake_controllers.yaml +++ b/ur10_moveit_config/config/fake_controllers.yaml @@ -7,6 +7,6 @@ controller_list: - wrist_1_joint - wrist_2_joint - wrist_3_joint - - name: fake_endeffector_controller - joints: - [] \ No newline at end of file +initial: # Define initial robot poses. + - group: manipulator + pose: home diff --git a/ur10_moveit_config/config/joint_limits.yaml b/ur10_moveit_config/config/joint_limits.yaml index 51ce612f8..633b7bbce 100644 --- a/ur10_moveit_config/config/joint_limits.yaml +++ b/ur10_moveit_config/config/joint_limits.yaml @@ -2,33 +2,33 @@ # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] joint_limits: - shoulder_pan_joint: + elbow_joint: has_velocity_limits: true - max_velocity: 2.16 - has_acceleration_limits: true - max_acceleration: 2.16 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 2.16 - has_acceleration_limits: true - max_acceleration: 2.16 - elbow_joint: + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 \ No newline at end of file + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/ur10_moveit_config/config/kinematics.yaml b/ur10_moveit_config/config/kinematics.yaml index e37d336c3..416120d9b 100644 --- a/ur10_moveit_config/config/kinematics.yaml +++ b/ur10_moveit_config/config/kinematics.yaml @@ -2,9 +2,8 @@ # kinematics_solver: ur_kinematics/UR10KinematicsPlugin # kinematics_solver_search_resolution: 0.005 # kinematics_solver_timeout: 0.005 -# kinematics_solver_attempts: 3 manipulator: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + solve_type: Distance kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 - kinematics_solver_attempts: 3 diff --git a/ur10_moveit_config/config/ompl_planning.yaml b/ur10_moveit_config/config/ompl_planning.yaml index b58b2d655..39ba9f166 100644 --- a/ur10_moveit_config/config/ompl_planning.yaml +++ b/ur10_moveit_config/config/ompl_planning.yaml @@ -1,42 +1,42 @@ planner_configs: - SBLkConfigDefault: + SBL: type: geometric::SBL range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: + EST: type: geometric::EST range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LBKPIECEkConfigDefault: + LBKPIECE: type: geometric::LBKPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - BKPIECEkConfigDefault: + BKPIECE: type: geometric::BKPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - KPIECEkConfigDefault: + KPIECE: type: geometric::KPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - RRTkConfigDefault: + RRT: type: geometric::RRT range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - RRTConnectkConfigDefault: + RRTConnect: type: geometric::RRTConnect range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: + RRTstar: type: geometric::RRTstar range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 - TRRTkConfigDefault: + TRRT: type: geometric::TRRT range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 @@ -44,40 +44,106 @@ planner_configs: temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 init_temperature: 10e-6 # initial temperature. default: 10e-6 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() - PRMkConfigDefault: + PRM: type: geometric::PRM max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: + PRMstar: type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 manipulator: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) longest_valid_segment_fraction: 0.01 -endeffector: + default_planner_config: RRTConnect planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur10_moveit_config/config/ros_controllers.yaml b/ur10_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..bfc4186c4 --- /dev/null +++ b/ur10_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,11 @@ +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur10_moveit_config/config/ur10.srdf b/ur10_moveit_config/config/ur10.srdf index dc3b1b817..0c456855c 100644 --- a/ur10_moveit_config/config/ur10.srdf +++ b/ur10_moveit_config/config/ur10.srdf @@ -3,17 +3,14 @@ This is a format for representing semantic information about the robot structure. A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined --> - + - - - - + @@ -32,17 +29,12 @@ - - - - - - - - + + + diff --git a/ur10_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur10_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..c8b77639a --- /dev/null +++ b/ur10_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur10_moveit_config/launch/default_warehouse_db.launch b/ur10_moveit_config/launch/default_warehouse_db.launch index 23cc824b6..b9fb81cb9 100644 --- a/ur10_moveit_config/launch/default_warehouse_db.launch +++ b/ur10_moveit_config/launch/default_warehouse_db.launch @@ -1,10 +1,12 @@ + + - + - + diff --git a/ur10_moveit_config/launch/demo.launch b/ur10_moveit_config/launch/demo.launch index c3c21e50b..57b3ca5a6 100644 --- a/ur10_moveit_config/launch/demo.launch +++ b/ur10_moveit_config/launch/demo.launch @@ -1,46 +1,63 @@ + + + + + - - - - - - - + + + + + + - + - - - [/move_group/fake_controller_joint_states] + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] - + - + - + + + - - + + - + + + diff --git a/ur10_moveit_config/launch/move_group.launch b/ur10_moveit_config/launch/move_group.launch index eb1ba0a6a..681d8f1ec 100644 --- a/ur10_moveit_config/launch/move_group.launch +++ b/ur10_moveit_config/launch/move_group.launch @@ -1,14 +1,10 @@ - - - - - - + @@ -16,15 +12,40 @@ + + + + + + + + + + + + + + + - + @@ -36,7 +57,7 @@ - + @@ -47,19 +68,9 @@ + + - - diff --git a/ur10_moveit_config/launch/moveit.rviz b/ur10_moveit_config/launch/moveit.rviz index c7540069f..cfc2fec04 100644 --- a/ur10_moveit_config/launch/moveit.rviz +++ b/ur10_moveit_config/launch/moveit.rviz @@ -1,31 +1,23 @@ Panels: - Class: rviz/Displays - Help Height: 75 + Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.5175438523292542 + Tree Height: 259 + - Class: rviz/Help + Name: Help - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -35,7 +27,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -47,12 +39,17 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Class: moveit_rviz_plugin/MotionPlanning + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning Enabled: true Move Group Namespace: "" - MoveIt_Goal_Tolerance: 0 + 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: true MoveIt_Warehouse_Host: 127.0.0.1 MoveIt_Warehouse_Port: 33829 @@ -83,12 +80,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - ee_link: + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false forearm_link: Alpha: 1 Show Axes: false @@ -108,10 +108,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false wrist_1_link: Alpha: 1 Show Axes: false @@ -134,19 +130,20 @@ Visualization Manager: Show Robot Visual: true Show Trail: false State Display Time: 0.05 s - Trajectory Topic: /move_group/display_planned_path + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path Planning Metrics: Payload: 1 Show Joint Torques: false Show Manipulability: false Show Manipulability Index: false Show Weight Limit: false - TextHeight: 0.08 + TextHeight: 0.07999999821186066 Planning Request: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 + Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 Planning Group: manipulator Query Goal State: true @@ -157,9 +154,9 @@ Visualization Manager: Planning Scene Topic: move_group/monitored_planning_scene Robot Description: robot_description Scene Geometry: - Scene Alpha: 0.9 + Scene Alpha: 1 Scene Color: 50; 230; 50 - Scene Display Time: 0.2 + Scene Display Time: 0.20000000298023224 Show Scene Geometry: true Voxel Coloring: Z-Axis Voxel Rendering: Occupied Voxels @@ -179,12 +176,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - ee_link: + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false forearm_link: Alpha: 1 Show Axes: false @@ -204,10 +204,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false wrist_1_link: Alpha: 1 Show Axes: false @@ -223,14 +219,16 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - Robot Alpha: 1 + Robot Alpha: 0.5 Show Robot Collision: false Show Robot Visual: true Value: true + Velocity_Scaling_Factor: 1 Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: world + Default Light: true + Fixed Frame: base_link Frame Rate: 30 Name: root Tools: @@ -238,53 +236,45 @@ Visualization Manager: Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point Value: true Views: Current: - Class: rviz/Orbit - Distance: 2.82854 + Class: rviz/XYOrbit + Distance: 2.996500015258789 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 + X: 1.1539382934570312 + Y: 0.5978575348854065 + Z: -2.5331917186122155e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.45979705452919006 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 0.9717636108398438 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 997 - Hide Left Dock: false - Hide Right Dock: true - Motion Planning: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: + Height: 783 + Help: collapsed: false - Time: + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: collapsed: false - Tool Properties: + MotionPlanning - Trajectory Slider: collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ca000002b9fc0200000007fb000000100044006900730070006c006100790073010000003b0000013e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000017f000001750000016a00ffffff000002ce000002b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 + collapsed: false + Width: 1182 + X: 481 + Y: 253 diff --git a/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch b/ur10_moveit_config/launch/moveit_planning_execution.launch similarity index 59% rename from ur10_moveit_config/launch/ur10_moveit_planning_execution.launch rename to ur10_moveit_config/launch/moveit_planning_execution.launch index 553e0775c..fc782e940 100644 --- a/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch +++ b/ur10_moveit_config/launch/moveit_planning_execution.launch @@ -1,14 +1,12 @@ - - + - - + + - diff --git a/ur10_moveit_config/launch/moveit_rviz.launch b/ur10_moveit_config/launch/moveit_rviz.launch index 8a9f8bd11..53959d703 100644 --- a/ur10_moveit_config/launch/moveit_rviz.launch +++ b/ur10_moveit_config/launch/moveit_rviz.launch @@ -4,13 +4,12 @@ - - - - + + + + - + args="$(arg command_args)" output="screen"> diff --git a/ur10_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur10_moveit_config/launch/ompl_planning_pipeline.launch.xml index 5f139376b..8a7299643 100644 --- a/ur10_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur10_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - - - - - + - + @@ -23,6 +19,7 @@ + - + diff --git a/ur10_moveit_config/launch/planning_pipeline.launch.xml b/ur10_moveit_config/launch/planning_pipeline.launch.xml index 04c97c1ad..b77dec8c0 100644 --- a/ur10_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur10_moveit_config/launch/planning_pipeline.launch.xml @@ -1,7 +1,7 @@ - + diff --git a/ur10_moveit_config/launch/setup_assistant.launch b/ur10_moveit_config/launch/setup_assistant.launch index 2cf377c0c..b376032c7 100644 --- a/ur10_moveit_config/launch/setup_assistant.launch +++ b/ur10_moveit_config/launch/setup_assistant.launch @@ -1,4 +1,4 @@ - + @@ -7,9 +7,9 @@ - diff --git a/ur10_moveit_config/launch/ur10_moveit_controller_manager.launch.xml b/ur10_moveit_config/launch/ur10_moveit_controller_manager.launch.xml index 364b640ca..6ec589fab 100644 --- a/ur10_moveit_config/launch/ur10_moveit_controller_manager.launch.xml +++ b/ur10_moveit_config/launch/ur10_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur10_moveit_config/launch/warehouse.launch b/ur10_moveit_config/launch/warehouse.launch index 8e4efaa80..2644d1d66 100644 --- a/ur10_moveit_config/launch/warehouse.launch +++ b/ur10_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - + - + diff --git a/ur10_moveit_config/launch/warehouse_settings.launch.xml b/ur10_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur10_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur10_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +1,16 @@ - - + + - - + + + diff --git a/ur10_moveit_config/package.xml b/ur10_moveit_config/package.xml index 443544c14..5894a17f9 100644 --- a/ur10_moveit_config/package.xml +++ b/ur10_moveit_config/package.xml @@ -17,17 +17,25 @@ https://github.com/ros-planning/moveit_setup_assistant/issues https://github.com/ros-planning/moveit_setup_assistant - moveit_ros_move_group + joint_state_publisher + joint_state_publisher_gui + moveit_fake_controller_manager moveit_planners_ompl + moveit_ros_benchmarks + moveit_ros_move_group moveit_ros_visualization - moveit_fake_controller_manager + moveit_ros_warehouse + warehouse_ros_mongo + moveit_setup_assistant moveit_simple_controller_manager - joint_state_publisher robot_state_publisher + rviz + tf2_ros + trac_ik_kinematics_plugin + ur_description xacro - ur_description roslaunch catkin - + diff --git a/ur10_moveit_config/tests/moveit_planning_execution.xml b/ur10_moveit_config/tests/moveit_planning_execution.xml index 57cf9ff80..843f2bece 100644 --- a/ur10_moveit_config/tests/moveit_planning_execution.xml +++ b/ur10_moveit_config/tests/moveit_planning_execution.xml @@ -2,14 +2,13 @@ - - + - - + + diff --git a/ur10e_moveit_config/.setup_assistant b/ur10e_moveit_config/.setup_assistant new file mode 100644 index 000000000..f2f266c98 --- /dev/null +++ b/ur10e_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: ur_description + relative_path: urdf/ur10e.xacro + xacro_args: "" + SRDF: + relative_path: config/ur10e.srdf + CONFIG: + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur10e_moveit_config/CHANGELOG.rst b/ur10e_moveit_config/CHANGELOG.rst new file mode 100644 index 000000000..ca9917241 --- /dev/null +++ b/ur10e_moveit_config/CHANGELOG.rst @@ -0,0 +1,63 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ur10e_moveit_config +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.5 (2019-04-05) +------------------ +* Update maintainer listing: add Miguel (`#410 `_) +* MoveGroupExecuteService is Deprecated by MoveIt! (`#391 `_) +* Update maintainer and author information. +* Add roslaunch tests (`#362 `_) +* Contributors: gavanderhoorn, Nadia Hammoudeh García, 薯片半价 + +1.2.1 (2018-01-06) +------------------ +* Reduce longest valid segment fraction to accomodate non-limited version of the UR5 (`#266 `_) +* Contributors: Scott Paulin + +1.2.0 (2017-08-04) +------------------ +* Fix Deprecated warning in MoveIt: parameter moved into namespace 'trajectory_execution' +* Contributors: Dave Coleman + +1.1.9 (2017-01-02) +------------------ +* use '--inorder' for jade+ xacro as well. +* make RViz load MoveIt display by default. +* Contributors: gavanderhoorn + +1.1.8 (2016-12-30) +------------------ +* all: update maintainers. +* Contributors: gavanderhoorn + +1.1.7 (2016-12-29) +------------------ +* Don't depend on moveit_plugins metapackage +* Fix xacro warnings in Jade +* Contributors: Dave Coleman, Jon Binney + +1.1.6 (2016-04-01) +------------------ +* add missing dependency for moveit_simple_controller_manager +* Merge branch 'indigo-devel' of github.com:ros-industrial/universal_robot into ur3_moveit_config +* apply latest setup assistant changes to ur5 and ur10 +* Adding comment explaining the choice of default planning algorithm +* Use RRTConnect by default for UR10 + Fixes bug `#193 `_ about slow planning on Indigo + LBKPIECE1 (the previous default) looks to be the wrong planning algorithm for the robot + See https://groups.google.com/forum/#!topic/moveit-users/M71T-GaUNgg +* crop ik solutions wrt joint_limits +* set planning time to 0 +* reduce planning attempts in moveit rviz plugin +* Contributors: Marco Esposito, ipa-fxm + +1.0.2 (2014-03-31) +------------------ + +1.0.1 (2014-03-31) +------------------ +* changes due to file renaming +* update moveit_configs: include ee_link and handle limited robot +* new moveit_configs for ur5 and ur10 +* Contributors: ipa-fxm diff --git a/ur5_e_moveit_config/CMakeLists.txt b/ur10e_moveit_config/CMakeLists.txt similarity index 83% rename from ur5_e_moveit_config/CMakeLists.txt rename to ur10e_moveit_config/CMakeLists.txt index 9bb160b82..d665149d3 100644 --- a/ur5_e_moveit_config/CMakeLists.txt +++ b/ur10e_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur5_e_moveit_config) +cmake_minimum_required(VERSION 3.0.2) +project(ur10e_moveit_config) find_package(catkin REQUIRED) diff --git a/ur10e_moveit_config/config/chomp_planning.yaml b/ur10e_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur10e_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur3_e_moveit_config/config/fake_controllers.yaml b/ur10e_moveit_config/config/fake_controllers.yaml similarity index 72% rename from ur3_e_moveit_config/config/fake_controllers.yaml rename to ur10e_moveit_config/config/fake_controllers.yaml index 5e24f9451..afbfa6e6c 100644 --- a/ur3_e_moveit_config/config/fake_controllers.yaml +++ b/ur10e_moveit_config/config/fake_controllers.yaml @@ -7,6 +7,6 @@ controller_list: - wrist_1_joint - wrist_2_joint - wrist_3_joint - - name: fake_endeffector_controller - joints: - [] \ No newline at end of file +initial: # Define initial robot poses. + - group: manipulator + pose: home diff --git a/ur3_e_moveit_config/config/joint_limits.yaml b/ur10e_moveit_config/config/joint_limits.yaml similarity index 51% rename from ur3_e_moveit_config/config/joint_limits.yaml rename to ur10e_moveit_config/config/joint_limits.yaml index 991719a66..633b7bbce 100644 --- a/ur3_e_moveit_config/config/joint_limits.yaml +++ b/ur10e_moveit_config/config/joint_limits.yaml @@ -2,33 +2,33 @@ # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] joint_limits: - shoulder_pan_joint: + elbow_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 - elbow_joint: + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/ur10e_moveit_config/config/kinematics.yaml b/ur10e_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..f0ad94d5f --- /dev/null +++ b/ur10e_moveit_config/config/kinematics.yaml @@ -0,0 +1,9 @@ +#manipulator: +# kinematics_solver: ur_kinematics/UR10eKinematicsPlugin +# kinematics_solver_search_resolution: 0.005 +# kinematics_solver_timeout: 0.005 +manipulator: + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + solve_type: Distance + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 diff --git a/ur10e_moveit_config/config/ompl_planning.yaml b/ur10e_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..39ba9f166 --- /dev/null +++ b/ur10e_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,149 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +manipulator: + longest_valid_segment_fraction: 0.01 + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur10e_moveit_config/config/ros_controllers.yaml b/ur10e_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..bfc4186c4 --- /dev/null +++ b/ur10e_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,11 @@ +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur10_e_moveit_config/config/ur10e.srdf b/ur10e_moveit_config/config/ur10e.srdf similarity index 80% rename from ur10_e_moveit_config/config/ur10e.srdf rename to ur10e_moveit_config/config/ur10e.srdf index ad686256f..6d3e8f368 100644 --- a/ur10_e_moveit_config/config/ur10e.srdf +++ b/ur10e_moveit_config/config/ur10e.srdf @@ -3,17 +3,14 @@ This is a format for representing semantic information about the robot structure. A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined --> - + - - - - + @@ -32,17 +29,12 @@ - - - - - - - - + + + diff --git a/ur10e_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur10e_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..600f8a7e9 --- /dev/null +++ b/ur10e_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur10e_moveit_config/launch/default_warehouse_db.launch b/ur10e_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 000000000..bc6736272 --- /dev/null +++ b/ur10e_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur10e_moveit_config/launch/demo.launch b/ur10e_moveit_config/launch/demo.launch new file mode 100644 index 000000000..91a0e581b --- /dev/null +++ b/ur10e_moveit_config/launch/demo.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur10e_moveit_config/launch/fake_moveit_controller_manager.launch.xml similarity index 82% rename from ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml rename to ur10e_moveit_config/launch/fake_moveit_controller_manager.launch.xml index 8a8e020d7..ed8eb47d5 100644 --- a/ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml +++ b/ur10e_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -4,6 +4,6 @@ - + diff --git a/ur3_e_moveit_config/launch/move_group.launch b/ur10e_moveit_config/launch/move_group.launch similarity index 61% rename from ur3_e_moveit_config/launch/move_group.launch rename to ur10e_moveit_config/launch/move_group.launch index de6d39dd3..fd433120e 100644 --- a/ur3_e_moveit_config/launch/move_group.launch +++ b/ur10e_moveit_config/launch/move_group.launch @@ -1,15 +1,10 @@ - - - - - + value="gdb -x $(find ur10e_moveit_config)/launch/gdb_settings.gdb --ex run --args" /> @@ -17,27 +12,52 @@ + + + + + + + + + + + + + + + - - + + - + - + - - + + @@ -48,19 +68,9 @@ + + - - diff --git a/ur10_e_moveit_config/launch/moveit.rviz b/ur10e_moveit_config/launch/moveit.rviz similarity index 65% rename from ur10_e_moveit_config/launch/moveit.rviz rename to ur10e_moveit_config/launch/moveit.rviz index c7540069f..cfc2fec04 100644 --- a/ur10_e_moveit_config/launch/moveit.rviz +++ b/ur10e_moveit_config/launch/moveit.rviz @@ -1,31 +1,23 @@ Panels: - Class: rviz/Displays - Help Height: 75 + Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.5175438523292542 + Tree Height: 259 + - Class: rviz/Help + Name: Help - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -35,7 +27,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -47,12 +39,17 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Class: moveit_rviz_plugin/MotionPlanning + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning Enabled: true Move Group Namespace: "" - MoveIt_Goal_Tolerance: 0 + 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: true MoveIt_Warehouse_Host: 127.0.0.1 MoveIt_Warehouse_Port: 33829 @@ -83,12 +80,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - ee_link: + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false forearm_link: Alpha: 1 Show Axes: false @@ -108,10 +108,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false wrist_1_link: Alpha: 1 Show Axes: false @@ -134,19 +130,20 @@ Visualization Manager: Show Robot Visual: true Show Trail: false State Display Time: 0.05 s - Trajectory Topic: /move_group/display_planned_path + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path Planning Metrics: Payload: 1 Show Joint Torques: false Show Manipulability: false Show Manipulability Index: false Show Weight Limit: false - TextHeight: 0.08 + TextHeight: 0.07999999821186066 Planning Request: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 + Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 Planning Group: manipulator Query Goal State: true @@ -157,9 +154,9 @@ Visualization Manager: Planning Scene Topic: move_group/monitored_planning_scene Robot Description: robot_description Scene Geometry: - Scene Alpha: 0.9 + Scene Alpha: 1 Scene Color: 50; 230; 50 - Scene Display Time: 0.2 + Scene Display Time: 0.20000000298023224 Show Scene Geometry: true Voxel Coloring: Z-Axis Voxel Rendering: Occupied Voxels @@ -179,12 +176,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - ee_link: + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false forearm_link: Alpha: 1 Show Axes: false @@ -204,10 +204,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false wrist_1_link: Alpha: 1 Show Axes: false @@ -223,14 +219,16 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - Robot Alpha: 1 + Robot Alpha: 0.5 Show Robot Collision: false Show Robot Visual: true Value: true + Velocity_Scaling_Factor: 1 Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: world + Default Light: true + Fixed Frame: base_link Frame Rate: 30 Name: root Tools: @@ -238,53 +236,45 @@ Visualization Manager: Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point Value: true Views: Current: - Class: rviz/Orbit - Distance: 2.82854 + Class: rviz/XYOrbit + Distance: 2.996500015258789 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 + X: 1.1539382934570312 + Y: 0.5978575348854065 + Z: -2.5331917186122155e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.45979705452919006 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 0.9717636108398438 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 997 - Hide Left Dock: false - Hide Right Dock: true - Motion Planning: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: + Height: 783 + Help: collapsed: false - Time: + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: collapsed: false - Tool Properties: + MotionPlanning - Trajectory Slider: collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ca000002b9fc0200000007fb000000100044006900730070006c006100790073010000003b0000013e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000017f000001750000016a00ffffff000002ce000002b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 + collapsed: false + Width: 1182 + X: 481 + Y: 253 diff --git a/ur10e_moveit_config/launch/moveit_planning_execution.launch b/ur10e_moveit_config/launch/moveit_planning_execution.launch new file mode 100644 index 000000000..500c0e0c5 --- /dev/null +++ b/ur10e_moveit_config/launch/moveit_planning_execution.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ur10e_moveit_config/launch/moveit_rviz.launch b/ur10e_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 000000000..285d81657 --- /dev/null +++ b/ur10e_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/ur3_e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur10e_moveit_config/launch/ompl_planning_pipeline.launch.xml similarity index 92% rename from ur3_e_moveit_config/launch/ompl_planning_pipeline.launch.xml rename to ur10e_moveit_config/launch/ompl_planning_pipeline.launch.xml index 71475878e..a52a7c101 100644 --- a/ur3_e_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur10e_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - + diff --git a/ur5_e_moveit_config/launch/planning_context.launch b/ur10e_moveit_config/launch/planning_context.launch similarity index 58% rename from ur5_e_moveit_config/launch/planning_context.launch rename to ur10e_moveit_config/launch/planning_context.launch index 63109be0a..a0121a8de 100644 --- a/ur5_e_moveit_config/launch/planning_context.launch +++ b/ur10e_moveit_config/launch/planning_context.launch @@ -1,28 +1,25 @@ - - - - - + - - + + - + - + + - + diff --git a/ur5_e_moveit_config/launch/planning_pipeline.launch.xml b/ur10e_moveit_config/launch/planning_pipeline.launch.xml similarity index 68% rename from ur5_e_moveit_config/launch/planning_pipeline.launch.xml rename to ur10e_moveit_config/launch/planning_pipeline.launch.xml index 12211f9d8..277b80706 100644 --- a/ur5_e_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur10e_moveit_config/launch/planning_pipeline.launch.xml @@ -1,10 +1,10 @@ - + - + diff --git a/ur3_e_moveit_config/launch/run_benchmark_ompl.launch b/ur10e_moveit_config/launch/run_benchmark_ompl.launch similarity index 71% rename from ur3_e_moveit_config/launch/run_benchmark_ompl.launch rename to ur10e_moveit_config/launch/run_benchmark_ompl.launch index e84b5312f..3553a913f 100644 --- a/ur3_e_moveit_config/launch/run_benchmark_ompl.launch +++ b/ur10e_moveit_config/launch/run_benchmark_ompl.launch @@ -4,19 +4,19 @@ - + - + - - + + diff --git a/ur3_e_moveit_config/launch/sensor_manager.launch.xml b/ur10e_moveit_config/launch/sensor_manager.launch.xml similarity index 81% rename from ur3_e_moveit_config/launch/sensor_manager.launch.xml rename to ur10e_moveit_config/launch/sensor_manager.launch.xml index 8f17c237b..7140a9f3f 100644 --- a/ur3_e_moveit_config/launch/sensor_manager.launch.xml +++ b/ur10e_moveit_config/launch/sensor_manager.launch.xml @@ -8,7 +8,7 @@ - - + + diff --git a/ur3_e_moveit_config/launch/setup_assistant.launch b/ur10e_moveit_config/launch/setup_assistant.launch similarity index 60% rename from ur3_e_moveit_config/launch/setup_assistant.launch rename to ur10e_moveit_config/launch/setup_assistant.launch index ca7e28b0f..6fc48197b 100644 --- a/ur3_e_moveit_config/launch/setup_assistant.launch +++ b/ur10e_moveit_config/launch/setup_assistant.launch @@ -1,4 +1,4 @@ - + @@ -7,9 +7,9 @@ - diff --git a/ur3_e_moveit_config/launch/trajectory_execution.launch.xml b/ur10e_moveit_config/launch/trajectory_execution.launch.xml similarity index 86% rename from ur3_e_moveit_config/launch/trajectory_execution.launch.xml rename to ur10e_moveit_config/launch/trajectory_execution.launch.xml index 6786cca12..3c25c0689 100644 --- a/ur3_e_moveit_config/launch/trajectory_execution.launch.xml +++ b/ur10e_moveit_config/launch/trajectory_execution.launch.xml @@ -1,6 +1,6 @@ - + @@ -10,9 +10,9 @@ - + - - - + + + diff --git a/ur3_e_moveit_config/launch/ur3_e_moveit_controller_manager.launch.xml b/ur10e_moveit_config/launch/ur10e_moveit_controller_manager.launch.xml similarity index 77% rename from ur3_e_moveit_config/launch/ur3_e_moveit_controller_manager.launch.xml rename to ur10e_moveit_config/launch/ur10e_moveit_controller_manager.launch.xml index f54839f4e..114ae0a28 100644 --- a/ur3_e_moveit_config/launch/ur3_e_moveit_controller_manager.launch.xml +++ b/ur10e_moveit_config/launch/ur10e_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur10_e_moveit_config/launch/ur10_e_moveit_sensor_manager.launch.xml b/ur10e_moveit_config/launch/ur10e_moveit_sensor_manager.launch.xml similarity index 100% rename from ur10_e_moveit_config/launch/ur10_e_moveit_sensor_manager.launch.xml rename to ur10e_moveit_config/launch/ur10e_moveit_sensor_manager.launch.xml diff --git a/ur5_e_moveit_config/launch/warehouse.launch b/ur10e_moveit_config/launch/warehouse.launch similarity index 71% rename from ur5_e_moveit_config/launch/warehouse.launch rename to ur10e_moveit_config/launch/warehouse.launch index 3ac1ddf6a..c6548b5d4 100644 --- a/ur5_e_moveit_config/launch/warehouse.launch +++ b/ur10e_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - - + + - + diff --git a/ur3_e_moveit_config/launch/warehouse_settings.launch.xml b/ur10e_moveit_config/launch/warehouse_settings.launch.xml similarity index 64% rename from ur3_e_moveit_config/launch/warehouse_settings.launch.xml rename to ur10e_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur3_e_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur10e_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +1,16 @@ - - + + - - + + + diff --git a/ur10_e_moveit_config/package.xml b/ur10e_moveit_config/package.xml similarity index 73% rename from ur10_e_moveit_config/package.xml rename to ur10e_moveit_config/package.xml index bceb8039d..135f4ca1d 100644 --- a/ur10_e_moveit_config/package.xml +++ b/ur10e_moveit_config/package.xml @@ -1,7 +1,7 @@ - ur10_e_moveit_config + ur10e_moveit_config 1.2.5 An automatically generated package with all the configuration and launch files for using the ur10e with the MoveIt Motion Planning Framework @@ -10,22 +10,30 @@ G.A. vd. Hoorn Miguel Prada Sarasola Nadia Hammoudeh Garcia - + BSD http://moveit.ros.org/ https://github.com/ros-planning/moveit_setup_assistant/issues https://github.com/ros-planning/moveit_setup_assistant - moveit_ros_move_group + joint_state_publisher + joint_state_publisher_gui + moveit_fake_controller_manager moveit_planners_ompl + moveit_ros_benchmarks + moveit_ros_move_group moveit_ros_visualization - moveit_fake_controller_manager + moveit_ros_warehouse + warehouse_ros_mongo + moveit_setup_assistant moveit_simple_controller_manager - joint_state_publisher robot_state_publisher + rviz + tf2_ros + trac_ik_kinematics_plugin + ur_description xacro - ur_description roslaunch catkin diff --git a/ur10e_moveit_config/tests/moveit_planning_execution.xml b/ur10e_moveit_config/tests/moveit_planning_execution.xml new file mode 100644 index 000000000..fe138e5f1 --- /dev/null +++ b/ur10e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/.setup_assistant b/ur16e_moveit_config/.setup_assistant new file mode 100644 index 000000000..aa8aaae2c --- /dev/null +++ b/ur16e_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: ur_description + relative_path: urdf/ur16e.xacro + xacro_args: "" + SRDF: + relative_path: config/ur16e.srdf + CONFIG: + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur3_e_moveit_config/CMakeLists.txt b/ur16e_moveit_config/CMakeLists.txt similarity index 92% rename from ur3_e_moveit_config/CMakeLists.txt rename to ur16e_moveit_config/CMakeLists.txt index 6787fcbfe..09769e2be 100644 --- a/ur3_e_moveit_config/CMakeLists.txt +++ b/ur16e_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(ur3_e_moveit_config) +project(ur16e_moveit_config) find_package(catkin REQUIRED) diff --git a/ur16e_moveit_config/config/chomp_planning.yaml b/ur16e_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur16e_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur10_e_moveit_config/config/fake_controllers.yaml b/ur16e_moveit_config/config/fake_controllers.yaml similarity index 72% rename from ur10_e_moveit_config/config/fake_controllers.yaml rename to ur16e_moveit_config/config/fake_controllers.yaml index 5e24f9451..afbfa6e6c 100644 --- a/ur10_e_moveit_config/config/fake_controllers.yaml +++ b/ur16e_moveit_config/config/fake_controllers.yaml @@ -7,6 +7,6 @@ controller_list: - wrist_1_joint - wrist_2_joint - wrist_3_joint - - name: fake_endeffector_controller - joints: - [] \ No newline at end of file +initial: # Define initial robot poses. + - group: manipulator + pose: home diff --git a/ur5_e_moveit_config/config/joint_limits.yaml b/ur16e_moveit_config/config/joint_limits.yaml similarity index 51% rename from ur5_e_moveit_config/config/joint_limits.yaml rename to ur16e_moveit_config/config/joint_limits.yaml index 991719a66..633b7bbce 100644 --- a/ur5_e_moveit_config/config/joint_limits.yaml +++ b/ur16e_moveit_config/config/joint_limits.yaml @@ -2,33 +2,33 @@ # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] joint_limits: - shoulder_pan_joint: + elbow_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 - elbow_joint: + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/ur16e_moveit_config/config/kinematics.yaml b/ur16e_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..c9a0ca2d5 --- /dev/null +++ b/ur16e_moveit_config/config/kinematics.yaml @@ -0,0 +1,9 @@ +#manipulator: +# kinematics_solver: ur_kinematics/UR16eKinematicsPlugin +# kinematics_solver_search_resolution: 0.005 +# kinematics_solver_timeout: 0.005 +manipulator: + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + solve_type: Distance + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 diff --git a/ur16e_moveit_config/config/ompl_planning.yaml b/ur16e_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..39ba9f166 --- /dev/null +++ b/ur16e_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,149 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +manipulator: + longest_valid_segment_fraction: 0.01 + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur16e_moveit_config/config/ros_controllers.yaml b/ur16e_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..bfc4186c4 --- /dev/null +++ b/ur16e_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,11 @@ +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur16e_moveit_config/config/ur16e.srdf b/ur16e_moveit_config/config/ur16e.srdf new file mode 100644 index 000000000..bee309614 --- /dev/null +++ b/ur16e_moveit_config/config/ur16e.srdf @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur16e_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..0a3093def --- /dev/null +++ b/ur16e_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/launch/default_warehouse_db.launch b/ur16e_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 000000000..659763848 --- /dev/null +++ b/ur16e_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/launch/demo.launch b/ur16e_moveit_config/launch/demo.launch new file mode 100644 index 000000000..8cc5c85e9 --- /dev/null +++ b/ur16e_moveit_config/launch/demo.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur3_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur16e_moveit_config/launch/fake_moveit_controller_manager.launch.xml similarity index 82% rename from ur3_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml rename to ur16e_moveit_config/launch/fake_moveit_controller_manager.launch.xml index 630203a59..031184d30 100644 --- a/ur3_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml +++ b/ur16e_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -4,6 +4,6 @@ - + diff --git a/ur5_e_moveit_config/launch/move_group.launch b/ur16e_moveit_config/launch/move_group.launch similarity index 60% rename from ur5_e_moveit_config/launch/move_group.launch rename to ur16e_moveit_config/launch/move_group.launch index d39c94716..8d9ac81f0 100644 --- a/ur5_e_moveit_config/launch/move_group.launch +++ b/ur16e_moveit_config/launch/move_group.launch @@ -1,14 +1,10 @@ - - - - - - + @@ -16,27 +12,52 @@ + + + + + + + + + + + + + + + - - + + - + - + - - + + @@ -47,19 +68,9 @@ + + - - diff --git a/ur3_e_moveit_config/launch/moveit.rviz b/ur16e_moveit_config/launch/moveit.rviz similarity index 65% rename from ur3_e_moveit_config/launch/moveit.rviz rename to ur16e_moveit_config/launch/moveit.rviz index c7540069f..cfc2fec04 100644 --- a/ur3_e_moveit_config/launch/moveit.rviz +++ b/ur16e_moveit_config/launch/moveit.rviz @@ -1,31 +1,23 @@ Panels: - Class: rviz/Displays - Help Height: 75 + Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.5175438523292542 + Tree Height: 259 + - Class: rviz/Help + Name: Help - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -35,7 +27,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -47,12 +39,17 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Class: moveit_rviz_plugin/MotionPlanning + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning Enabled: true Move Group Namespace: "" - MoveIt_Goal_Tolerance: 0 + 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: true MoveIt_Warehouse_Host: 127.0.0.1 MoveIt_Warehouse_Port: 33829 @@ -83,12 +80,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - ee_link: + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false forearm_link: Alpha: 1 Show Axes: false @@ -108,10 +108,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false wrist_1_link: Alpha: 1 Show Axes: false @@ -134,19 +130,20 @@ Visualization Manager: Show Robot Visual: true Show Trail: false State Display Time: 0.05 s - Trajectory Topic: /move_group/display_planned_path + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path Planning Metrics: Payload: 1 Show Joint Torques: false Show Manipulability: false Show Manipulability Index: false Show Weight Limit: false - TextHeight: 0.08 + TextHeight: 0.07999999821186066 Planning Request: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 + Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 Planning Group: manipulator Query Goal State: true @@ -157,9 +154,9 @@ Visualization Manager: Planning Scene Topic: move_group/monitored_planning_scene Robot Description: robot_description Scene Geometry: - Scene Alpha: 0.9 + Scene Alpha: 1 Scene Color: 50; 230; 50 - Scene Display Time: 0.2 + Scene Display Time: 0.20000000298023224 Show Scene Geometry: true Voxel Coloring: Z-Axis Voxel Rendering: Occupied Voxels @@ -179,12 +176,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - ee_link: + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false forearm_link: Alpha: 1 Show Axes: false @@ -204,10 +204,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false wrist_1_link: Alpha: 1 Show Axes: false @@ -223,14 +219,16 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - Robot Alpha: 1 + Robot Alpha: 0.5 Show Robot Collision: false Show Robot Visual: true Value: true + Velocity_Scaling_Factor: 1 Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: world + Default Light: true + Fixed Frame: base_link Frame Rate: 30 Name: root Tools: @@ -238,53 +236,45 @@ Visualization Manager: Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point Value: true Views: Current: - Class: rviz/Orbit - Distance: 2.82854 + Class: rviz/XYOrbit + Distance: 2.996500015258789 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 + X: 1.1539382934570312 + Y: 0.5978575348854065 + Z: -2.5331917186122155e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.45979705452919006 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 0.9717636108398438 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 997 - Hide Left Dock: false - Hide Right Dock: true - Motion Planning: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: + Height: 783 + Help: collapsed: false - Time: + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: collapsed: false - Tool Properties: + MotionPlanning - Trajectory Slider: collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ca000002b9fc0200000007fb000000100044006900730070006c006100790073010000003b0000013e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000017f000001750000016a00ffffff000002ce000002b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 + collapsed: false + Width: 1182 + X: 481 + Y: 253 diff --git a/ur16e_moveit_config/launch/moveit_planning_execution.launch b/ur16e_moveit_config/launch/moveit_planning_execution.launch new file mode 100644 index 000000000..3d22516ee --- /dev/null +++ b/ur16e_moveit_config/launch/moveit_planning_execution.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ur16e_moveit_config/launch/moveit_rviz.launch b/ur16e_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 000000000..4a06506ce --- /dev/null +++ b/ur16e_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur16e_moveit_config/launch/ompl_planning_pipeline.launch.xml similarity index 92% rename from ur5_e_moveit_config/launch/ompl_planning_pipeline.launch.xml rename to ur16e_moveit_config/launch/ompl_planning_pipeline.launch.xml index eb0ef8926..0ac9828c4 100644 --- a/ur5_e_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur16e_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - + diff --git a/ur3_e_moveit_config/launch/planning_context.launch b/ur16e_moveit_config/launch/planning_context.launch similarity index 58% rename from ur3_e_moveit_config/launch/planning_context.launch rename to ur16e_moveit_config/launch/planning_context.launch index d1a1618ac..2c61f888c 100644 --- a/ur3_e_moveit_config/launch/planning_context.launch +++ b/ur16e_moveit_config/launch/planning_context.launch @@ -1,28 +1,25 @@ - - - - - + - - + + - + - + + - + diff --git a/ur3_e_moveit_config/launch/planning_pipeline.launch.xml b/ur16e_moveit_config/launch/planning_pipeline.launch.xml similarity index 68% rename from ur3_e_moveit_config/launch/planning_pipeline.launch.xml rename to ur16e_moveit_config/launch/planning_pipeline.launch.xml index 40f9e8d96..fc6e0f94c 100644 --- a/ur3_e_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur16e_moveit_config/launch/planning_pipeline.launch.xml @@ -1,10 +1,10 @@ - + - + diff --git a/ur5_e_moveit_config/launch/run_benchmark_ompl.launch b/ur16e_moveit_config/launch/run_benchmark_ompl.launch similarity index 71% rename from ur5_e_moveit_config/launch/run_benchmark_ompl.launch rename to ur16e_moveit_config/launch/run_benchmark_ompl.launch index d37513d82..40e7444e6 100644 --- a/ur5_e_moveit_config/launch/run_benchmark_ompl.launch +++ b/ur16e_moveit_config/launch/run_benchmark_ompl.launch @@ -4,19 +4,19 @@ - + - + - - + + diff --git a/ur5_e_moveit_config/launch/sensor_manager.launch.xml b/ur16e_moveit_config/launch/sensor_manager.launch.xml similarity index 81% rename from ur5_e_moveit_config/launch/sensor_manager.launch.xml rename to ur16e_moveit_config/launch/sensor_manager.launch.xml index 172eb87be..a8db6fdb8 100644 --- a/ur5_e_moveit_config/launch/sensor_manager.launch.xml +++ b/ur16e_moveit_config/launch/sensor_manager.launch.xml @@ -8,7 +8,7 @@ - - + + diff --git a/ur16e_moveit_config/launch/setup_assistant.launch b/ur16e_moveit_config/launch/setup_assistant.launch new file mode 100644 index 000000000..385ea95aa --- /dev/null +++ b/ur16e_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/launch/trajectory_execution.launch.xml b/ur16e_moveit_config/launch/trajectory_execution.launch.xml similarity index 86% rename from ur5_e_moveit_config/launch/trajectory_execution.launch.xml rename to ur16e_moveit_config/launch/trajectory_execution.launch.xml index 3513753a6..099f3c9fe 100644 --- a/ur5_e_moveit_config/launch/trajectory_execution.launch.xml +++ b/ur16e_moveit_config/launch/trajectory_execution.launch.xml @@ -1,6 +1,6 @@ - + @@ -10,9 +10,9 @@ - + - - - + + + diff --git a/ur16e_moveit_config/launch/ur16e_moveit_controller_manager.launch.xml b/ur16e_moveit_config/launch/ur16e_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..0aab1122f --- /dev/null +++ b/ur16e_moveit_config/launch/ur16e_moveit_controller_manager.launch.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/ur3_e_moveit_config/launch/ur3_e_moveit_sensor_manager.launch.xml b/ur16e_moveit_config/launch/ur16e_moveit_sensor_manager.launch.xml similarity index 100% rename from ur3_e_moveit_config/launch/ur3_e_moveit_sensor_manager.launch.xml rename to ur16e_moveit_config/launch/ur16e_moveit_sensor_manager.launch.xml diff --git a/ur3_e_moveit_config/launch/warehouse.launch b/ur16e_moveit_config/launch/warehouse.launch similarity index 71% rename from ur3_e_moveit_config/launch/warehouse.launch rename to ur16e_moveit_config/launch/warehouse.launch index 918a58717..529d5e2a6 100644 --- a/ur3_e_moveit_config/launch/warehouse.launch +++ b/ur16e_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - - + + - + diff --git a/ur10_e_moveit_config/launch/warehouse_settings.launch.xml b/ur16e_moveit_config/launch/warehouse_settings.launch.xml similarity index 64% rename from ur10_e_moveit_config/launch/warehouse_settings.launch.xml rename to ur16e_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur10_e_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur16e_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +1,16 @@ - - + + - - + + + diff --git a/ur16e_moveit_config/package.xml b/ur16e_moveit_config/package.xml new file mode 100644 index 000000000..9fd739e59 --- /dev/null +++ b/ur16e_moveit_config/package.xml @@ -0,0 +1,41 @@ + + + + ur16e_moveit_config + 1.2.5 + + An automatically generated package with all the configuration and launch files for using the ur16e with the MoveIt Motion Planning Framework + + Felix Messmer + G.A. vd. Hoorn + Miguel Prada Sarasola + Nadia Hammoudeh Garcia + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + joint_state_publisher + joint_state_publisher_gui + moveit_fake_controller_manager + moveit_planners_ompl + moveit_ros_benchmarks + moveit_ros_move_group + moveit_ros_visualization + moveit_ros_warehouse + warehouse_ros_mongo + moveit_setup_assistant + moveit_simple_controller_manager + robot_state_publisher + rviz + tf2_ros + trac_ik_kinematics_plugin + ur_description + xacro + + roslaunch + catkin + + diff --git a/ur16e_moveit_config/tests/moveit_planning_execution.xml b/ur16e_moveit_config/tests/moveit_planning_execution.xml new file mode 100644 index 000000000..3ff79057b --- /dev/null +++ b/ur16e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur3_e_moveit_config/.setup_assistant b/ur3_e_moveit_config/.setup_assistant deleted file mode 100644 index 5d5242684..000000000 --- a/ur3_e_moveit_config/.setup_assistant +++ /dev/null @@ -1,8 +0,0 @@ -moveit_setup_assistant_config: - URDF: - package: ur_e_description - relative_path: urdf/ur3_e_robot.urdf.xacro - SRDF: - relative_path: config/ur3e.srdf - CONFIG: - generated_timestamp: 1438427891 diff --git a/ur3_e_moveit_config/CHANGELOG.rst b/ur3_e_moveit_config/CHANGELOG.rst deleted file mode 100644 index 6c0d15efe..000000000 --- a/ur3_e_moveit_config/CHANGELOG.rst +++ /dev/null @@ -1,10 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur3_e_moveit_config -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* First release (of this package) -* Update maintainer listing: add Miguel (`#410 `_) -* UR-E Series (`#380 `_) -* Contributors: Dave Niewinski, gavanderhoorn diff --git a/ur3_e_moveit_config/config/kinematics.yaml b/ur3_e_moveit_config/config/kinematics.yaml deleted file mode 100644 index 5d492ac1f..000000000 --- a/ur3_e_moveit_config/config/kinematics.yaml +++ /dev/null @@ -1,5 +0,0 @@ -manipulator: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 - kinematics_solver_attempts: 3 diff --git a/ur3_e_moveit_config/config/ompl_planning.yaml b/ur3_e_moveit_config/config/ompl_planning.yaml deleted file mode 100644 index 191879b4e..000000000 --- a/ur3_e_moveit_config/config/ompl_planning.yaml +++ /dev/null @@ -1,84 +0,0 @@ -planner_configs: - SBLkConfigDefault: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: - type: geometric::EST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LBKPIECEkConfigDefault: - type: geometric::LBKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - BKPIECEkConfigDefault: - type: geometric::BKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - KPIECEkConfigDefault: - type: geometric::KPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - RRTkConfigDefault: - type: geometric::RRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - RRTConnectkConfigDefault: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: - type: geometric::RRTstar - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 - TRRTkConfigDefault: - type: geometric::TRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - max_states_failed: 10 # when to start increasing temp. default: 10 - temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 - min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 - init_temperature: 10e-6 # initial temperature. default: 10e-6 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() - frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 - k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() - PRMkConfigDefault: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: - type: geometric::PRMstar -manipulator: - default_planner_config: RRTConnectkConfigDefault - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) - longest_valid_segment_fraction: 0.01 -endeffector: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault diff --git a/ur3_e_moveit_config/launch/default_warehouse_db.launch b/ur3_e_moveit_config/launch/default_warehouse_db.launch deleted file mode 100644 index b4b5a0399..000000000 --- a/ur3_e_moveit_config/launch/default_warehouse_db.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/ur3_e_moveit_config/launch/demo.launch b/ur3_e_moveit_config/launch/demo.launch deleted file mode 100644 index 13086b9f7..000000000 --- a/ur3_e_moveit_config/launch/demo.launch +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - [/move_group/fake_controller_joint_states] - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur3_e_moveit_config/launch/joystick_control.launch b/ur3_e_moveit_config/launch/joystick_control.launch deleted file mode 100644 index f74173527..000000000 --- a/ur3_e_moveit_config/launch/joystick_control.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/ur3_e_moveit_config/launch/moveit_rviz.launch b/ur3_e_moveit_config/launch/moveit_rviz.launch deleted file mode 100644 index af66a0fee..000000000 --- a/ur3_e_moveit_config/launch/moveit_rviz.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch b/ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch deleted file mode 100644 index 75b83fee8..000000000 --- a/ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/ur3_e_moveit_config/tests/moveit_planning_execution.xml b/ur3_e_moveit_config/tests/moveit_planning_execution.xml deleted file mode 100644 index 266c83231..000000000 --- a/ur3_e_moveit_config/tests/moveit_planning_execution.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur3_moveit_config/.setup_assistant b/ur3_moveit_config/.setup_assistant index c229d69bd..92ffcddc0 100644 --- a/ur3_moveit_config/.setup_assistant +++ b/ur3_moveit_config/.setup_assistant @@ -1,8 +1,11 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur3_robot.urdf.xacro + relative_path: urdf/ur3.xacro + xacro_args: "" SRDF: relative_path: config/ur3.srdf CONFIG: - generated_timestamp: 1438427891 \ No newline at end of file + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur3_moveit_config/CMakeLists.txt b/ur3_moveit_config/CMakeLists.txt index 9ccfc6b65..beb467041 100644 --- a/ur3_moveit_config/CMakeLists.txt +++ b/ur3_moveit_config/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(ur3_moveit_config) find_package(catkin REQUIRED) diff --git a/ur3_moveit_config/config/chomp_planning.yaml b/ur3_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur3_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur3_moveit_config/config/controllers.yaml b/ur3_moveit_config/config/controllers.yaml deleted file mode 100644 index bf2252cb2..000000000 --- a/ur3_moveit_config/config/controllers.yaml +++ /dev/null @@ -1,11 +0,0 @@ -controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur3_moveit_config/config/fake_controllers.yaml b/ur3_moveit_config/config/fake_controllers.yaml index 5e24f9451..afbfa6e6c 100644 --- a/ur3_moveit_config/config/fake_controllers.yaml +++ b/ur3_moveit_config/config/fake_controllers.yaml @@ -7,6 +7,6 @@ controller_list: - wrist_1_joint - wrist_2_joint - wrist_3_joint - - name: fake_endeffector_controller - joints: - [] \ No newline at end of file +initial: # Define initial robot poses. + - group: manipulator + pose: home diff --git a/ur3_moveit_config/config/joint_limits.yaml b/ur3_moveit_config/config/joint_limits.yaml index 60797d513..45694aa56 100644 --- a/ur3_moveit_config/config/joint_limits.yaml +++ b/ur3_moveit_config/config/joint_limits.yaml @@ -2,33 +2,33 @@ # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] joint_limits: - shoulder_pan_joint: + elbow_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 - elbow_joint: + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 + max_velocity: 6.283185307179586 + has_acceleration_limits: false + max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 + max_velocity: 6.283185307179586 + has_acceleration_limits: false + max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 \ No newline at end of file + max_velocity: 6.283185307179586 + has_acceleration_limits: false + max_acceleration: 0 diff --git a/ur3_moveit_config/config/kinematics.yaml b/ur3_moveit_config/config/kinematics.yaml index 7162d768c..074f2fc0e 100644 --- a/ur3_moveit_config/config/kinematics.yaml +++ b/ur3_moveit_config/config/kinematics.yaml @@ -2,9 +2,8 @@ # kinematics_solver: ur_kinematics/UR3KinematicsPlugin # kinematics_solver_search_resolution: 0.005 # kinematics_solver_timeout: 0.005 -# kinematics_solver_attempts: 3 manipulator: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + solve_type: Distance kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 - kinematics_solver_attempts: 3 diff --git a/ur3_moveit_config/config/ompl_planning.yaml b/ur3_moveit_config/config/ompl_planning.yaml index b58b2d655..39ba9f166 100644 --- a/ur3_moveit_config/config/ompl_planning.yaml +++ b/ur3_moveit_config/config/ompl_planning.yaml @@ -1,42 +1,42 @@ planner_configs: - SBLkConfigDefault: + SBL: type: geometric::SBL range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: + EST: type: geometric::EST range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LBKPIECEkConfigDefault: + LBKPIECE: type: geometric::LBKPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - BKPIECEkConfigDefault: + BKPIECE: type: geometric::BKPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - KPIECEkConfigDefault: + KPIECE: type: geometric::KPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - RRTkConfigDefault: + RRT: type: geometric::RRT range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - RRTConnectkConfigDefault: + RRTConnect: type: geometric::RRTConnect range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: + RRTstar: type: geometric::RRTstar range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 - TRRTkConfigDefault: + TRRT: type: geometric::TRRT range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 @@ -44,40 +44,106 @@ planner_configs: temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 init_temperature: 10e-6 # initial temperature. default: 10e-6 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() - PRMkConfigDefault: + PRM: type: geometric::PRM max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: + PRMstar: type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 manipulator: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) longest_valid_segment_fraction: 0.01 -endeffector: + default_planner_config: RRTConnect planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur3_moveit_config/config/ros_controllers.yaml b/ur3_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..bfc4186c4 --- /dev/null +++ b/ur3_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,11 @@ +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur3_moveit_config/config/ur3.srdf b/ur3_moveit_config/config/ur3.srdf index d1f117c06..8a5515966 100644 --- a/ur3_moveit_config/config/ur3.srdf +++ b/ur3_moveit_config/config/ur3.srdf @@ -3,17 +3,14 @@ This is a format for representing semantic information about the robot structure. A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined --> - + - - - - + @@ -32,18 +29,14 @@ - - - - - - + + + - diff --git a/ur3_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur3_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..f22ea99c2 --- /dev/null +++ b/ur3_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur3_moveit_config/launch/default_warehouse_db.launch b/ur3_moveit_config/launch/default_warehouse_db.launch index 7b39a3ddc..5291dfc32 100644 --- a/ur3_moveit_config/launch/default_warehouse_db.launch +++ b/ur3_moveit_config/launch/default_warehouse_db.launch @@ -1,10 +1,12 @@ + + - + - + diff --git a/ur3_moveit_config/launch/demo.launch b/ur3_moveit_config/launch/demo.launch index 4d0ebee58..87da0471c 100644 --- a/ur3_moveit_config/launch/demo.launch +++ b/ur3_moveit_config/launch/demo.launch @@ -1,46 +1,63 @@ + + + + + - - - - - - - + + + + + + - + - - - [/move_group/fake_controller_joint_states] + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] - + - + - + + + - - + + - + + + diff --git a/ur3_moveit_config/launch/joystick_control.launch b/ur3_moveit_config/launch/joystick_control.launch deleted file mode 100644 index f74173527..000000000 --- a/ur3_moveit_config/launch/joystick_control.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/ur3_moveit_config/launch/move_group.launch b/ur3_moveit_config/launch/move_group.launch index 625f436c8..db95cff0e 100644 --- a/ur3_moveit_config/launch/move_group.launch +++ b/ur3_moveit_config/launch/move_group.launch @@ -1,15 +1,10 @@ - - - - - + value="gdb -x $(find ur3_moveit_config)/launch/gdb_settings.gdb --ex run --args" /> @@ -17,15 +12,40 @@ + + + + + + + + + + + + + + + - + @@ -48,19 +68,9 @@ + + - - diff --git a/ur3_moveit_config/launch/moveit.rviz b/ur3_moveit_config/launch/moveit.rviz index c7540069f..cfc2fec04 100644 --- a/ur3_moveit_config/launch/moveit.rviz +++ b/ur3_moveit_config/launch/moveit.rviz @@ -1,31 +1,23 @@ Panels: - Class: rviz/Displays - Help Height: 75 + Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.5175438523292542 + Tree Height: 259 + - Class: rviz/Help + Name: Help - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -35,7 +27,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -47,12 +39,17 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Class: moveit_rviz_plugin/MotionPlanning + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning Enabled: true Move Group Namespace: "" - MoveIt_Goal_Tolerance: 0 + 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: true MoveIt_Warehouse_Host: 127.0.0.1 MoveIt_Warehouse_Port: 33829 @@ -83,12 +80,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - ee_link: + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false forearm_link: Alpha: 1 Show Axes: false @@ -108,10 +108,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false wrist_1_link: Alpha: 1 Show Axes: false @@ -134,19 +130,20 @@ Visualization Manager: Show Robot Visual: true Show Trail: false State Display Time: 0.05 s - Trajectory Topic: /move_group/display_planned_path + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path Planning Metrics: Payload: 1 Show Joint Torques: false Show Manipulability: false Show Manipulability Index: false Show Weight Limit: false - TextHeight: 0.08 + TextHeight: 0.07999999821186066 Planning Request: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 + Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 Planning Group: manipulator Query Goal State: true @@ -157,9 +154,9 @@ Visualization Manager: Planning Scene Topic: move_group/monitored_planning_scene Robot Description: robot_description Scene Geometry: - Scene Alpha: 0.9 + Scene Alpha: 1 Scene Color: 50; 230; 50 - Scene Display Time: 0.2 + Scene Display Time: 0.20000000298023224 Show Scene Geometry: true Voxel Coloring: Z-Axis Voxel Rendering: Occupied Voxels @@ -179,12 +176,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - ee_link: + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false forearm_link: Alpha: 1 Show Axes: false @@ -204,10 +204,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false wrist_1_link: Alpha: 1 Show Axes: false @@ -223,14 +219,16 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - Robot Alpha: 1 + Robot Alpha: 0.5 Show Robot Collision: false Show Robot Visual: true Value: true + Velocity_Scaling_Factor: 1 Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: world + Default Light: true + Fixed Frame: base_link Frame Rate: 30 Name: root Tools: @@ -238,53 +236,45 @@ Visualization Manager: Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point Value: true Views: Current: - Class: rviz/Orbit - Distance: 2.82854 + Class: rviz/XYOrbit + Distance: 2.996500015258789 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 + X: 1.1539382934570312 + Y: 0.5978575348854065 + Z: -2.5331917186122155e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.45979705452919006 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 0.9717636108398438 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 997 - Hide Left Dock: false - Hide Right Dock: true - Motion Planning: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: + Height: 783 + Help: collapsed: false - Time: + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: collapsed: false - Tool Properties: + MotionPlanning - Trajectory Slider: collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ca000002b9fc0200000007fb000000100044006900730070006c006100790073010000003b0000013e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000017f000001750000016a00ffffff000002ce000002b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 + collapsed: false + Width: 1182 + X: 481 + Y: 253 diff --git a/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch b/ur3_moveit_config/launch/moveit_planning_execution.launch similarity index 58% rename from ur3_moveit_config/launch/ur3_moveit_planning_execution.launch rename to ur3_moveit_config/launch/moveit_planning_execution.launch index 81b7ca8a7..6c28f97e7 100644 --- a/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch +++ b/ur3_moveit_config/launch/moveit_planning_execution.launch @@ -1,14 +1,12 @@ - - + - - + + - diff --git a/ur3_moveit_config/launch/moveit_rviz.launch b/ur3_moveit_config/launch/moveit_rviz.launch index 8aa1b22d5..942ba156e 100644 --- a/ur3_moveit_config/launch/moveit_rviz.launch +++ b/ur3_moveit_config/launch/moveit_rviz.launch @@ -4,13 +4,12 @@ - - - - + + + + - + args="$(arg command_args)" output="screen"> diff --git a/ur3_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur3_moveit_config/launch/ompl_planning_pipeline.launch.xml index c67fdfc84..b41b24c01 100644 --- a/ur3_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur3_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - - - - - + - + @@ -23,6 +19,7 @@ + - + diff --git a/ur3_moveit_config/launch/planning_pipeline.launch.xml b/ur3_moveit_config/launch/planning_pipeline.launch.xml index ae6a311d1..527abc667 100644 --- a/ur3_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur3_moveit_config/launch/planning_pipeline.launch.xml @@ -1,7 +1,7 @@ - + diff --git a/ur3_moveit_config/launch/setup_assistant.launch b/ur3_moveit_config/launch/setup_assistant.launch index 1998a21be..ea44f51c1 100644 --- a/ur3_moveit_config/launch/setup_assistant.launch +++ b/ur3_moveit_config/launch/setup_assistant.launch @@ -1,4 +1,4 @@ - + @@ -7,9 +7,9 @@ - diff --git a/ur3_moveit_config/launch/ur3_moveit_controller_manager.launch.xml b/ur3_moveit_config/launch/ur3_moveit_controller_manager.launch.xml index 380c63075..e1dd977da 100644 --- a/ur3_moveit_config/launch/ur3_moveit_controller_manager.launch.xml +++ b/ur3_moveit_config/launch/ur3_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur3_moveit_config/launch/warehouse.launch b/ur3_moveit_config/launch/warehouse.launch index c42dc3b72..767fbc688 100644 --- a/ur3_moveit_config/launch/warehouse.launch +++ b/ur3_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - + - + diff --git a/ur3_moveit_config/launch/warehouse_settings.launch.xml b/ur3_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur3_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur3_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +1,16 @@ - - + + - - + + + diff --git a/ur3_moveit_config/package.xml b/ur3_moveit_config/package.xml index 3a0920c22..b8b67688b 100644 --- a/ur3_moveit_config/package.xml +++ b/ur3_moveit_config/package.xml @@ -17,17 +17,25 @@ https://github.com/ros-planning/moveit_setup_assistant/issues https://github.com/ros-planning/moveit_setup_assistant - moveit_ros_move_group + joint_state_publisher + joint_state_publisher_gui + moveit_fake_controller_manager moveit_planners_ompl + moveit_ros_benchmarks + moveit_ros_move_group moveit_ros_visualization - moveit_fake_controller_manager + moveit_ros_warehouse + warehouse_ros_mongo + moveit_setup_assistant moveit_simple_controller_manager - joint_state_publisher robot_state_publisher + rviz + tf2_ros + trac_ik_kinematics_plugin + ur_description xacro - ur_description roslaunch catkin - + diff --git a/ur3_moveit_config/tests/moveit_planning_execution.xml b/ur3_moveit_config/tests/moveit_planning_execution.xml index ca37b19ed..10246c7d7 100644 --- a/ur3_moveit_config/tests/moveit_planning_execution.xml +++ b/ur3_moveit_config/tests/moveit_planning_execution.xml @@ -1,16 +1,14 @@ - - - + - - + + diff --git a/ur3e_moveit_config/.setup_assistant b/ur3e_moveit_config/.setup_assistant new file mode 100644 index 000000000..ee6c9797c --- /dev/null +++ b/ur3e_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: ur_description + relative_path: urdf/ur3e.xacro + xacro_args: "" + SRDF: + relative_path: config/ur3e.srdf + CONFIG: + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur3e_moveit_config/CHANGELOG.rst b/ur3e_moveit_config/CHANGELOG.rst new file mode 100644 index 000000000..c73e554de --- /dev/null +++ b/ur3e_moveit_config/CHANGELOG.rst @@ -0,0 +1,63 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ur3e_moveit_config +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.5 (2019-04-05) +------------------ +* Update maintainer listing: add Miguel (`#410 `_) +* MoveGroupExecuteService is Deprecated by MoveIt! (`#391 `_) +* Update maintainer and author information. +* Add roslaunch tests (`#362 `_) +* Contributors: gavanderhoorn, Nadia Hammoudeh García, 薯片半价 + +1.2.1 (2018-01-06) +------------------ +* Reduce longest valid segment fraction to accomodate non-limited version of the UR5 (`#266 `_) +* Contributors: Scott Paulin + +1.2.0 (2017-08-04) +------------------ +* Fix Deprecated warning in MoveIt: parameter moved into namespace 'trajectory_execution' +* Contributors: Dave Coleman + +1.1.9 (2017-01-02) +------------------ +* use '--inorder' for jade+ xacro as well. +* make RViz load MoveIt display by default. +* Contributors: gavanderhoorn + +1.1.8 (2016-12-30) +------------------ +* all: update maintainers. +* Contributors: gavanderhoorn + +1.1.7 (2016-12-29) +------------------ +* Don't depend on moveit_plugins metapackage +* Fix xacro warnings in Jade +* Contributors: Dave Coleman, Jon Binney + +1.1.6 (2016-04-01) +------------------ +* add missing dependency for moveit_simple_controller_manager +* Merge branch 'indigo-devel' of github.com:ros-industrial/universal_robot into ur3_moveit_config +* apply latest setup assistant changes to ur5 and ur3e +* Adding comment explaining the choice of default planning algorithm +* Use RRTConnect by default for UR10 + Fixes bug `#193 `_ about slow planning on Indigo + LBKPIECE1 (the previous default) looks to be the wrong planning algorithm for the robot + See https://groups.google.com/forum/#!topic/moveit-users/M71T-GaUNgg +* crop ik solutions wrt joint_limits +* set planning time to 0 +* reduce planning attempts in moveit rviz plugin +* Contributors: Marco Esposito, ipa-fxm + +1.0.2 (2014-03-31) +------------------ + +1.0.1 (2014-03-31) +------------------ +* changes due to file renaming +* update moveit_configs: include ee_link and handle limited robot +* new moveit_configs for ur5 and ur3e +* Contributors: ipa-fxm diff --git a/ur10_e_moveit_config/CMakeLists.txt b/ur3e_moveit_config/CMakeLists.txt similarity index 83% rename from ur10_e_moveit_config/CMakeLists.txt rename to ur3e_moveit_config/CMakeLists.txt index 0e8b09a98..73325ab56 100644 --- a/ur10_e_moveit_config/CMakeLists.txt +++ b/ur3e_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur10_e_moveit_config) +cmake_minimum_required(VERSION 3.0.2) +project(ur3e_moveit_config) find_package(catkin REQUIRED) diff --git a/ur3e_moveit_config/config/chomp_planning.yaml b/ur3e_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur3e_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur5_e_moveit_config/config/fake_controllers.yaml b/ur3e_moveit_config/config/fake_controllers.yaml similarity index 72% rename from ur5_e_moveit_config/config/fake_controllers.yaml rename to ur3e_moveit_config/config/fake_controllers.yaml index 5e24f9451..afbfa6e6c 100644 --- a/ur5_e_moveit_config/config/fake_controllers.yaml +++ b/ur3e_moveit_config/config/fake_controllers.yaml @@ -7,6 +7,6 @@ controller_list: - wrist_1_joint - wrist_2_joint - wrist_3_joint - - name: fake_endeffector_controller - joints: - [] \ No newline at end of file +initial: # Define initial robot poses. + - group: manipulator + pose: home diff --git a/ur10_e_moveit_config/config/joint_limits.yaml b/ur3e_moveit_config/config/joint_limits.yaml similarity index 52% rename from ur10_e_moveit_config/config/joint_limits.yaml rename to ur3e_moveit_config/config/joint_limits.yaml index 991719a66..45694aa56 100644 --- a/ur10_e_moveit_config/config/joint_limits.yaml +++ b/ur3e_moveit_config/config/joint_limits.yaml @@ -2,33 +2,33 @@ # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] joint_limits: - shoulder_pan_joint: + elbow_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 - elbow_joint: + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 6.283185307179586 + has_acceleration_limits: false + max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 6.283185307179586 + has_acceleration_limits: false + max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 6.283185307179586 + has_acceleration_limits: false + max_acceleration: 0 diff --git a/ur3e_moveit_config/config/kinematics.yaml b/ur3e_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..76a539090 --- /dev/null +++ b/ur3e_moveit_config/config/kinematics.yaml @@ -0,0 +1,9 @@ +#manipulator: +# kinematics_solver: ur_kinematics/UR3eKinematicsPlugin +# kinematics_solver_search_resolution: 0.005 +# kinematics_solver_timeout: 0.005 +manipulator: + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + solve_type: Distance + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 diff --git a/ur3e_moveit_config/config/ompl_planning.yaml b/ur3e_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..39ba9f166 --- /dev/null +++ b/ur3e_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,149 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +manipulator: + longest_valid_segment_fraction: 0.01 + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur3e_moveit_config/config/ros_controllers.yaml b/ur3e_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..bfc4186c4 --- /dev/null +++ b/ur3e_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,11 @@ +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur3_e_moveit_config/config/ur3e.srdf b/ur3e_moveit_config/config/ur3e.srdf similarity index 81% rename from ur3_e_moveit_config/config/ur3e.srdf rename to ur3e_moveit_config/config/ur3e.srdf index b47172108..173fe8c7f 100644 --- a/ur3_e_moveit_config/config/ur3e.srdf +++ b/ur3e_moveit_config/config/ur3e.srdf @@ -3,17 +3,14 @@ This is a format for representing semantic information about the robot structure. A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined --> - + - - - - + @@ -32,18 +29,14 @@ - - - - - - + + + - diff --git a/ur3e_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur3e_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..58f736d7c --- /dev/null +++ b/ur3e_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur3e_moveit_config/launch/default_warehouse_db.launch b/ur3e_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 000000000..e938f3d98 --- /dev/null +++ b/ur3e_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur3e_moveit_config/launch/demo.launch b/ur3e_moveit_config/launch/demo.launch new file mode 100644 index 000000000..b0771f14d --- /dev/null +++ b/ur3e_moveit_config/launch/demo.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur10_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur3e_moveit_config/launch/fake_moveit_controller_manager.launch.xml similarity index 78% rename from ur10_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml rename to ur3e_moveit_config/launch/fake_moveit_controller_manager.launch.xml index 1f3f4de92..8789fd70c 100644 --- a/ur10_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml +++ b/ur3e_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -4,6 +4,6 @@ - + diff --git a/ur10_e_moveit_config/launch/move_group.launch b/ur3e_moveit_config/launch/move_group.launch similarity index 54% rename from ur10_e_moveit_config/launch/move_group.launch rename to ur3e_moveit_config/launch/move_group.launch index efeb0a045..cb8cbb7de 100644 --- a/ur10_e_moveit_config/launch/move_group.launch +++ b/ur3e_moveit_config/launch/move_group.launch @@ -1,14 +1,10 @@ - - - - - - + @@ -16,27 +12,52 @@ + + + + + + + + + + + + + + + - - + + - + - + - - + + @@ -47,19 +68,9 @@ + + - - diff --git a/ur5_e_moveit_config/launch/moveit.rviz b/ur3e_moveit_config/launch/moveit.rviz similarity index 65% rename from ur5_e_moveit_config/launch/moveit.rviz rename to ur3e_moveit_config/launch/moveit.rviz index c7540069f..cfc2fec04 100644 --- a/ur5_e_moveit_config/launch/moveit.rviz +++ b/ur3e_moveit_config/launch/moveit.rviz @@ -1,31 +1,23 @@ Panels: - Class: rviz/Displays - Help Height: 75 + Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.5175438523292542 + Tree Height: 259 + - Class: rviz/Help + Name: Help - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -35,7 +27,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -47,12 +39,17 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Class: moveit_rviz_plugin/MotionPlanning + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning Enabled: true Move Group Namespace: "" - MoveIt_Goal_Tolerance: 0 + 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: true MoveIt_Warehouse_Host: 127.0.0.1 MoveIt_Warehouse_Port: 33829 @@ -83,12 +80,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - ee_link: + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false forearm_link: Alpha: 1 Show Axes: false @@ -108,10 +108,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false wrist_1_link: Alpha: 1 Show Axes: false @@ -134,19 +130,20 @@ Visualization Manager: Show Robot Visual: true Show Trail: false State Display Time: 0.05 s - Trajectory Topic: /move_group/display_planned_path + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path Planning Metrics: Payload: 1 Show Joint Torques: false Show Manipulability: false Show Manipulability Index: false Show Weight Limit: false - TextHeight: 0.08 + TextHeight: 0.07999999821186066 Planning Request: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 + Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 Planning Group: manipulator Query Goal State: true @@ -157,9 +154,9 @@ Visualization Manager: Planning Scene Topic: move_group/monitored_planning_scene Robot Description: robot_description Scene Geometry: - Scene Alpha: 0.9 + Scene Alpha: 1 Scene Color: 50; 230; 50 - Scene Display Time: 0.2 + Scene Display Time: 0.20000000298023224 Show Scene Geometry: true Voxel Coloring: Z-Axis Voxel Rendering: Occupied Voxels @@ -179,12 +176,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - ee_link: + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false forearm_link: Alpha: 1 Show Axes: false @@ -204,10 +204,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false wrist_1_link: Alpha: 1 Show Axes: false @@ -223,14 +219,16 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - Robot Alpha: 1 + Robot Alpha: 0.5 Show Robot Collision: false Show Robot Visual: true Value: true + Velocity_Scaling_Factor: 1 Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: world + Default Light: true + Fixed Frame: base_link Frame Rate: 30 Name: root Tools: @@ -238,53 +236,45 @@ Visualization Manager: Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point Value: true Views: Current: - Class: rviz/Orbit - Distance: 2.82854 + Class: rviz/XYOrbit + Distance: 2.996500015258789 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 + X: 1.1539382934570312 + Y: 0.5978575348854065 + Z: -2.5331917186122155e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.45979705452919006 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 0.9717636108398438 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 997 - Hide Left Dock: false - Hide Right Dock: true - Motion Planning: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: + Height: 783 + Help: collapsed: false - Time: + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: collapsed: false - Tool Properties: + MotionPlanning - Trajectory Slider: collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ca000002b9fc0200000007fb000000100044006900730070006c006100790073010000003b0000013e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000017f000001750000016a00ffffff000002ce000002b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 + collapsed: false + Width: 1182 + X: 481 + Y: 253 diff --git a/ur3e_moveit_config/launch/moveit_planning_execution.launch b/ur3e_moveit_config/launch/moveit_planning_execution.launch new file mode 100644 index 000000000..a83527931 --- /dev/null +++ b/ur3e_moveit_config/launch/moveit_planning_execution.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ur3e_moveit_config/launch/moveit_rviz.launch b/ur3e_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 000000000..fd1842624 --- /dev/null +++ b/ur3e_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/ur10_e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur3e_moveit_config/launch/ompl_planning_pipeline.launch.xml similarity index 90% rename from ur10_e_moveit_config/launch/ompl_planning_pipeline.launch.xml rename to ur3e_moveit_config/launch/ompl_planning_pipeline.launch.xml index 2a6b4c1a7..bf3b34698 100644 --- a/ur10_e_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur3e_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - + diff --git a/ur10_e_moveit_config/launch/planning_context.launch b/ur3e_moveit_config/launch/planning_context.launch similarity index 54% rename from ur10_e_moveit_config/launch/planning_context.launch rename to ur3e_moveit_config/launch/planning_context.launch index a87b942d1..49ef7dfeb 100644 --- a/ur10_e_moveit_config/launch/planning_context.launch +++ b/ur3e_moveit_config/launch/planning_context.launch @@ -1,28 +1,25 @@ - - - - - + - - + + - + - + + - + diff --git a/ur10_e_moveit_config/launch/planning_pipeline.launch.xml b/ur3e_moveit_config/launch/planning_pipeline.launch.xml similarity index 57% rename from ur10_e_moveit_config/launch/planning_pipeline.launch.xml rename to ur3e_moveit_config/launch/planning_pipeline.launch.xml index a0d6c2960..5dfab7d5a 100644 --- a/ur10_e_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur3e_moveit_config/launch/planning_pipeline.launch.xml @@ -1,10 +1,10 @@ - + - + diff --git a/ur10_e_moveit_config/launch/run_benchmark_ompl.launch b/ur3e_moveit_config/launch/run_benchmark_ompl.launch similarity index 63% rename from ur10_e_moveit_config/launch/run_benchmark_ompl.launch rename to ur3e_moveit_config/launch/run_benchmark_ompl.launch index 9c4615c8d..46f8cb9f3 100644 --- a/ur10_e_moveit_config/launch/run_benchmark_ompl.launch +++ b/ur3e_moveit_config/launch/run_benchmark_ompl.launch @@ -4,19 +4,19 @@ - + - + - - + + diff --git a/ur10_e_moveit_config/launch/sensor_manager.launch.xml b/ur3e_moveit_config/launch/sensor_manager.launch.xml similarity index 70% rename from ur10_e_moveit_config/launch/sensor_manager.launch.xml rename to ur3e_moveit_config/launch/sensor_manager.launch.xml index 90cf60d85..c6a1afaae 100644 --- a/ur10_e_moveit_config/launch/sensor_manager.launch.xml +++ b/ur3e_moveit_config/launch/sensor_manager.launch.xml @@ -1,6 +1,6 @@ - + @@ -8,7 +8,7 @@ - - - + + + diff --git a/ur10_e_moveit_config/launch/setup_assistant.launch b/ur3e_moveit_config/launch/setup_assistant.launch similarity index 60% rename from ur10_e_moveit_config/launch/setup_assistant.launch rename to ur3e_moveit_config/launch/setup_assistant.launch index f35f15b87..215c93dce 100644 --- a/ur10_e_moveit_config/launch/setup_assistant.launch +++ b/ur3e_moveit_config/launch/setup_assistant.launch @@ -1,4 +1,4 @@ - + @@ -7,9 +7,9 @@ - diff --git a/ur10_e_moveit_config/launch/trajectory_execution.launch.xml b/ur3e_moveit_config/launch/trajectory_execution.launch.xml similarity index 83% rename from ur10_e_moveit_config/launch/trajectory_execution.launch.xml rename to ur3e_moveit_config/launch/trajectory_execution.launch.xml index 2dfb6e8bf..aadaeb14c 100644 --- a/ur10_e_moveit_config/launch/trajectory_execution.launch.xml +++ b/ur3e_moveit_config/launch/trajectory_execution.launch.xml @@ -12,7 +12,7 @@ - - + + diff --git a/ur10_e_moveit_config/launch/ur10_e_moveit_controller_manager.launch.xml b/ur3e_moveit_config/launch/ur3e_moveit_controller_manager.launch.xml similarity index 78% rename from ur10_e_moveit_config/launch/ur10_e_moveit_controller_manager.launch.xml rename to ur3e_moveit_config/launch/ur3e_moveit_controller_manager.launch.xml index ac361c10a..ec00c74b6 100644 --- a/ur10_e_moveit_config/launch/ur10_e_moveit_controller_manager.launch.xml +++ b/ur3e_moveit_config/launch/ur3e_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur5_e_moveit_config/launch/ur5_e_moveit_sensor_manager.launch.xml b/ur3e_moveit_config/launch/ur3e_moveit_sensor_manager.launch.xml similarity index 100% rename from ur5_e_moveit_config/launch/ur5_e_moveit_sensor_manager.launch.xml rename to ur3e_moveit_config/launch/ur3e_moveit_sensor_manager.launch.xml diff --git a/ur10_e_moveit_config/launch/warehouse.launch b/ur3e_moveit_config/launch/warehouse.launch similarity index 67% rename from ur10_e_moveit_config/launch/warehouse.launch rename to ur3e_moveit_config/launch/warehouse.launch index b0c8eeefe..8916787cb 100644 --- a/ur10_e_moveit_config/launch/warehouse.launch +++ b/ur3e_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - - + + - + diff --git a/ur5_e_moveit_config/launch/warehouse_settings.launch.xml b/ur3e_moveit_config/launch/warehouse_settings.launch.xml similarity index 64% rename from ur5_e_moveit_config/launch/warehouse_settings.launch.xml rename to ur3e_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur5_e_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur3e_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +1,16 @@ - - + + - - + + + diff --git a/ur3_e_moveit_config/package.xml b/ur3e_moveit_config/package.xml similarity index 73% rename from ur3_e_moveit_config/package.xml rename to ur3e_moveit_config/package.xml index bfdb3f9bc..0c6796446 100644 --- a/ur3_e_moveit_config/package.xml +++ b/ur3e_moveit_config/package.xml @@ -1,7 +1,7 @@ - ur3_e_moveit_config + ur3e_moveit_config 1.2.5 An automatically generated package with all the configuration and launch files for using the ur3e with the MoveIt Motion Planning Framework @@ -10,22 +10,30 @@ G.A. vd. Hoorn Miguel Prada Sarasola Nadia Hammoudeh Garcia - + BSD http://moveit.ros.org/ https://github.com/ros-planning/moveit_setup_assistant/issues https://github.com/ros-planning/moveit_setup_assistant - moveit_ros_move_group + joint_state_publisher + joint_state_publisher_gui + moveit_fake_controller_manager moveit_planners_ompl + moveit_ros_benchmarks + moveit_ros_move_group moveit_ros_visualization - moveit_fake_controller_manager + moveit_ros_warehouse + warehouse_ros_mongo + moveit_setup_assistant moveit_simple_controller_manager - joint_state_publisher robot_state_publisher + rviz + tf2_ros + trac_ik_kinematics_plugin + ur_description xacro - ur_description roslaunch catkin diff --git a/ur3e_moveit_config/tests/moveit_planning_execution.xml b/ur3e_moveit_config/tests/moveit_planning_execution.xml new file mode 100644 index 000000000..6025d2427 --- /dev/null +++ b/ur3e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/.setup_assistant b/ur5_e_moveit_config/.setup_assistant deleted file mode 100644 index dd22d1333..000000000 --- a/ur5_e_moveit_config/.setup_assistant +++ /dev/null @@ -1,8 +0,0 @@ -moveit_setup_assistant_config: - URDF: - package: ur_e_description - relative_path: urdf/ur5e_robot.urdf.xacro - SRDF: - relative_path: config/ur5e.srdf - CONFIG: - generated_timestamp: 1413877529 diff --git a/ur5_e_moveit_config/CHANGELOG.rst b/ur5_e_moveit_config/CHANGELOG.rst deleted file mode 100644 index 6556da705..000000000 --- a/ur5_e_moveit_config/CHANGELOG.rst +++ /dev/null @@ -1,10 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur5_e_moveit_config -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* First release (of this package) -* Update maintainer listing: add Miguel (`#410 `_) -* UR-E Series (`#380 `_) -* Contributors: Dave Niewinski, gavanderhoorn diff --git a/ur5_e_moveit_config/config/controllers.yaml b/ur5_e_moveit_config/config/controllers.yaml deleted file mode 100644 index bf2252cb2..000000000 --- a/ur5_e_moveit_config/config/controllers.yaml +++ /dev/null @@ -1,11 +0,0 @@ -controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur5_e_moveit_config/config/kinematics.yaml b/ur5_e_moveit_config/config/kinematics.yaml deleted file mode 100644 index 5d492ac1f..000000000 --- a/ur5_e_moveit_config/config/kinematics.yaml +++ /dev/null @@ -1,5 +0,0 @@ -manipulator: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 - kinematics_solver_attempts: 3 diff --git a/ur5_e_moveit_config/config/ompl_planning.yaml b/ur5_e_moveit_config/config/ompl_planning.yaml deleted file mode 100644 index 191879b4e..000000000 --- a/ur5_e_moveit_config/config/ompl_planning.yaml +++ /dev/null @@ -1,84 +0,0 @@ -planner_configs: - SBLkConfigDefault: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: - type: geometric::EST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LBKPIECEkConfigDefault: - type: geometric::LBKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - BKPIECEkConfigDefault: - type: geometric::BKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - KPIECEkConfigDefault: - type: geometric::KPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - RRTkConfigDefault: - type: geometric::RRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - RRTConnectkConfigDefault: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: - type: geometric::RRTstar - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 - TRRTkConfigDefault: - type: geometric::TRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - max_states_failed: 10 # when to start increasing temp. default: 10 - temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 - min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 - init_temperature: 10e-6 # initial temperature. default: 10e-6 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() - frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 - k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() - PRMkConfigDefault: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: - type: geometric::PRMstar -manipulator: - default_planner_config: RRTConnectkConfigDefault - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) - longest_valid_segment_fraction: 0.01 -endeffector: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault diff --git a/ur5_e_moveit_config/launch/default_warehouse_db.launch b/ur5_e_moveit_config/launch/default_warehouse_db.launch deleted file mode 100644 index 626b22f68..000000000 --- a/ur5_e_moveit_config/launch/default_warehouse_db.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/ur5_e_moveit_config/launch/demo.launch b/ur5_e_moveit_config/launch/demo.launch deleted file mode 100644 index dd23ff7d8..000000000 --- a/ur5_e_moveit_config/launch/demo.launch +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - [/move_group/fake_controller_joint_states] - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur5_e_moveit_config/launch/moveit_rviz.launch b/ur5_e_moveit_config/launch/moveit_rviz.launch deleted file mode 100644 index a1cb30986..000000000 --- a/ur5_e_moveit_config/launch/moveit_rviz.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch b/ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch deleted file mode 100644 index 148c40e4b..000000000 --- a/ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/ur5_e_moveit_config/tests/moveit_planning_execution.xml b/ur5_e_moveit_config/tests/moveit_planning_execution.xml deleted file mode 100644 index 53f6e391f..000000000 --- a/ur5_e_moveit_config/tests/moveit_planning_execution.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur5_moveit_config/.setup_assistant b/ur5_moveit_config/.setup_assistant index fccc0b629..12a72528d 100644 --- a/ur5_moveit_config/.setup_assistant +++ b/ur5_moveit_config/.setup_assistant @@ -1,8 +1,11 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur5_robot.urdf.xacro + relative_path: urdf/ur5.xacro + xacro_args: "" SRDF: relative_path: config/ur5.srdf CONFIG: - generated_timestamp: 1413877529 \ No newline at end of file + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur5_moveit_config/CMakeLists.txt b/ur5_moveit_config/CMakeLists.txt index 6b07c7046..21585be47 100644 --- a/ur5_moveit_config/CMakeLists.txt +++ b/ur5_moveit_config/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(ur5_moveit_config) find_package(catkin REQUIRED) diff --git a/ur5_moveit_config/config/chomp_planning.yaml b/ur5_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur5_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur5_moveit_config/config/controllers.yaml b/ur5_moveit_config/config/controllers.yaml deleted file mode 100644 index bf2252cb2..000000000 --- a/ur5_moveit_config/config/controllers.yaml +++ /dev/null @@ -1,11 +0,0 @@ -controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur5_moveit_config/config/fake_controllers.yaml b/ur5_moveit_config/config/fake_controllers.yaml index 5e24f9451..afbfa6e6c 100644 --- a/ur5_moveit_config/config/fake_controllers.yaml +++ b/ur5_moveit_config/config/fake_controllers.yaml @@ -7,6 +7,6 @@ controller_list: - wrist_1_joint - wrist_2_joint - wrist_3_joint - - name: fake_endeffector_controller - joints: - [] \ No newline at end of file +initial: # Define initial robot poses. + - group: manipulator + pose: home diff --git a/ur5_moveit_config/config/joint_limits.yaml b/ur5_moveit_config/config/joint_limits.yaml index 60797d513..bdc914f89 100644 --- a/ur5_moveit_config/config/joint_limits.yaml +++ b/ur5_moveit_config/config/joint_limits.yaml @@ -2,33 +2,33 @@ # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] joint_limits: - shoulder_pan_joint: + elbow_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 - elbow_joint: + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 \ No newline at end of file + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 diff --git a/ur5_moveit_config/config/kinematics.yaml b/ur5_moveit_config/config/kinematics.yaml index e2fa9b157..45ae567a2 100644 --- a/ur5_moveit_config/config/kinematics.yaml +++ b/ur5_moveit_config/config/kinematics.yaml @@ -2,9 +2,8 @@ # kinematics_solver: ur_kinematics/UR5KinematicsPlugin # kinematics_solver_search_resolution: 0.005 # kinematics_solver_timeout: 0.005 -# kinematics_solver_attempts: 3 manipulator: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + solve_type: Distance kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 - kinematics_solver_attempts: 3 diff --git a/ur5_moveit_config/config/ompl_planning.yaml b/ur5_moveit_config/config/ompl_planning.yaml index b58b2d655..39ba9f166 100644 --- a/ur5_moveit_config/config/ompl_planning.yaml +++ b/ur5_moveit_config/config/ompl_planning.yaml @@ -1,42 +1,42 @@ planner_configs: - SBLkConfigDefault: + SBL: type: geometric::SBL range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: + EST: type: geometric::EST range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LBKPIECEkConfigDefault: + LBKPIECE: type: geometric::LBKPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - BKPIECEkConfigDefault: + BKPIECE: type: geometric::BKPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - KPIECEkConfigDefault: + KPIECE: type: geometric::KPIECE range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - RRTkConfigDefault: + RRT: type: geometric::RRT range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - RRTConnectkConfigDefault: + RRTConnect: type: geometric::RRTConnect range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: + RRTstar: type: geometric::RRTstar range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 - TRRTkConfigDefault: + TRRT: type: geometric::TRRT range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 @@ -44,40 +44,106 @@ planner_configs: temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 init_temperature: 10e-6 # initial temperature. default: 10e-6 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() - PRMkConfigDefault: + PRM: type: geometric::PRM max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: + PRMstar: type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 manipulator: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) longest_valid_segment_fraction: 0.01 -endeffector: + default_planner_config: RRTConnect planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur5_moveit_config/config/ros_controllers.yaml b/ur5_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..bfc4186c4 --- /dev/null +++ b/ur5_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,11 @@ +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur5_moveit_config/config/ur5.srdf b/ur5_moveit_config/config/ur5.srdf index 9b13cebea..641144203 100644 --- a/ur5_moveit_config/config/ur5.srdf +++ b/ur5_moveit_config/config/ur5.srdf @@ -3,17 +3,14 @@ This is a format for representing semantic information about the robot structure. A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined --> - + - - - - + @@ -32,18 +29,17 @@ - - - - - - + + + + + diff --git a/ur5_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur5_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..b0f9b159f --- /dev/null +++ b/ur5_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur5_moveit_config/launch/default_warehouse_db.launch b/ur5_moveit_config/launch/default_warehouse_db.launch index 0399e7246..c71e519a1 100644 --- a/ur5_moveit_config/launch/default_warehouse_db.launch +++ b/ur5_moveit_config/launch/default_warehouse_db.launch @@ -1,10 +1,12 @@ + + - + - + diff --git a/ur5_moveit_config/launch/demo.launch b/ur5_moveit_config/launch/demo.launch index c4befef84..865f116f0 100644 --- a/ur5_moveit_config/launch/demo.launch +++ b/ur5_moveit_config/launch/demo.launch @@ -1,46 +1,63 @@ + + + + + - - - - - - - + + + + + + - + - - - [/move_group/fake_controller_joint_states] + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] - + - + - + + + - - + + - + + + diff --git a/ur5_moveit_config/launch/move_group.launch b/ur5_moveit_config/launch/move_group.launch index 5e13ea380..5eb7b0092 100644 --- a/ur5_moveit_config/launch/move_group.launch +++ b/ur5_moveit_config/launch/move_group.launch @@ -1,14 +1,10 @@ - - - - - - + @@ -16,15 +12,40 @@ + + + + + + + + + + + + + + + - + @@ -36,7 +57,7 @@ - + @@ -47,19 +68,9 @@ + + - - diff --git a/ur5_moveit_config/launch/moveit.rviz b/ur5_moveit_config/launch/moveit.rviz index c7540069f..cfc2fec04 100644 --- a/ur5_moveit_config/launch/moveit.rviz +++ b/ur5_moveit_config/launch/moveit.rviz @@ -1,31 +1,23 @@ Panels: - Class: rviz/Displays - Help Height: 75 + Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.5175438523292542 + Tree Height: 259 + - Class: rviz/Help + Name: Help - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -35,7 +27,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -47,12 +39,17 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Class: moveit_rviz_plugin/MotionPlanning + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning Enabled: true Move Group Namespace: "" - MoveIt_Goal_Tolerance: 0 + 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: true MoveIt_Warehouse_Host: 127.0.0.1 MoveIt_Warehouse_Port: 33829 @@ -83,12 +80,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - ee_link: + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false forearm_link: Alpha: 1 Show Axes: false @@ -108,10 +108,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false wrist_1_link: Alpha: 1 Show Axes: false @@ -134,19 +130,20 @@ Visualization Manager: Show Robot Visual: true Show Trail: false State Display Time: 0.05 s - Trajectory Topic: /move_group/display_planned_path + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path Planning Metrics: Payload: 1 Show Joint Torques: false Show Manipulability: false Show Manipulability Index: false Show Weight Limit: false - TextHeight: 0.08 + TextHeight: 0.07999999821186066 Planning Request: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 + Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 Planning Group: manipulator Query Goal State: true @@ -157,9 +154,9 @@ Visualization Manager: Planning Scene Topic: move_group/monitored_planning_scene Robot Description: robot_description Scene Geometry: - Scene Alpha: 0.9 + Scene Alpha: 1 Scene Color: 50; 230; 50 - Scene Display Time: 0.2 + Scene Display Time: 0.20000000298023224 Show Scene Geometry: true Voxel Coloring: Z-Axis Voxel Rendering: Occupied Voxels @@ -179,12 +176,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - ee_link: + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false forearm_link: Alpha: 1 Show Axes: false @@ -204,10 +204,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false wrist_1_link: Alpha: 1 Show Axes: false @@ -223,14 +219,16 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - Robot Alpha: 1 + Robot Alpha: 0.5 Show Robot Collision: false Show Robot Visual: true Value: true + Velocity_Scaling_Factor: 1 Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: world + Default Light: true + Fixed Frame: base_link Frame Rate: 30 Name: root Tools: @@ -238,53 +236,45 @@ Visualization Manager: Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point Value: true Views: Current: - Class: rviz/Orbit - Distance: 2.82854 + Class: rviz/XYOrbit + Distance: 2.996500015258789 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 + X: 1.1539382934570312 + Y: 0.5978575348854065 + Z: -2.5331917186122155e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.45979705452919006 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 0.9717636108398438 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 997 - Hide Left Dock: false - Hide Right Dock: true - Motion Planning: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: + Height: 783 + Help: collapsed: false - Time: + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: collapsed: false - Tool Properties: + MotionPlanning - Trajectory Slider: collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ca000002b9fc0200000007fb000000100044006900730070006c006100790073010000003b0000013e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000017f000001750000016a00ffffff000002ce000002b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 + collapsed: false + Width: 1182 + X: 481 + Y: 253 diff --git a/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch b/ur5_moveit_config/launch/moveit_planning_execution.launch similarity index 58% rename from ur5_moveit_config/launch/ur5_moveit_planning_execution.launch rename to ur5_moveit_config/launch/moveit_planning_execution.launch index d2d697711..7ae8caed1 100644 --- a/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch +++ b/ur5_moveit_config/launch/moveit_planning_execution.launch @@ -1,14 +1,12 @@ - - + - - + + - diff --git a/ur5_moveit_config/launch/moveit_rviz.launch b/ur5_moveit_config/launch/moveit_rviz.launch index c8216c755..45ffce7c5 100644 --- a/ur5_moveit_config/launch/moveit_rviz.launch +++ b/ur5_moveit_config/launch/moveit_rviz.launch @@ -4,13 +4,12 @@ - - - - + + + + - + args="$(arg command_args)" output="screen"> diff --git a/ur5_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur5_moveit_config/launch/ompl_planning_pipeline.launch.xml index 43eb59b57..89c4bb85d 100644 --- a/ur5_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur5_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - - - - - + - + @@ -23,6 +19,7 @@ + - + diff --git a/ur5_moveit_config/launch/planning_pipeline.launch.xml b/ur5_moveit_config/launch/planning_pipeline.launch.xml index 3d1cb9297..89fcea057 100644 --- a/ur5_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur5_moveit_config/launch/planning_pipeline.launch.xml @@ -1,7 +1,7 @@ - + diff --git a/ur5_moveit_config/launch/setup_assistant.launch b/ur5_moveit_config/launch/setup_assistant.launch index 4ca5f964e..9f42d38ae 100644 --- a/ur5_moveit_config/launch/setup_assistant.launch +++ b/ur5_moveit_config/launch/setup_assistant.launch @@ -1,4 +1,4 @@ - + @@ -7,9 +7,9 @@ - diff --git a/ur5_moveit_config/launch/trajectory_execution.launch.xml b/ur5_moveit_config/launch/trajectory_execution.launch.xml index 472bc6e1b..8b6beec1f 100644 --- a/ur5_moveit_config/launch/trajectory_execution.launch.xml +++ b/ur5_moveit_config/launch/trajectory_execution.launch.xml @@ -1,6 +1,6 @@ - + @@ -10,9 +10,9 @@ - + - + diff --git a/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml b/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml index db01518be..2ca68c92a 100644 --- a/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml +++ b/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur5_moveit_config/launch/warehouse.launch b/ur5_moveit_config/launch/warehouse.launch index 579786c40..99b0b6aff 100644 --- a/ur5_moveit_config/launch/warehouse.launch +++ b/ur5_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - + - + diff --git a/ur5_moveit_config/launch/warehouse_settings.launch.xml b/ur5_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur5_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur5_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +1,16 @@ - - + + - - + + + diff --git a/ur5_moveit_config/package.xml b/ur5_moveit_config/package.xml index cd6507462..3b66fc54d 100644 --- a/ur5_moveit_config/package.xml +++ b/ur5_moveit_config/package.xml @@ -17,17 +17,25 @@ https://github.com/ros-planning/moveit_setup_assistant/issues https://github.com/ros-planning/moveit_setup_assistant - moveit_ros_move_group + joint_state_publisher + joint_state_publisher_gui + moveit_fake_controller_manager moveit_planners_ompl + moveit_ros_benchmarks + moveit_ros_move_group moveit_ros_visualization - moveit_fake_controller_manager + moveit_ros_warehouse + warehouse_ros_mongo + moveit_setup_assistant moveit_simple_controller_manager - joint_state_publisher robot_state_publisher + rviz + tf2_ros + trac_ik_kinematics_plugin + ur_description xacro - ur_description roslaunch catkin - + diff --git a/ur5_moveit_config/tests/moveit_planning_execution.xml b/ur5_moveit_config/tests/moveit_planning_execution.xml index d566fa9db..16052aa74 100644 --- a/ur5_moveit_config/tests/moveit_planning_execution.xml +++ b/ur5_moveit_config/tests/moveit_planning_execution.xml @@ -1,16 +1,14 @@ - - - + - - + + diff --git a/ur5e_moveit_config/.setup_assistant b/ur5e_moveit_config/.setup_assistant new file mode 100644 index 000000000..3fae5acd7 --- /dev/null +++ b/ur5e_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: ur_description + relative_path: urdf/ur5e.xacro + xacro_args: "" + SRDF: + relative_path: config/ur5e.srdf + CONFIG: + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur5e_moveit_config/CHANGELOG.rst b/ur5e_moveit_config/CHANGELOG.rst new file mode 100644 index 000000000..28eb11545 --- /dev/null +++ b/ur5e_moveit_config/CHANGELOG.rst @@ -0,0 +1,63 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ur5e_moveit_config +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.5 (2019-04-05) +------------------ +* Update maintainer listing: add Miguel (`#410 `_) +* MoveGroupExecuteService is Deprecated by MoveIt! (`#391 `_) +* Update maintainer and author information. +* Add roslaunch tests (`#362 `_) +* Contributors: gavanderhoorn, Nadia Hammoudeh García, 薯片半价 + +1.2.1 (2018-01-06) +------------------ +* Reduce longest valid segment fraction to accomodate non-limited version of the UR5 (`#266 `_) +* Contributors: Scott Paulin + +1.2.0 (2017-08-04) +------------------ +* Fix Deprecated warning in MoveIt: parameter moved into namespace 'trajectory_execution' +* Contributors: Dave Coleman + +1.1.9 (2017-01-02) +------------------ +* use '--inorder' for jade+ xacro as well. +* make RViz load MoveIt display by default. +* Contributors: gavanderhoorn + +1.1.8 (2016-12-30) +------------------ +* all: update maintainers. +* Contributors: gavanderhoorn + +1.1.7 (2016-12-29) +------------------ +* Don't depend on moveit_plugins metapackage +* Fix xacro warnings in Jade +* Contributors: Dave Coleman, Jon Binney + +1.1.6 (2016-04-01) +------------------ +* add missing dependency for moveit_simple_controller_manager +* Merge branch 'indigo-devel' of github.com:ros-industrial/universal_robot into ur3_moveit_config +* apply latest setup assistant changes to ur5 and ur5e +* Adding comment explaining the choice of default planning algorithm +* Use RRTConnect by default for UR10 + Fixes bug `#193 `_ about slow planning on Indigo + LBKPIECE1 (the previous default) looks to be the wrong planning algorithm for the robot + See https://groups.google.com/forum/#!topic/moveit-users/M71T-GaUNgg +* crop ik solutions wrt joint_limits +* set planning time to 0 +* reduce planning attempts in moveit rviz plugin +* Contributors: Marco Esposito, ipa-fxm + +1.0.2 (2014-03-31) +------------------ + +1.0.1 (2014-03-31) +------------------ +* changes due to file renaming +* update moveit_configs: include ee_link and handle limited robot +* new moveit_configs for ur5 and ur5e +* Contributors: ipa-fxm diff --git a/ur5e_moveit_config/CMakeLists.txt b/ur5e_moveit_config/CMakeLists.txt new file mode 100644 index 000000000..0c83d4541 --- /dev/null +++ b/ur5e_moveit_config/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.0.2) +project(ur5e_moveit_config) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(tests/moveit_planning_execution.xml) +endif() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur5e_moveit_config/config/chomp_planning.yaml b/ur5e_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur5e_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur3_e_moveit_config/config/controllers.yaml b/ur5e_moveit_config/config/fake_controllers.yaml similarity index 59% rename from ur3_e_moveit_config/config/controllers.yaml rename to ur5e_moveit_config/config/fake_controllers.yaml index bf2252cb2..afbfa6e6c 100644 --- a/ur3_e_moveit_config/config/controllers.yaml +++ b/ur5e_moveit_config/config/fake_controllers.yaml @@ -1,7 +1,5 @@ controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory + - name: fake_manipulator_controller joints: - shoulder_pan_joint - shoulder_lift_joint @@ -9,3 +7,6 @@ controller_list: - wrist_1_joint - wrist_2_joint - wrist_3_joint +initial: # Define initial robot poses. + - group: manipulator + pose: home diff --git a/ur5e_moveit_config/config/joint_limits.yaml b/ur5e_moveit_config/config/joint_limits.yaml new file mode 100644 index 000000000..bdc914f89 --- /dev/null +++ b/ur5e_moveit_config/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + elbow_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_lift_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + wrist_1_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + wrist_2_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + wrist_3_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 diff --git a/ur5e_moveit_config/config/kinematics.yaml b/ur5e_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..0b4ed36fd --- /dev/null +++ b/ur5e_moveit_config/config/kinematics.yaml @@ -0,0 +1,9 @@ +#manipulator: +# kinematics_solver: ur_kinematics/UR5eKinematicsPlugin +# kinematics_solver_search_resolution: 0.005 +# kinematics_solver_timeout: 0.005 +manipulator: + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + solve_type: Distance + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 diff --git a/ur5e_moveit_config/config/ompl_planning.yaml b/ur5e_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..39ba9f166 --- /dev/null +++ b/ur5e_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,149 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +manipulator: + longest_valid_segment_fraction: 0.01 + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur5e_moveit_config/config/ros_controllers.yaml b/ur5e_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..bfc4186c4 --- /dev/null +++ b/ur5e_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,11 @@ +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur5_e_moveit_config/config/ur5e.srdf b/ur5e_moveit_config/config/ur5e.srdf similarity index 82% rename from ur5_e_moveit_config/config/ur5e.srdf rename to ur5e_moveit_config/config/ur5e.srdf index bb009a906..daab73c7b 100644 --- a/ur5_e_moveit_config/config/ur5e.srdf +++ b/ur5e_moveit_config/config/ur5e.srdf @@ -3,17 +3,14 @@ This is a format for representing semantic information about the robot structure. A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined --> - + - - - - + @@ -32,18 +29,17 @@ - - - - - - + + + + + diff --git a/ur5e_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur5e_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..ed0bc619d --- /dev/null +++ b/ur5e_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/default_warehouse_db.launch b/ur5e_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 000000000..c4baf5d47 --- /dev/null +++ b/ur5e_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/demo.launch b/ur5e_moveit_config/launch/demo.launch new file mode 100644 index 000000000..eef307e03 --- /dev/null +++ b/ur5e_moveit_config/launch/demo.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur5e_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..0e7d73907 --- /dev/null +++ b/ur5e_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/ur5e_moveit_config/launch/move_group.launch b/ur5e_moveit_config/launch/move_group.launch new file mode 100644 index 000000000..e55b731ed --- /dev/null +++ b/ur5e_moveit_config/launch/move_group.launch @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/moveit.rviz b/ur5e_moveit_config/launch/moveit.rviz new file mode 100644 index 000000000..cfc2fec04 --- /dev/null +++ b/ur5e_moveit_config/launch/moveit.rviz @@ -0,0 +1,280 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.5175438523292542 + Tree Height: 259 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 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: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + 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 + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: 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 + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + 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: manipulator + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + 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 + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + 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 + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.996500015258789 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.1539382934570312 + Y: 0.5978575348854065 + Z: -2.5331917186122155e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.45979705452919006 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 0.9717636108398438 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 783 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ca000002b9fc0200000007fb000000100044006900730070006c006100790073010000003b0000013e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000017f000001750000016a00ffffff000002ce000002b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1182 + X: 481 + Y: 253 diff --git a/ur5e_moveit_config/launch/moveit_planning_execution.launch b/ur5e_moveit_config/launch/moveit_planning_execution.launch new file mode 100644 index 000000000..832ab2d23 --- /dev/null +++ b/ur5e_moveit_config/launch/moveit_planning_execution.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/moveit_rviz.launch b/ur5e_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 000000000..42c17cd43 --- /dev/null +++ b/ur5e_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur5e_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 000000000..7ec6880f1 --- /dev/null +++ b/ur5e_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/planning_context.launch b/ur5e_moveit_config/launch/planning_context.launch new file mode 100644 index 000000000..9052fd96f --- /dev/null +++ b/ur5e_moveit_config/launch/planning_context.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/planning_pipeline.launch.xml b/ur5e_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 000000000..caf1be307 --- /dev/null +++ b/ur5e_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur5e_moveit_config/launch/run_benchmark_ompl.launch b/ur5e_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 000000000..757bc9c52 --- /dev/null +++ b/ur5e_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/sensor_manager.launch.xml b/ur5e_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 000000000..97df2bd8f --- /dev/null +++ b/ur5e_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/launch/setup_assistant.launch b/ur5e_moveit_config/launch/setup_assistant.launch similarity index 60% rename from ur5_e_moveit_config/launch/setup_assistant.launch rename to ur5e_moveit_config/launch/setup_assistant.launch index 3d712d563..6e0054587 100644 --- a/ur5_e_moveit_config/launch/setup_assistant.launch +++ b/ur5e_moveit_config/launch/setup_assistant.launch @@ -1,4 +1,4 @@ - + @@ -7,9 +7,9 @@ - diff --git a/ur5e_moveit_config/launch/trajectory_execution.launch.xml b/ur5e_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 000000000..bbad585bf --- /dev/null +++ b/ur5e_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/launch/ur5_e_moveit_controller_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_moveit_controller_manager.launch.xml similarity index 78% rename from ur5_e_moveit_config/launch/ur5_e_moveit_controller_manager.launch.xml rename to ur5e_moveit_config/launch/ur5e_moveit_controller_manager.launch.xml index 6bc194070..5558a06b9 100644 --- a/ur5_e_moveit_config/launch/ur5_e_moveit_controller_manager.launch.xml +++ b/ur5e_moveit_config/launch/ur5e_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur5e_moveit_config/launch/ur5e_moveit_sensor_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur5e_moveit_config/launch/ur5e_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur5e_moveit_config/launch/warehouse.launch b/ur5e_moveit_config/launch/warehouse.launch new file mode 100644 index 000000000..4ec8b7786 --- /dev/null +++ b/ur5e_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/warehouse_settings.launch.xml b/ur5e_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 000000000..e473b083b --- /dev/null +++ b/ur5e_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/package.xml b/ur5e_moveit_config/package.xml similarity index 73% rename from ur5_e_moveit_config/package.xml rename to ur5e_moveit_config/package.xml index f81c4cc1d..23c6c407c 100644 --- a/ur5_e_moveit_config/package.xml +++ b/ur5e_moveit_config/package.xml @@ -1,7 +1,7 @@ - ur5_e_moveit_config + ur5e_moveit_config 1.2.5 An automatically generated package with all the configuration and launch files for using the ur5e with the MoveIt Motion Planning Framework @@ -10,22 +10,30 @@ G.A. vd. Hoorn Miguel Prada Sarasola Nadia Hammoudeh Garcia - + BSD http://moveit.ros.org/ https://github.com/ros-planning/moveit_setup_assistant/issues https://github.com/ros-planning/moveit_setup_assistant - moveit_ros_move_group + joint_state_publisher + joint_state_publisher_gui + moveit_fake_controller_manager moveit_planners_ompl + moveit_ros_benchmarks + moveit_ros_move_group moveit_ros_visualization - moveit_fake_controller_manager + moveit_ros_warehouse + warehouse_ros_mongo + moveit_setup_assistant moveit_simple_controller_manager - joint_state_publisher robot_state_publisher + rviz + tf2_ros + trac_ik_kinematics_plugin + ur_description xacro - ur_description roslaunch catkin diff --git a/ur5e_moveit_config/tests/moveit_planning_execution.xml b/ur5e_moveit_config/tests/moveit_planning_execution.xml new file mode 100644 index 000000000..1a256e673 --- /dev/null +++ b/ur5e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_bringup/CHANGELOG.rst b/ur_bringup/CHANGELOG.rst deleted file mode 100644 index a7cf703f9..000000000 --- a/ur_bringup/CHANGELOG.rst +++ /dev/null @@ -1,58 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_bringup -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Update maintainer listing: add Miguel (`#410 `_) -* update maintainer and author information. -* Add roslaunch tests (`#362 `_) -* Using the 'doc' attribute on 'arg' elements. -* Contributors: gavanderhoorn, Harsh Deshpande, Nadia Hammoudeh García - -1.2.1 (2018-01-06) ------------------- -* Merge pull request `#322 `_ from gavanderhoorn/use_robot_state_publisher - driver: don't use deprecated robot_state binary. -* driver: don't use deprecated robot_state binary. -* Contributors: Felix Messmer, gavanderhoorn - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* Add prefix parameter in common launch -* Contributors: Yannick Jonetzko - -1.1.6 (2016-04-01) ------------------- -* provide launch files for ur3 -* Contributors: ipa-fxm - -1.0.2 (2014-03-31) ------------------- - -1.0.1 (2014-03-31) ------------------- -* adapt launch files in order to be able to use normal/limited xacro -* Contributors: ipa-fxm - -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* Updated urdf files use collision/visual models. -* Added launch directory to bringup package. Left the old launch files to be backwards compatable for now. Updated driver with SwRI internal changes. Changed driver to accept ip address to match ROS-Industrial standard. IP addresses for industrial robots are typically fixed. Hostnames are not typically used (this is what the driver expected) -* Removed extra stl files and fixed indentions -* Renamed packages and new groovy version -* Added ur10 and renamed packages -* Contributors: IPR-SR2, Kelsey, Shaun Edwards, ipa-nhg, robot diff --git a/ur_bringup/CMakeLists.txt b/ur_bringup/CMakeLists.txt deleted file mode 100644 index 084a7d928..000000000 --- a/ur_bringup/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(ur_bringup) - -find_package(catkin REQUIRED) - -catkin_package() - -if (CATKIN_ENABLE_TESTING) - find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test.xml) -endif() - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_bringup/launch/ur10_bringup.launch b/ur_bringup/launch/ur10_bringup.launch deleted file mode 100644 index 4cb935861..000000000 --- a/ur_bringup/launch/ur10_bringup.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur10_bringup_joint_limited.launch b/ur_bringup/launch/ur10_bringup_joint_limited.launch deleted file mode 100644 index eb0b21ddf..000000000 --- a/ur_bringup/launch/ur10_bringup_joint_limited.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur3_bringup.launch b/ur_bringup/launch/ur3_bringup.launch deleted file mode 100644 index 1ff49cb16..000000000 --- a/ur_bringup/launch/ur3_bringup.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur3_bringup_joint_limited.launch b/ur_bringup/launch/ur3_bringup_joint_limited.launch deleted file mode 100644 index 3194e5b9c..000000000 --- a/ur_bringup/launch/ur3_bringup_joint_limited.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur5_bringup.launch b/ur_bringup/launch/ur5_bringup.launch deleted file mode 100644 index 5f9e0f08c..000000000 --- a/ur_bringup/launch/ur5_bringup.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur5_bringup_joint_limited.launch b/ur_bringup/launch/ur5_bringup_joint_limited.launch deleted file mode 100644 index ac39fcd2b..000000000 --- a/ur_bringup/launch/ur5_bringup_joint_limited.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur_common.launch b/ur_bringup/launch/ur_common.launch deleted file mode 100644 index 6035a3a21..000000000 --- a/ur_bringup/launch/ur_common.launch +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/package.xml b/ur_bringup/package.xml deleted file mode 100644 index 137cf3bf7..000000000 --- a/ur_bringup/package.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - ur_bringup - 1.2.5 - The ur_bringup package - - Wim Meeussen - Shaun Edwards - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - http://ros.org/wiki/ur_bringup - - catkin - roslaunch - tf2_ros - ur_description - ur_driver - robot_state_publisher - - - - diff --git a/ur_bringup/tests/roslaunch_test.xml b/ur_bringup/tests/roslaunch_test.xml deleted file mode 100644 index 3c80e057f..000000000 --- a/ur_bringup/tests/roslaunch_test.xml +++ /dev/null @@ -1,55 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/CMakeLists.txt b/ur_description/CMakeLists.txt index c6e9dc7bd..0cc1bd625 100644 --- a/ur_description/CMakeLists.txt +++ b/ur_description/CMakeLists.txt @@ -1,132 +1,20 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(ur_description) -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages find_package(catkin REQUIRED) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -####################################### -## Declare ROS messages and services ## -####################################### - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ur_description -# CATKIN_DEPENDS urdf -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) - -## Declare a cpp library -# add_library(ur_description -# src/${PROJECT_NAME}/ur_description.cpp -# ) - -## Declare a cpp executable -# add_executable(ur_description_node src/ur_description_node.cpp) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(ur_description_node ur_description_generate_messages_cpp) - -## Specify libraries to link a library or executable target against -# target_link_libraries(ur_description_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ur_description ur_description_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_description.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur10.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur3.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur5.xml) +endif() + +install(DIRECTORY cfg config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_description/config/ur10/default_kinematics.yaml b/ur_description/config/ur10/default_kinematics.yaml new file mode 100644 index 000000000..20a084f39 --- /dev/null +++ b/ur_description/config/ur10/default_kinematics.yaml @@ -0,0 +1,46 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1273 + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: 0 + forearm: + x: -0.612 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + x: -0.5723 + y: 0 + z: 0.163941 + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + x: 0 + y: -0.1157 + z: -2.373046667922381e-11 + roll: 1.570796327 + pitch: 0 + yaw: 0 + wrist_3: + x: 0 + y: 0.0922 + z: -1.891053610911353e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_17227329492635474227 + + diff --git a/ur_description/config/ur10/joint_limits.yaml b/ur_description/config/ur10/joint_limits.yaml new file mode 100644 index 000000000..9e55c53cb --- /dev/null +++ b/ur_description/config/ur10/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - UR10 User Manual, Universal Robots, UR10/CB3, Version 3.13 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69442/99203_UR10_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur10/physical_parameters.yaml b/ur_description/config/ur10/physical_parameters.yaml new file mode 100644 index 000000000..e6515389b --- /dev/null +++ b/ur_description/config/ur10/physical_parameters.yaml @@ -0,0 +1,78 @@ +# Physical parameters + +dh_parameters: + d1: 0.1273 + a2: -0.612 + a3: -0.5723 + d4: 0.163941 + d5: 0.1157 + d6: 0.0922 + +offsets: + shoulder_offset: 0.220941 # measured from model + elbow_offset: 0.049042 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 7.778 + upper_arm_mass: 12.93 + upper_arm_inertia_offset: 0.175 + forearm_mass: 3.87 + wrist_1_mass: 1.96 + wrist_2_mass: 1.96 + wrist_3_mass: 0.202 + + shoulder_radius: x0.060 # FROM UR5 DON'T USE + upper_arm_radius: x0.054 # FROM UR5 DON'T USE + elbow_radius: x0.060 # FROM UR5 DON'T USE + forearm_radius: x0.040 # FROM UR5 DON'T USE + wrist_radius: x0.045 # FROM UR5 DON'T USE + + links: + base: + radius: 0.075 + length: 0.038 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.075 + length: 0.612 + forearm: + radius: 0.075 + length: 0.5723 + wrist_1: + radius: 0.075 + length: 0.12 + wrist_2: + radius: 0.075 + length: 0.09 + wrist_3: + radius: 0.045 + length: 0.0305 + + center_of_mass: + shoulder_cog: + x: 0.0 + y: 0.00244 + z: -0.037 + upper_arm_cog: + x: 0.00001 + y: 0.15061 + z: 0.38757 + forearm_cog: + x: -0.00012 + y: 0.06112 + z: 0.1984 + wrist_1_cog: + x: -0.00021 + y: -0.00112 + z: 0.02269 + wrist_2_cog: + x: -0.00021 + y: 0.00112 + z: 0.002269 + wrist_3_cog: + x: 0.0 + y: -0.001156 + z: -0.00149 diff --git a/ur_description/config/ur10/visual_parameters.yaml b/ur_description/config/ur10/visual_parameters.yaml new file mode 100644 index 000000000..168fbfff2 --- /dev/null +++ b/ur_description/config/ur10/visual_parameters.yaml @@ -0,0 +1,69 @@ +# Visualisation + +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur10/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur10/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur10/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur10/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur10/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/wrist1.stl" + visual_offset: -0.1149 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur10/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/wrist2.stl" + visual_offset: -0.1158 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur10/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/wrist3.stl" + visual_offset: -0.0922 diff --git a/ur_description/config/ur10e/default_kinematics.yaml b/ur_description/config/ur10e/default_kinematics.yaml new file mode 100644 index 000000000..fca697c0d --- /dev/null +++ b/ur_description/config/ur10e/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1807 + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: 0 + forearm: + x: -0.6127 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + x: -0.57155 + y: 0 + z: 0.17415 + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + x: 0 + y: -0.11985 + z: -2.458164590756244e-11 + roll: 1.570796327 + pitch: 0 + yaw: 0 + wrist_3: + x: 0 + y: 0.11655 + z: -2.390480459346185e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_5119701370761913513 diff --git a/ur_description/config/ur10e/joint_limits.yaml b/ur_description/config/ur10e/joint_limits.yaml new file mode 100644 index 000000000..983a43ce1 --- /dev/null +++ b/ur_description/config/ur10e/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR10e, Version 5.8 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69139/99405_UR10e_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur10e/physical_parameters.yaml b/ur_description/config/ur10e/physical_parameters.yaml new file mode 100644 index 000000000..ffae062fd --- /dev/null +++ b/ur_description/config/ur10e/physical_parameters.yaml @@ -0,0 +1,78 @@ +# Physical parameters + +dh_parameters: + d1: 0.181 + a2: -0.613 + a3: -0.571 + d4: 0.174 # wrist1_length = d4 - elbow_offset - shoulder_offset + d5: 0.120 + d6: 0.117 + +offsets: + shoulder_offset: 0.1762 # measured from model + elbow_offset: 0.0393 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 7.778 + upper_arm_mass: 12.93 + upper_arm_inertia_offset: 0.175 # measured from model + forearm_mass: 3.87 + wrist_1_mass: 1.96 + wrist_2_mass: 1.96 + wrist_3_mass: 0.202 + + shoulder_radius: x0.060 # FROM UR5 DON'T USE + upper_arm_radius: x0.054 # FROM UR5 DON'T USE + elbow_radius: x0.060 # FROM UR5 DON'T USE + forearm_radius: x0.040 # FROM UR5 DON'T USE + wrist_radius: x0.045 # FROM UR5 DON'T USE + + links: + base: + radius: 0.075 + length: 0.038 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.075 + length: 0.612 + forearm: + radius: 0.075 + length: 0.57155 + wrist_1: + radius: 0.075 + length: 0.12 + wrist_2: + radius: 0.075 + length: 0.12 + wrist_3: + radius: 0.045 + length: 0.05 + + center_of_mass: + shoulder_cog: + x: 0.0 + y: 0.00244 + z: -0.037 + upper_arm_cog: + x: 0.00001 + y: 0.15061 + z: 0.38757 + forearm_cog: + x: -0.00012 + y: 0.06112 + z: 0.1984 + wrist_1_cog: + x: -0.00021 + y: -0.00112 + z: 0.02269 + wrist_2_cog: + x: -0.00021 + y: 0.00112 + z: 0.002269 + wrist_3_cog: + x: 0.0 + y: -0.001156 + z: -0.00149 diff --git a/ur_description/config/ur10e/visual_parameters.yaml b/ur_description/config/ur10e/visual_parameters.yaml new file mode 100644 index 000000000..9bd6002d6 --- /dev/null +++ b/ur_description/config/ur10e/visual_parameters.yaml @@ -0,0 +1,69 @@ +# Visualisation + +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist1.stl" + visual_offset: -0.135 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist2.stl" + visual_offset: -0.12 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl" + visual_offset: -0.1168 diff --git a/ur_description/config/ur16e/default_kinematics.yaml b/ur_description/config/ur16e/default_kinematics.yaml new file mode 100644 index 000000000..d7bbeae04 --- /dev/null +++ b/ur_description/config/ur16e/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1807 + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: 0 + forearm: + x: -0.4784 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + x: -0.36 + y: 0 + z: 0.17415 + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + x: 0 + y: -0.11985 + z: -2.458164590756244e-11 + roll: 1.570796327 + pitch: 0 + yaw: 0 + wrist_3: + x: 0 + y: 0.11655 + z: -2.390480459346185e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_1935737212149401527 \ No newline at end of file diff --git a/ur_description/config/ur16e/joint_limits.yaml b/ur_description/config/ur16e/joint_limits.yaml new file mode 100644 index 000000000..272bb4843 --- /dev/null +++ b/ur_description/config/ur16e/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR16e, Version 5.8 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69187/99473_UR16e_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur16e/physical_parameters.yaml b/ur_description/config/ur16e/physical_parameters.yaml new file mode 100644 index 000000000..658d51d7f --- /dev/null +++ b/ur_description/config/ur16e/physical_parameters.yaml @@ -0,0 +1,80 @@ +# Physical parameters + +# from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/ +dh_parameters: + d1: 0.1807 + a2: -0.4784 + a3: -0.36 + d4: 0.17415 + d5: 0.11985 + d6: 0.11655 + +offsets: + shoulder_offset: 0.176 # measured from model + elbow_offset: 0.040 # measured from model + +inertia_parameters: + # taken from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/ + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 7.369 + upper_arm_mass: 10.450 + upper_arm_inertia_offset: 0.175 # measured from model + forearm_mass: 4.321 + wrist_1_mass: 2.180 + wrist_2_mass: 2.033 + wrist_3_mass: 0.907 + + shoulder_radius: x0.060 # FROM UR5 CURRENTLY NOT USED ANYMORE + upper_arm_radius: x0.054 # FROM UR5 CURRENTLY NOT USED ANYMORE + elbow_radius: x0.060 # FROM UR5 CURRENTLY NOT USED ANYMORE + forearm_radius: x0.040 # FROM UR5 CURRENTLY NOT USED ANYMORE + wrist_radius: x0.045 # FROM UR5 CURRENTLY NOT USED ANYMORE + + links: + base: + radius: 0.075 + length: 0.038 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.075 + length: 0.4784 + forearm: + radius: 0.075 + length: 0.36 + wrist_1: + radius: 0.075 + length: 0.12 + wrist_2: + radius: 0.075 + length: 0.12 + wrist_3: + radius: 0.045 + length: 0.05 + + center_of_mass: # Adjusted manually + shoulder_cog: + x: 0.0 + y: 0.00244 + z: -0.037 + upper_arm_cog: + x: 0.00001 + y: 0.15061 + z: 0.38757 + forearm_cog: + x: -0.00012 + y: 0.06112 + z: 0.1984 + wrist_1_cog: + x: -0.00021 + y: -0.00112 + z: 0.02269 + wrist_2_cog: + x: -0.00021 + y: 0.00112 + z: 0.002269 + wrist_3_cog: + x: 0.0 + y: -0.001156 + z: -0.00149 diff --git a/ur_description/config/ur16e/visual_parameters.yaml b/ur_description/config/ur16e/visual_parameters.yaml new file mode 100644 index 000000000..7925fc183 --- /dev/null +++ b/ur_description/config/ur16e/visual_parameters.yaml @@ -0,0 +1,70 @@ +# Visualisation +# UR16e uses the same parts as UR10e except the upper and lower arm are shortened + +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur16e/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur16e/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur16e/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur16e/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist1.stl" + visual_offset: -0.135 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist2.stl" + visual_offset: -0.12 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl" + visual_offset: -0.1168 diff --git a/ur_description/config/ur3/default_kinematics.yaml b/ur_description/config/ur3/default_kinematics.yaml new file mode 100644 index 000000000..f7200ba61 --- /dev/null +++ b/ur_description/config/ur3/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1519 + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: 0 + forearm: + x: -0.24365 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + x: -0.21325 + y: 0 + z: 0.11235 + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + x: 0 + y: -0.08535 + z: -1.750557762378351e-11 + roll: 1.570796327 + pitch: 0 + yaw: 0 + wrist_3: + x: 0 + y: 0.0819 + z: -1.679797079540562e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_9122066269688285636 \ No newline at end of file diff --git a/ur_description/config/ur3/joint_limits.yaml b/ur_description/config/ur3/joint_limits.yaml new file mode 100644 index 000000000..461288abf --- /dev/null +++ b/ur_description/config/ur3/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - UR3 User Manual, Universal Robots, UR3/CB3, Version 3.13 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69300/99241_UR3_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 12.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 12.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 12.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur3/physical_parameters.yaml b/ur_description/config/ur3/physical_parameters.yaml new file mode 100644 index 000000000..ce207b722 --- /dev/null +++ b/ur_description/config/ur3/physical_parameters.yaml @@ -0,0 +1,78 @@ +# Physical parameters + +dh_parameters: + d1: 0.1519 + a2: -0.24365 + a3: -0.21325 + d4: 0.11235 + d5: 0.08535 + d6: 0.0819 + +offsets: + shoulder_offset: 0.1198 # measured from model + elbow_offset: 0.0275 # measured from model + +inertia_parameters: + base_mass: 2.0 # This mass might be incorrect + shoulder_mass: 2.0 + upper_arm_mass: 3.42 + upper_arm_inertia_offset: 0.12 + forearm_mass: 1.26 + wrist_1_mass: 0.8 + wrist_2_mass: 0.8 + wrist_3_mass: 0.35 + + shoulder_radius: 0.060 # manually measured + upper_arm_radius: 0.054 # manually measured + elbow_radius: 0.060 # manually measured + forearm_radius: 0.040 # manually measured + wrist_radius: 0.045 # manually measured + + links: + base: + radius: 0.075 + length: 0.038 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.075 + length: 0.24365 + forearm: + radius: 0.075 + length: 0.21325 + wrist_1: + radius: 0.075 + length: 0.08535 + wrist_2: + radius: 0.075 + length: 0.0819 + wrist_3: + radius: 0.032 + length: 0.04 + + center_of_mass: + shoulder_cog: + x: 0.0 + y: -0.02 + z: 0.0 + upper_arm_cog: + x: 0.13 + y: 0.0 + z: 0.1157 + forearm_cog: + x: 0.05 + y: 0.0 + z: 0.0238 + wrist_1_cog: + x: 0.0 + y: 0.0 + z: 0.01 + wrist_2_cog: + x: 0.0 + y: 0.0 + z: 0.01 + wrist_3_cog: + x: 0.0 + y: 0.0 + z: -0.02 diff --git a/ur_description/config/ur3/visual_parameters.yaml b/ur_description/config/ur3/visual_parameters.yaml new file mode 100644 index 000000000..d16f51cbc --- /dev/null +++ b/ur_description/config/ur3/visual_parameters.yaml @@ -0,0 +1,67 @@ +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur3/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur3/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur3/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur3/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur3/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/wrist1.stl" + visual_offset: -0.085 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur3/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/wrist2.stl" + visual_offset: -0.085 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur3/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/wrist3.stl" + visual_offset: -0.082 diff --git a/ur_description/config/ur3e/default_kinematics.yaml b/ur_description/config/ur3e/default_kinematics.yaml new file mode 100644 index 000000000..aa98e3cd2 --- /dev/null +++ b/ur_description/config/ur3e/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.15185 + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: 0 + forearm: + x: -0.24355 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + x: -0.2132 + y: 0 + z: 0.13105 + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + x: 0 + y: -0.08535 + z: -1.750557762378351e-11 + roll: 1.570796327 + pitch: 0 + yaw: 0 + wrist_3: + x: 0 + y: 0.0921 + z: -1.8890025766262e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_16756443741236045476 \ No newline at end of file diff --git a/ur_description/config/ur3e/joint_limits.yaml b/ur_description/config/ur3e/joint_limits.yaml new file mode 100644 index 000000000..85b6f644f --- /dev/null +++ b/ur_description/config/ur3e/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR3e, Version 5.8 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69043/99403_UR3e_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 12.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 12.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 12.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur3e/physical_parameters.yaml b/ur_description/config/ur3e/physical_parameters.yaml new file mode 100644 index 000000000..337c1f24f --- /dev/null +++ b/ur_description/config/ur3e/physical_parameters.yaml @@ -0,0 +1,78 @@ +# Physical parameters + +dh_parameters: + d1: 0.152 + a2: -0.244 + a3: -0.213 + d4: 0.131 # wrist1_length = d4 - elbow_offset - shoulder_offset + d5: 0.085 + d6: 0.092 + +offsets: + shoulder_offset: 0.120 # measured from model + elbow_offset: 0.027 # measured from model + +inertia_parameters: + base_mass: 2.0 # This mass might be incorrect + shoulder_mass: 2.0 + upper_arm_mass: 3.42 + upper_arm_inertia_offset: 0.12 # measured from model + forearm_mass: 1.26 + wrist_1_mass: 0.8 + wrist_2_mass: 0.8 + wrist_3_mass: 0.35 + + shoulder_radius: 0.060 # manually measured + upper_arm_radius: 0.054 # manually measured + elbow_radius: 0.060 # manually measured + forearm_radius: 0.040 # manually measured + wrist_radius: 0.045 # manually measured + + links: + base: + radius: 0.075 + length: 0.038 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.075 + length: 0.24365 + forearm: + radius: 0.075 + length: 0.2132 + wrist_1: + radius: 0.075 + length: 0.12 + wrist_2: + radius: 0.075 + length: 0.12 + wrist_3: + radius: 0.032 + length: 0.04 + + center_of_mass: + shoulder_cog: + x: 0.0 + y: -0.02 + z: 0.0 + upper_arm_cog: + x: 0.13 + y: 0.0 + z: 0.1157 + forearm_cog: + x: 0.05 + y: 0.0 + z: 0.0238 + wrist_1_cog: + x: 0.0 + y: 0.0 + z: 0.01 + wrist_2_cog: + x: 0.0 + y: 0.0 + z: 0.01 + wrist_3_cog: + x: 0.0 + y: 0.0 + z: -0.02 diff --git a/ur_description/config/ur3e/visual_parameters.yaml b/ur_description/config/ur3e/visual_parameters.yaml new file mode 100644 index 000000000..de8a20720 --- /dev/null +++ b/ur_description/config/ur3e/visual_parameters.yaml @@ -0,0 +1,67 @@ +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/wrist1.stl" + visual_offset: -0.104 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/wrist2.stl" + visual_offset: -0.08535 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/wrist3.stl" + visual_offset: -0.0921 diff --git a/ur_description/config/ur5/default_kinematics.yaml b/ur_description/config/ur5/default_kinematics.yaml new file mode 100644 index 000000000..0173c2b67 --- /dev/null +++ b/ur_description/config/ur5/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.089159 + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: 0 + forearm: + x: -0.425 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + x: -0.39225 + y: 0 + z: 0.10915 + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + x: 0 + y: -0.09465 + z: -1.941303950897609e-11 + roll: 1.570796327 + pitch: 0 + yaw: 0 + wrist_3: + x: 0 + y: 0.0823 + z: -1.688001216681175e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_209549117540498681 \ No newline at end of file diff --git a/ur_description/config/ur5/joint_limits.yaml b/ur_description/config/ur5/joint_limits.yaml new file mode 100644 index 000000000..28eacc3d9 --- /dev/null +++ b/ur_description/config/ur5/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - UR5 User Manual, Universal Robots, UR5/CB3, Version 3.13 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69371/99202_UR5_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur5/physical_parameters.yaml b/ur_description/config/ur5/physical_parameters.yaml new file mode 100644 index 000000000..9d0a4030d --- /dev/null +++ b/ur_description/config/ur5/physical_parameters.yaml @@ -0,0 +1,87 @@ +# Physical parameters + +dh_parameters: + d1: 0.089159 + a2: -0.42500 + a3: -0.39225 + d4: 0.10915 + d5: 0.09465 + d6: 0.0823 + +offsets: + shoulder_offset: 0.13585 # measured from model + elbow_offset: 0.0165 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 3.7000 + upper_arm_mass: 8.3930 + upper_arm_inertia_offset: 0.136 + forearm_mass: 2.2750 + wrist_1_mass: 1.2190 + wrist_2_mass: 1.2190 + wrist_3_mass: 0.1879 + + shoulder_radius: 0.060 # manually measured + upper_arm_radius: 0.054 # manually measured + elbow_radius: 0.060 # manually measured + forearm_radius: 0.040 # manually measured + wrist_radius: 0.045 # manually measured + + links: + base: + radius: 0.06 + length: 0.05 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.06 + length: 0.425 + forearm: + radius: 0.06 + length: 0.39225 + wrist_1: + radius: 0.06 + length: 0.12 + wrist_2: + radius: 0.06 + length: 0.12 + wrist_3: + radius: 0.0375 + length: 0.0345 + wrist_1: + radius: 0.06 + length: 0.095 + wrist_2: + radius: 0.06 + length: 0.085 + wrist_3: + radius: 0.0375 + length: 0.0305 + + center_of_mass: + shoulder_cog: + x: 0.0 + y: 0.00193 + z: -0.02561 + upper_arm_cog: + x: 0.0 + y: -0.024201 + z: 0.2125 + forearm_cog: + x: 0.0 + y: 0.0265 + z: 0.11993 + wrist_1_cog: + x: 0.0 + y: 0.110949 + z: 0.01634 + wrist_2_cog: + x: 0.0 + y: 0.0018 + z: 0.11099 + wrist_3_cog: + x: 0.0 + y: 0.001159 + z: 0.0 diff --git a/ur_description/config/ur5/visual_parameters.yaml b/ur_description/config/ur5/visual_parameters.yaml new file mode 100644 index 000000000..69845109d --- /dev/null +++ b/ur_description/config/ur5/visual_parameters.yaml @@ -0,0 +1,67 @@ +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur5/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur5/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur5/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur5/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur5/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/wrist1.stl" + visual_offset: -0.093 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur5/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/wrist2.stl" + visual_offset: -0.095 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur5/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/wrist3.stl" + visual_offset: -0.0818 diff --git a/ur_description/config/ur5e/default_kinematics.yaml b/ur_description/config/ur5e/default_kinematics.yaml new file mode 100644 index 000000000..e89032eec --- /dev/null +++ b/ur_description/config/ur5e/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1625 + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: 0 + forearm: + x: -0.425 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + x: -0.3922 + y: 0 + z: 0.1333 + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + x: 0 + y: -0.0997 + z: -2.044881182297852e-11 + roll: 1.570796327 + pitch: 0 + yaw: 0 + wrist_3: + x: 0 + y: 0.09959999999999999 + z: -2.042830148012698e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_12788084448423163542 \ No newline at end of file diff --git a/ur_description/config/ur5e/joint_limits.yaml b/ur_description/config/ur5e/joint_limits.yaml new file mode 100644 index 000000000..dddc059a8 --- /dev/null +++ b/ur_description/config/ur5e/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR5e, Version 5.8 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur5e/physical_parameters.yaml b/ur_description/config/ur5e/physical_parameters.yaml new file mode 100644 index 000000000..8955ed24d --- /dev/null +++ b/ur_description/config/ur5e/physical_parameters.yaml @@ -0,0 +1,78 @@ +# Physical parameters + +dh_parameters: + d1: 0.163 + a2: -0.42500 + a3: -0.39225 + d4: 0.134 # wrist1_length = d4 - elbow_offset - shoulder_offset + d5: 0.100 + d6: 0.100 + +offsets: + shoulder_offset: 0.138 # measured from model + elbow_offset: 0.007 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 3.7000 + upper_arm_mass: 8.3930 + upper_arm_inertia_offset: 0.138 # measured from model + forearm_mass: 2.2750 + wrist_1_mass: 1.2190 + wrist_2_mass: 1.2190 + wrist_3_mass: 0.1879 + + shoulder_radius: 0.060 # manually measured + upper_arm_radius: 0.054 # manually measured + elbow_radius: 0.060 # manually measured + forearm_radius: 0.040 # manually measured + wrist_radius: 0.045 # manually measured + + links: + base: + radius: 0.06 + length: 0.05 + shoulder: + radius: 0.06 + length: 0.15 + upperarm: + radius: 0.06 + length: 0.425 + forearm: + radius: 0.06 + length: 0.3922 + wrist_1: + radius: 0.06 + length: 0.12 + wrist_2: + radius: 0.06 + length: 0.12 + wrist_3: + radius: 0.0375 + length: 0.0458 + + center_of_mass: + shoulder_cog: + x: 0.0 + y: 0.00193 + z: -0.02561 + upper_arm_cog: + x: 0.0 + y: -0.024201 + z: 0.2125 + forearm_cog: + x: 0.0 + y: 0.0265 + z: 0.11993 + wrist_1_cog: + x: 0.0 + y: 0.110949 + z: 0.01634 + wrist_2_cog: + x: 0.0 + y: 0.0018 + z: 0.11099 + wrist_3_cog: + x: 0.0 + y: 0.001159 + z: 0.0 diff --git a/ur_description/config/ur5e/visual_parameters.yaml b/ur_description/config/ur5e/visual_parameters.yaml new file mode 100644 index 000000000..6d0156a59 --- /dev/null +++ b/ur_description/config/ur5e/visual_parameters.yaml @@ -0,0 +1,67 @@ +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/wrist1.stl" + visual_offset: -0.127 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/wrist2.stl" + visual_offset: -0.0997 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/wrist3.stl" + visual_offset: -0.0989 diff --git a/ur_description/launch/load_ur.launch b/ur_description/launch/load_ur.launch new file mode 100644 index 000000000..20cba4fb7 --- /dev/null +++ b/ur_description/launch/load_ur.launch @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur10.launch b/ur_description/launch/load_ur10.launch new file mode 100644 index 000000000..6a6cc9811 --- /dev/null +++ b/ur_description/launch/load_ur10.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur10e.launch b/ur_description/launch/load_ur10e.launch new file mode 100644 index 000000000..3176cefa3 --- /dev/null +++ b/ur_description/launch/load_ur10e.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur16e.launch b/ur_description/launch/load_ur16e.launch new file mode 100644 index 000000000..445131818 --- /dev/null +++ b/ur_description/launch/load_ur16e.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur3.launch b/ur_description/launch/load_ur3.launch new file mode 100644 index 000000000..7be472376 --- /dev/null +++ b/ur_description/launch/load_ur3.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur3e.launch b/ur_description/launch/load_ur3e.launch new file mode 100644 index 000000000..f314c98b8 --- /dev/null +++ b/ur_description/launch/load_ur3e.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur5.launch b/ur_description/launch/load_ur5.launch new file mode 100644 index 000000000..597af189d --- /dev/null +++ b/ur_description/launch/load_ur5.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur5e.launch b/ur_description/launch/load_ur5e.launch new file mode 100644 index 000000000..a080347e9 --- /dev/null +++ b/ur_description/launch/load_ur5e.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/ur10_upload.launch b/ur_description/launch/ur10_upload.launch deleted file mode 100644 index cffd27b5a..000000000 --- a/ur_description/launch/ur10_upload.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/ur3_upload.launch b/ur_description/launch/ur3_upload.launch deleted file mode 100644 index c5df8b498..000000000 --- a/ur_description/launch/ur3_upload.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/ur5_upload.launch b/ur_description/launch/ur5_upload.launch deleted file mode 100644 index d71b2bb05..000000000 --- a/ur_description/launch/ur5_upload.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ur_description/launch/view_ur10.launch b/ur_description/launch/view_ur10.launch index 1416e47a5..cabdbf5a0 100644 --- a/ur_description/launch/view_ur10.launch +++ b/ur_description/launch/view_ur10.launch @@ -1,10 +1,8 @@ - + - - - - + + diff --git a/ur_description/launch/view_ur10e.launch b/ur_description/launch/view_ur10e.launch new file mode 100644 index 000000000..dc4c4e1b8 --- /dev/null +++ b/ur_description/launch/view_ur10e.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_description/launch/view_ur16e.launch b/ur_description/launch/view_ur16e.launch new file mode 100644 index 000000000..c9c604955 --- /dev/null +++ b/ur_description/launch/view_ur16e.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_description/launch/view_ur3.launch b/ur_description/launch/view_ur3.launch index 9b487245d..96d5dd222 100644 --- a/ur_description/launch/view_ur3.launch +++ b/ur_description/launch/view_ur3.launch @@ -1,10 +1,8 @@ - + - - - - + + diff --git a/ur_description/launch/view_ur3e.launch b/ur_description/launch/view_ur3e.launch new file mode 100644 index 000000000..c0b9f67a3 --- /dev/null +++ b/ur_description/launch/view_ur3e.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_description/launch/view_ur5.launch b/ur_description/launch/view_ur5.launch index cae16dba8..2428313a1 100644 --- a/ur_description/launch/view_ur5.launch +++ b/ur_description/launch/view_ur5.launch @@ -1,10 +1,8 @@ - + - - - - + + diff --git a/ur_description/launch/view_ur5e.launch b/ur_description/launch/view_ur5e.launch new file mode 100644 index 000000000..1d1a08b76 --- /dev/null +++ b/ur_description/launch/view_ur5e.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_e_description/meshes/ur10e/collision/base.stl b/ur_description/meshes/ur10e/collision/base.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/base.stl rename to ur_description/meshes/ur10e/collision/base.stl diff --git a/ur_e_description/meshes/ur10e/collision/forearm.stl b/ur_description/meshes/ur10e/collision/forearm.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/forearm.stl rename to ur_description/meshes/ur10e/collision/forearm.stl diff --git a/ur_e_description/meshes/ur10e/collision/shoulder.stl b/ur_description/meshes/ur10e/collision/shoulder.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/shoulder.stl rename to ur_description/meshes/ur10e/collision/shoulder.stl diff --git a/ur_e_description/meshes/ur10e/collision/upperarm.stl b/ur_description/meshes/ur10e/collision/upperarm.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/upperarm.stl rename to ur_description/meshes/ur10e/collision/upperarm.stl diff --git a/ur_e_description/meshes/ur10e/collision/wrist1.stl b/ur_description/meshes/ur10e/collision/wrist1.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/wrist1.stl rename to ur_description/meshes/ur10e/collision/wrist1.stl diff --git a/ur_e_description/meshes/ur10e/collision/wrist2.stl b/ur_description/meshes/ur10e/collision/wrist2.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/wrist2.stl rename to ur_description/meshes/ur10e/collision/wrist2.stl diff --git a/ur_e_description/meshes/ur10e/collision/wrist3.stl b/ur_description/meshes/ur10e/collision/wrist3.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/wrist3.stl rename to ur_description/meshes/ur10e/collision/wrist3.stl diff --git a/ur_e_description/meshes/ur10e/visual/base.dae b/ur_description/meshes/ur10e/visual/base.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/base.dae rename to ur_description/meshes/ur10e/visual/base.dae diff --git a/ur_e_description/meshes/ur10e/visual/forearm.dae b/ur_description/meshes/ur10e/visual/forearm.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/forearm.dae rename to ur_description/meshes/ur10e/visual/forearm.dae diff --git a/ur_e_description/meshes/ur10e/visual/shoulder.dae b/ur_description/meshes/ur10e/visual/shoulder.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/shoulder.dae rename to ur_description/meshes/ur10e/visual/shoulder.dae diff --git a/ur_e_description/meshes/ur10e/visual/upperarm.dae b/ur_description/meshes/ur10e/visual/upperarm.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/upperarm.dae rename to ur_description/meshes/ur10e/visual/upperarm.dae diff --git a/ur_e_description/meshes/ur10e/visual/wrist1.dae b/ur_description/meshes/ur10e/visual/wrist1.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/wrist1.dae rename to ur_description/meshes/ur10e/visual/wrist1.dae diff --git a/ur_e_description/meshes/ur10e/visual/wrist2.dae b/ur_description/meshes/ur10e/visual/wrist2.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/wrist2.dae rename to ur_description/meshes/ur10e/visual/wrist2.dae diff --git a/ur_e_description/meshes/ur10e/visual/wrist3.dae b/ur_description/meshes/ur10e/visual/wrist3.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/wrist3.dae rename to ur_description/meshes/ur10e/visual/wrist3.dae diff --git a/ur_description/meshes/ur16e/collision/forearm.stl b/ur_description/meshes/ur16e/collision/forearm.stl new file mode 100644 index 000000000..23e92224f Binary files /dev/null and b/ur_description/meshes/ur16e/collision/forearm.stl differ diff --git a/ur_description/meshes/ur16e/collision/upperarm.stl b/ur_description/meshes/ur16e/collision/upperarm.stl new file mode 100644 index 000000000..d09c63475 Binary files /dev/null and b/ur_description/meshes/ur16e/collision/upperarm.stl differ diff --git a/ur_description/meshes/ur16e/visual/forearm.dae b/ur_description/meshes/ur16e/visual/forearm.dae new file mode 100644 index 000000000..2b809a439 --- /dev/null +++ b/ur_description/meshes/ur16e/visual/forearm.dae @@ -0,0 +1,485 @@ + + + + + Blender User + Blender 2.81.16 commit date:2019-11-20, commit time:14:27, hash:26bd5ebd42e3 + + 2020-01-28T13:43:22 + 2020-01-28T13:43:22 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.8203922 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950 37 1670 37 1670 37 950 37 941 37 855 1369 856 1369 909 1369 864 1370 1462 1370 952 1370 860 37 911 37 859 37 859 37 911 37 910 37 859 1339 910 1339 858 1339 1462 37 1410 37 952 37 952 1371 1410 1371 867 1371 952 1372 867 1372 868 1372 909 1373 856 1373 910 1373 910 1374 856 1374 857 1374 910 1375 857 1375 858 1375 860 37 861 37 911 37 911 1376 861 1376 862 1376 911 1377 862 1377 912 1377 912 1378 862 1378 863 1378 872 37 873 37 950 37 868 1379 869 1379 952 1379 952 37 869 37 870 37 952 37 870 37 950 37 950 1380 870 1380 871 1380 950 1381 871 1381 872 1381 873 37 874 37 950 37 950 1382 874 1382 851 1382 950 1383 851 1383 907 1383 907 1384 851 1384 852 1384 907 1385 852 1385 908 1385 908 1386 852 1386 853 1386 908 1387 853 1387 909 1387 909 37 853 37 854 37 909 1388 854 1388 855 1388 936 37 937 37 953 37 953 1389 937 1389 938 1389 953 1390 938 1390 952 1390 952 37 938 37 1889 37 1889 37 940 37 952 37 952 1391 940 1391 915 1391 952 1392 915 1392 914 1392 863 37 864 37 912 37 912 1393 864 1393 952 1393 912 37 952 37 913 37 913 37 952 37 914 37 954 1394 1798 1394 1808 1394 1808 1395 1892 1395 954 1395 954 1396 1892 1396 916 1396 954 1397 916 1397 935 1397 793 37 794 37 924 37 779 37 780 37 954 37 780 1398 781 1398 954 1398 954 1399 781 1399 782 1399 954 1400 782 1400 783 1400 783 1401 784 1401 954 1401 954 37 784 37 785 37 954 1402 785 1402 1798 1402 789 1403 790 1403 1782 1403 1782 1404 790 1404 791 1404 1782 1405 791 1405 792 1405 1291 37 1323 37 955 37 955 1406 1323 1406 802 1406 785 37 786 37 1798 37 1798 1407 786 1407 1027 1407 1798 37 1027 37 1782 37 1782 1408 1027 1408 788 1408 1782 1409 788 1409 789 1409 794 37 795 37 924 37 924 1410 795 1410 796 1410 924 37 796 37 1353 37 1353 1411 796 1411 1345 1411 1353 37 1345 37 1404 37 1404 1412 1345 1412 1304 1412 1404 1413 1304 1413 955 1413 955 1414 1304 1414 1290 1414 955 1415 1290 1415 1291 1415 922 37 921 37 923 37 923 1416 921 1416 1782 1416 923 37 1782 37 924 37 924 37 1782 37 792 37 924 1417 792 1417 793 1417 955 1418 933 1418 934 1418 934 1419 928 1419 955 1419 955 37 928 37 1431 37 955 1420 1431 1420 1404 1420 1470 1421 773 1421 774 1421 768 37 1780 37 1577 37 1577 1422 1780 1422 1813 1422 1577 1423 1813 1423 1615 1423 1615 37 1813 37 1837 37 1615 1424 1837 1424 1470 1424 1470 1425 1837 1425 772 1425 1470 37 772 37 773 37 753 37 754 37 947 37 955 1426 1688 1426 1689 1426 753 37 947 37 1713 37 755 37 756 37 956 37 956 1427 756 1427 757 1427 956 1428 757 1428 758 1428 758 37 759 37 956 37 956 1429 759 1429 1638 1429 956 37 1638 37 955 37 955 1430 1638 1430 1655 1430 955 1431 1655 1431 1688 1431 933 37 955 37 1577 37 1577 37 955 37 766 37 1577 1432 766 1432 768 1432 774 37 775 37 1470 37 1470 1433 775 1433 776 1433 1470 1434 776 1434 947 1434 947 1435 776 1435 777 1435 947 1436 777 1436 778 1436 1689 37 1684 37 955 37 955 37 1684 37 1685 37 955 1437 1685 1437 766 1437 778 37 1277 37 947 37 947 37 1277 37 752 37 947 1438 752 1438 1713 1438 883 1439 882 1439 947 1439 947 37 882 37 881 37 947 37 881 37 1469 37 818 37 1454 37 817 37 817 37 1454 37 1437 37 817 37 1437 37 816 37 818 1440 819 1440 1454 1440 1454 1441 819 1441 1440 1441 1454 1442 1440 1442 1441 1442 823 1443 1380 1443 1336 1443 823 37 1336 37 822 37 883 1444 947 1444 1437 1444 1437 1445 947 1445 815 1445 1437 37 815 37 816 37 812 37 813 37 947 37 947 1446 813 1446 814 1446 947 37 814 37 815 37 808 37 957 37 807 37 807 37 957 37 806 37 1380 37 1381 37 1336 37 1336 1447 1381 1447 1725 1447 1336 37 1725 37 890 37 890 1448 1725 1448 803 1448 890 1449 803 1449 1281 1449 1281 1450 803 1450 804 1450 1281 1451 804 1451 957 1451 957 1452 804 1452 805 1452 957 1453 805 1453 806 1453 808 37 809 37 957 37 957 1454 809 1454 810 1454 957 1455 810 1455 947 1455 947 1456 810 1456 811 1456 947 1457 811 1457 812 1457 1336 37 888 37 887 37 1441 37 822 37 1454 37 1454 1458 822 1458 1336 1458 1454 37 1336 37 1487 37 1487 1459 1336 1459 887 1459 877 1460 878 1460 957 1460 957 1461 878 1461 875 1461 875 1462 1251 1462 957 1462 957 37 1251 37 1795 37 957 1463 1795 1463 1281 1463 1568 1464 958 1464 1661 1464 1661 1465 958 1465 948 1465 1661 37 948 37 879 37 879 37 948 37 894 37 845 1466 1862 1466 948 1466 948 1467 1862 1467 895 1467 948 1468 895 1468 894 1468 754 1469 755 1469 947 1469 947 37 755 37 956 37 947 1470 956 1470 957 1470 957 1471 956 1471 958 1471 957 1472 958 1472 877 1472 877 1473 958 1473 1568 1473 802 1474 779 1474 955 1474 955 37 779 37 954 37 955 1475 954 1475 956 1475 956 1476 954 1476 959 1476 956 37 959 37 958 37 958 1477 959 1477 951 1477 958 1478 951 1478 948 1478 948 1479 951 1479 949 1479 948 37 949 37 840 37 840 37 949 37 839 37 935 1480 936 1480 954 1480 954 1481 936 1481 953 1481 954 1482 953 1482 959 1482 959 1483 953 1483 952 1483 959 1484 952 1484 951 1484 951 37 952 37 950 37 951 37 950 37 750 37 750 37 950 37 727 37

 -

1180 1180 1053 1180 1054 1180 1094 1181 1095 1181 1271 1181 1271 1182 1095 1182 1041 1182 1021 1183 8 1183 1468 1183 1180 1184 10 1184 1053 1184 1053 1185 10 1185 11 1185 1053 1186 11 1186 12 1186 8 1187 1021 1187 1271 1187 1271 1188 1021 1188 1022 1188 1271 1189 1022 1189 1094 1189 1054 1190 1038 1190 1180 1190 1180 1191 1038 1191 1021 1191 1180 1192 1021 1192 1284 1192 1284 1193 1021 1193 1468 1193 1041 1194 16 1194 1271 1194 1271 1195 16 1195 1812 1195 1271 1196 1812 1196 1504 1196 12 1197 1192 1197 1053 1197 1053 1198 1192 1198 1859 1198 1053 1199 1859 1199 21 1199 21 1200 1859 1200 22 1200 21 1201 22 1201 23 1201 144 1202 145 1203 17 1204 146 1205 9 1206 147 1207 147 1207 9 1206 1272 1208 147 1207 1272 1208 148 1209 148 1209 1272 1208 149 1210 150 1211 5 1212 151 1213 151 1213 5 1212 18 1214 151 1213 18 1214 152 1215 150 1211 153 1216 5 1212 5 1212 153 1216 1640 1217 5 1212 1640 1217 1272 1208 1272 1208 1640 1217 1781 1218 1272 1208 1781 1218 149 1210 156 1219 157 1220 18 1214 18 1214 157 1220 158 1221 18 1222 158 1222 152 1222 17 1204 145 1203 18 1214 18 1214 145 1203 159 1223 18 1214 159 1223 156 1219 160 1224 161 1225 1042 1226 1042 1226 161 1225 162 1227 1042 1226 162 1227 17 1204 17 1204 162 1227 163 1228 17 1204 163 1228 144 1202 164 1229 165 1230 4 1231 4 1231 165 1230 166 1232 4 1231 166 1232 6 1233 6 1234 166 1234 1801 1234 6 1233 1801 1235 1042 1226 1042 1226 1801 1235 1700 1236 1042 1226 1700 1236 160 1224 169 1237 170 1238 3 1239 3 1239 170 1238 171 1240 3 1239 171 1240 4 1231 4 1231 171 1240 172 1241 4 1231 172 1241 164 1229 13 1242 173 1242 174 1242 174 1243 175 1244 13 1245 13 1245 175 1244 176 1246 13 1245 176 1246 3 1239 3 1239 176 1246 177 1247 3 1239 177 1247 169 1237 178 1248 179 1249 7 1250 7 1250 179 1249 180 1251 7 1250 180 1251 13 1245 13 1245 180 1251 181 1252 13 1253 181 1253 173 1253 178 1248 7 1250 182 1254 182 1254 7 1250 14 1255 182 1254 14 1255 183 1256 2 1257 184 1258 185 1259 185 1259 186 1260 2 1257 2 1257 186 1260 187 1261 2 1257 187 1261 14 1255 14 1255 187 1261 188 1262 14 1255 188 1262 183 1256 189 1263 190 1264 1 1265 1 1265 190 1264 191 1266 1 1265 191 1266 2 1257 2 1257 191 1266 192 1267 2 1257 192 1267 184 1258 1841 1268 1423 1269 194 1270 194 1270 1423 1269 1897 1271 1841 1268 1814 1272 1423 1269 1423 1269 1814 1272 1805 1273 1423 1269 1805 1273 1 1265 1 1265 1805 1273 197 1274 1 1265 197 1274 189 1263 198 1275 199 1276 1897 1271 199 1276 200 1277 1897 1271 1897 1278 200 1278 201 1278 1897 1271 201 1279 194 1270 20 1280 202 1281 1896 1282 1896 1282 202 1281 203 1283 203 1283 204 1284 1896 1282 1896 1282 204 1284 205 1285 1896 1282 205 1285 1897 1271 1897 1271 205 1285 206 1286 1897 1271 206 1286 198 1275 207 1287 208 1288 20 1280 208 1288 209 1289 20 1280 20 1280 209 1289 210 1290 20 1280 210 1290 202 1281 207 1287 20 1280 211 1291 211 1291 20 1280 19 1292 211 1291 19 1292 212 1293 212 1293 19 1292 1191 1294 212 1293 1191 1294 213 1295 214 1296 1620 1297 1541 1298 1541 1298 1620 1297 1660 1299 1541 1298 1660 1299 1191 1294 1191 1294 1660 1299 1610 1300 1191 1294 1610 1300 213 1295 1181 1301 1567 1301 1731 1301 1731 1302 1720 1303 1181 1304 1181 1304 1720 1303 1438 1305 1181 1304 1438 1305 1541 1298 1541 1298 1438 1305 1439 1306 1541 1298 1439 1306 214 1296 1525 1307 1526 1308 0 1309 0 1309 1526 1308 1377 1310 0 1309 1377 1310 1181 1304 1181 1304 1377 1310 1378 1311 1181 1312 1378 1312 1567 1312 1525 1307 0 1309 1337 1313 1337 1313 0 1309 15 1314 1337 1313 15 1314 1338 1315 146 1205 1299 1316 9 1206 9 62 1299 62 1239 62 9 1206 1239 1317 231 1318 231 1318 232 1319 9 1206 9 1206 232 1319 233 1320 9 1206 233 1320 15 1314 15 1314 233 1320 234 1321 15 1314 234 1321 1338 1315

+

1180 1485 1053 1485 1054 1485 1094 1486 1095 1486 1271 1486 1271 1487 1095 1487 1041 1487 1021 1488 8 1488 1468 1488 1180 1489 10 1489 1053 1489 1053 1490 10 1490 11 1490 1053 1491 11 1491 12 1491 8 1492 1021 1492 1271 1492 1271 1493 1021 1493 1022 1493 1271 1494 1022 1494 1094 1494 1054 1495 1038 1495 1180 1495 1180 1496 1038 1496 1021 1496 1180 1497 1021 1497 1284 1497 1284 1498 1021 1498 1468 1498 1041 1499 16 1499 1271 1499 1271 1500 16 1500 1812 1500 1271 1501 1812 1501 1504 1501 12 1502 1192 1502 1053 1502 1053 1503 1192 1503 1859 1503 1053 1504 1859 1504 21 1504 21 1505 1859 1505 22 1505 21 1506 22 1506 23 1506 144 1507 145 1508 17 1509 146 1510 9 1511 147 1512 147 1512 9 1511 1272 1513 147 1512 1272 1513 148 1514 148 1514 1272 1513 149 1515 150 1516 5 1517 151 1518 151 1518 5 1517 18 1519 151 1518 18 1519 152 1520 150 1516 153 1521 5 1517 5 1517 153 1521 1640 1522 5 1517 1640 1522 1272 1513 1272 1513 1640 1522 1781 1523 1272 1513 1781 1523 149 1515 156 1524 157 1525 18 1519 18 1519 157 1525 158 1526 18 1527 158 1527 152 1527 17 1509 145 1508 18 1519 18 1519 145 1508 159 1528 18 1519 159 1528 156 1524 160 1529 161 1530 1042 1531 1042 1531 161 1530 162 1532 1042 1531 162 1532 17 1509 17 1509 162 1532 163 1533 17 1509 163 1533 144 1507 164 1534 165 1535 4 1536 4 1536 165 1535 166 1537 4 1536 166 1537 6 1538 6 1539 166 1539 1801 1539 6 1538 1801 1540 1042 1531 1042 1531 1801 1540 1700 1541 1042 1531 1700 1541 160 1529 169 1542 170 1543 3 1544 3 1544 170 1543 171 1545 3 1544 171 1545 4 1536 4 1536 171 1545 172 1546 4 1536 172 1546 164 1534 13 1547 173 1547 174 1547 174 1548 175 1549 13 1550 13 1550 175 1549 176 1551 13 1550 176 1551 3 1544 3 1544 176 1551 177 1552 3 1544 177 1552 169 1542 178 1553 179 1554 7 1555 7 1555 179 1554 180 1556 7 1555 180 1556 13 1550 13 1550 180 1556 181 1557 13 1558 181 1558 173 1558 178 1553 7 1555 182 1559 182 1559 7 1555 14 1560 182 1559 14 1560 183 1561 2 1562 184 1563 185 1564 185 1564 186 1565 2 1562 2 1562 186 1565 187 1566 2 1562 187 1566 14 1560 14 1560 187 1566 188 1567 14 1560 188 1567 183 1561 189 1568 190 1569 1 1570 1 1570 190 1569 191 1571 1 1570 191 1571 2 1562 2 1562 191 1571 192 1572 2 1562 192 1572 184 1563 1841 1573 1423 1574 194 1575 194 1575 1423 1574 1897 1576 1841 1573 1814 1577 1423 1574 1423 1574 1814 1577 1805 1578 1423 1574 1805 1578 1 1570 1 1570 1805 1578 197 1579 1 1570 197 1579 189 1568 198 1580 199 1581 1897 1576 199 1581 200 1582 1897 1576 1897 1583 200 1583 201 1583 1897 1576 201 1584 194 1575 20 1585 202 1586 1896 1587 1896 1587 202 1586 203 1588 203 1588 204 1589 1896 1587 1896 1587 204 1589 205 1590 1896 1587 205 1590 1897 1576 1897 1576 205 1590 206 1591 1897 1576 206 1591 198 1580 207 1592 208 1593 20 1585 208 1593 209 1594 20 1585 20 1585 209 1594 210 1595 20 1585 210 1595 202 1586 207 1592 20 1585 211 1596 211 1596 20 1585 19 1597 211 1596 19 1597 212 1598 212 1598 19 1597 1191 1599 212 1598 1191 1599 213 1600 214 1601 1620 1602 1541 1603 1541 1603 1620 1602 1660 1604 1541 1603 1660 1604 1191 1599 1191 1599 1660 1604 1610 1605 1191 1599 1610 1605 213 1600 1181 1606 1567 1606 1731 1606 1731 1607 1720 1608 1181 1609 1181 1609 1720 1608 1438 1610 1181 1609 1438 1610 1541 1603 1541 1603 1438 1610 1439 1611 1541 1603 1439 1611 214 1601 1525 1612 1526 1613 0 1614 0 1614 1526 1613 1377 1615 0 1614 1377 1615 1181 1609 1181 1609 1377 1615 1378 1616 1181 1617 1378 1617 1567 1617 1525 1612 0 1614 1337 1618 1337 1618 0 1614 15 1619 1337 1618 15 1619 1338 1620 146 1510 1299 1621 9 1511 9 68 1299 68 1239 68 9 1511 1239 1622 231 1623 231 1623 232 1624 9 1511 9 1511 232 1624 233 1625 9 1511 233 1625 15 1619 15 1619 233 1625 234 1626 15 1619 234 1626 1338 1620

 - - - 0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + 1 0 0 0 0 1 0 0 0 0 1 0.003 0 0 0 1 diff --git a/ur_e_description/meshes/ur5e/collision/base.stl b/ur_description/meshes/ur5e/collision/base.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/base.stl rename to ur_description/meshes/ur5e/collision/base.stl diff --git a/ur_e_description/meshes/ur5e/collision/forearm.stl b/ur_description/meshes/ur5e/collision/forearm.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/forearm.stl rename to ur_description/meshes/ur5e/collision/forearm.stl diff --git a/ur_e_description/meshes/ur5e/collision/shoulder.stl b/ur_description/meshes/ur5e/collision/shoulder.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/shoulder.stl rename to ur_description/meshes/ur5e/collision/shoulder.stl diff --git a/ur_e_description/meshes/ur5e/collision/upperarm.stl b/ur_description/meshes/ur5e/collision/upperarm.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/upperarm.stl rename to ur_description/meshes/ur5e/collision/upperarm.stl diff --git a/ur_e_description/meshes/ur5e/collision/wrist1.stl b/ur_description/meshes/ur5e/collision/wrist1.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/wrist1.stl rename to ur_description/meshes/ur5e/collision/wrist1.stl diff --git a/ur_e_description/meshes/ur5e/collision/wrist2.stl b/ur_description/meshes/ur5e/collision/wrist2.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/wrist2.stl rename to ur_description/meshes/ur5e/collision/wrist2.stl diff --git a/ur_e_description/meshes/ur5e/collision/wrist3.stl b/ur_description/meshes/ur5e/collision/wrist3.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/wrist3.stl rename to ur_description/meshes/ur5e/collision/wrist3.stl diff --git a/ur_e_description/meshes/ur5e/visual/base.dae b/ur_description/meshes/ur5e/visual/base.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/base.dae rename to ur_description/meshes/ur5e/visual/base.dae diff --git a/ur_e_description/meshes/ur5e/visual/forearm.dae b/ur_description/meshes/ur5e/visual/forearm.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/forearm.dae rename to ur_description/meshes/ur5e/visual/forearm.dae diff --git a/ur_e_description/meshes/ur5e/visual/shoulder.dae b/ur_description/meshes/ur5e/visual/shoulder.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/shoulder.dae rename to ur_description/meshes/ur5e/visual/shoulder.dae diff --git a/ur_e_description/meshes/ur5e/visual/upperarm.dae b/ur_description/meshes/ur5e/visual/upperarm.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/upperarm.dae rename to ur_description/meshes/ur5e/visual/upperarm.dae diff --git a/ur_e_description/meshes/ur5e/visual/wrist1.dae b/ur_description/meshes/ur5e/visual/wrist1.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/wrist1.dae rename to ur_description/meshes/ur5e/visual/wrist1.dae diff --git a/ur_e_description/meshes/ur5e/visual/wrist2.dae b/ur_description/meshes/ur5e/visual/wrist2.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/wrist2.dae rename to ur_description/meshes/ur5e/visual/wrist2.dae diff --git a/ur_e_description/meshes/ur5e/visual/wrist3.dae b/ur_description/meshes/ur5e/visual/wrist3.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/wrist3.dae rename to ur_description/meshes/ur5e/visual/wrist3.dae diff --git a/ur_description/package.xml b/ur_description/package.xml index 0fc77915b..a4942a4e4 100644 --- a/ur_description/package.xml +++ b/ur_description/package.xml @@ -3,7 +3,7 @@ ur_description 1.2.5 - URDF description for Universal UR5/10 robot arms + URDF description for Universal UR3(e), UR5(e), UR10(e) and UR16e robots Wim Meeussen @@ -16,15 +16,15 @@ BSD - http://ros.org/wiki/ur_description + http://wiki.ros.org/ur_description catkin - joint_state_publisher + + joint_state_publisher_gui robot_state_publisher rviz urdf xacro - - + roslaunch diff --git a/ur_description/tests/roslaunch_test_ur10.xml b/ur_description/tests/roslaunch_test_ur10.xml new file mode 100644 index 000000000..7eb1d2b12 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur10.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur10e.xml b/ur_description/tests/roslaunch_test_ur10e.xml new file mode 100644 index 000000000..779de29f9 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur10e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur16e.xml b/ur_description/tests/roslaunch_test_ur16e.xml new file mode 100644 index 000000000..ff7fc896d --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur16e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur3.xml b/ur_description/tests/roslaunch_test_ur3.xml new file mode 100644 index 000000000..365b093a1 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur3.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur3e.xml b/ur_description/tests/roslaunch_test_ur3e.xml new file mode 100644 index 000000000..a2ffbe31b --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur3e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur5.xml b/ur_description/tests/roslaunch_test_ur5.xml new file mode 100644 index 000000000..15698ad70 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur5.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur5e.xml b/ur_description/tests/roslaunch_test_ur5e.xml new file mode 100644 index 000000000..ca0466995 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur5e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/urdf/common.gazebo.xacro b/ur_description/urdf/common.gazebo.xacro deleted file mode 100644 index 0b2d7989b..000000000 --- a/ur_description/urdf/common.gazebo.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - diff --git a/ur_description/urdf/inc/ur10_macro.xacro b/ur_description/urdf/inc/ur10_macro.xacro new file mode 100644 index 000000000..1e853659a --- /dev/null +++ b/ur_description/urdf/inc/ur10_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur10e_macro.xacro b/ur_description/urdf/inc/ur10e_macro.xacro new file mode 100644 index 000000000..fe0f0f265 --- /dev/null +++ b/ur_description/urdf/inc/ur10e_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur16e_macro.xacro b/ur_description/urdf/inc/ur16e_macro.xacro new file mode 100644 index 000000000..302d530aa --- /dev/null +++ b/ur_description/urdf/inc/ur16e_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur3_macro.xacro b/ur_description/urdf/inc/ur3_macro.xacro new file mode 100644 index 000000000..5a569f5a8 --- /dev/null +++ b/ur_description/urdf/inc/ur3_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur3e_macro.xacro b/ur_description/urdf/inc/ur3e_macro.xacro new file mode 100644 index 000000000..4695c5ea5 --- /dev/null +++ b/ur_description/urdf/inc/ur3e_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur5_macro.xacro b/ur_description/urdf/inc/ur5_macro.xacro new file mode 100644 index 000000000..645b240c1 --- /dev/null +++ b/ur_description/urdf/inc/ur5_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur5e_macro.xacro b/ur_description/urdf/inc/ur5e_macro.xacro new file mode 100644 index 000000000..44cf92b3b --- /dev/null +++ b/ur_description/urdf/inc/ur5e_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur_common.xacro b/ur_description/urdf/inc/ur_common.xacro new file mode 100644 index 000000000..e841d912b --- /dev/null +++ b/ur_description/urdf/inc/ur_common.xacro @@ -0,0 +1,219 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/urdf/inc/ur_macro.xacro b/ur_description/urdf/inc/ur_macro.xacro new file mode 100644 index 000000000..a78a5e38f --- /dev/null +++ b/ur_description/urdf/inc/ur_macro.xacro @@ -0,0 +1,336 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/urdf/ur.transmission.xacro b/ur_description/urdf/inc/ur_transmissions.xacro similarity index 90% rename from ur_description/urdf/ur.transmission.xacro rename to ur_description/urdf/inc/ur_transmissions.xacro index b85cc6e77..fd44d69b9 100644 --- a/ur_description/urdf/ur.transmission.xacro +++ b/ur_description/urdf/inc/ur_transmissions.xacro @@ -1,5 +1,10 @@ + diff --git a/ur_description/urdf/ur.gazebo.xacro b/ur_description/urdf/ur.gazebo.xacro deleted file mode 100644 index ed0ce6bd5..000000000 --- a/ur_description/urdf/ur.gazebo.xacro +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - true - - - true - - - true - - - true - - - true - - - true - - - true - - - - - diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro new file mode 100644 index 000000000..cbcffab2a --- /dev/null +++ b/ur_description/urdf/ur.xacro @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro deleted file mode 100644 index f8c86c499..000000000 --- a/ur_description/urdf/ur10.urdf.xacro +++ /dev/null @@ -1,367 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- - - - - - - - - - diff --git a/ur_description/urdf/ur10e.xacro b/ur_description/urdf/ur10e.xacro new file mode 100644 index 000000000..837b08d7a --- /dev/null +++ b/ur_description/urdf/ur10e.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_description/urdf/ur16e.xacro b/ur_description/urdf/ur16e.xacro new file mode 100644 index 000000000..a79d11a43 --- /dev/null +++ b/ur_description/urdf/ur16e.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_description/urdf/ur3.urdf.xacro b/ur_description/urdf/ur3.urdf.xacro deleted file mode 100644 index 839cc06ac..000000000 --- a/ur_description/urdf/ur3.urdf.xacro +++ /dev/null @@ -1,365 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur3e.xacro b/ur_description/urdf/ur3e.xacro new file mode 100644 index 000000000..f4f8cae17 --- /dev/null +++ b/ur_description/urdf/ur3e.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro deleted file mode 100644 index 909f92362..000000000 --- a/ur_description/urdf/ur5.urdf.xacro +++ /dev/null @@ -1,382 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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-1.2.5 (2019-04-05) ------------------- -* Update maintainer listing: add Miguel (`#410 `_) -* update maintainer and author information. -* Contributors: gavanderhoorn - -1.2.1 (2018-01-06) ------------------- - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* No changes. - -1.1.6 (2016-04-01) ------------------- -* Moved SetIO FUN constants from driver.py to relevant srv file for easier interaction from other files -* Merge pull request `#170 `_ from ipa-fxm/prevent_programming - [Indigo] enable reconfigure and set_param side by side -* Merge pull request `#189 `_ from abubeck/157_for_indigo - port of PR `#157 `_ to indigo -* catkin_lint -* enable reconfigure and set_param side by side -* port of PR `#157 `_ to indigo -* driver: Factor out __send_message method. -* porting PR `#165 `_ to indigo -* dynamic reconfigure server for prevent_programming -* RobotStateRT V15 added to indigo_devw -* Changed variable params_mult to unique name in each socket_read instance. -* Fixed unpacking of MasterboardData_V30. -* Contributors: Alexander Bubeck, Dan Solomon, Maarten de Vries, Thomas Timm Andersen, Wouter van Oijen, abubeck, ipa-fxm, jeppewalther - -1.0.2 (2014-03-31) ------------------- - -1.0.1 (2014-03-31) ------------------- - -* Merge pull request `#25 `_ from ros-industrial/groovy-devel - Merging latest changed from groovy to hydro devel branch -* completed adding the workarounds from the original driver script -* ported modifications made to original driver script -* ur_driver: run_depend on trajectory_msgs. -* ur_driver: run_depend on beautifulsoup. Fix `#29 `_. -* Added keywords to arguments for new message instance of JointTrajectoryPoint(). - Arguments were previously "in order" but the keyword arguments are recommended as they are more resilient to msg changes. -* Add 1 sec throttle to unknown pkt warning. -* Fix formatting and sort list of unknown ptypes. -* Ignore unknown pkt types, instead of erroring out. - This change modifies the behaviour of the driver in case an - unknown packet type is encountered. Previously, the deserialisation - routine would raise an exception, which would cause the driver - to print an error and exit. - In the current implementation the unknown packet type(s) are - stored, their payload ignored, and the driver reports the fact that - unknown type(s) was/were received (with a request to report the - warning, ideally to the package maintainer). - This is not a solution for `#16 `_, although that issue prompted this - change. -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Merge branch 'groovy-devel' into groovy-dev -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Merge remote-tracking branch 'origin/master' into hydro-dev -* Fixed reference from ur5_driver to ur_driver in test_move.py -* patch for ur_driver/deserialize.py -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* Added launch directory to bringup package. Left the old launch files to be backwards compatable for now. Updated driver with SwRI internal changes. Changed driver to accept ip address to match ROS-Industrial standard. IP addresses for industrial robots are typically fixed. Hostnames are not typically used (this is what the driver expected) -* Renamed packages and new groovy version -* Added ur10 and renamed packages -* Contributors: Christina Gomez, Damien Smeets, IPR-SR2, Kelsey, ROS-Industrial, Shaun Edwards, gavanderhoorn, ipa-nhg, robot, ros-industrial diff --git a/ur_driver/CMakeLists.txt b/ur_driver/CMakeLists.txt deleted file mode 100644 index b41109c79..000000000 --- a/ur_driver/CMakeLists.txt +++ /dev/null @@ -1,40 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur_driver) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure) - -catkin_python_setup() - - -generate_dynamic_reconfigure_options( - cfg/URDriver.cfg -) - -################################### -## catkin specific configuration ## -################################### -catkin_package( - CATKIN_DEPENDS dynamic_reconfigure -) - -############# -## Install ## -############# -install(PROGRAMS test_move.py test_io.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(PROGRAMS src/ur_driver/driver.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(FILES prog prog_reset - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -############# -## Testing ## -############# diff --git a/ur_driver/cfg/URDriver.cfg b/ur_driver/cfg/URDriver.cfg deleted file mode 100755 index 404d58ab6..000000000 --- a/ur_driver/cfg/URDriver.cfg +++ /dev/null @@ -1,10 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "ur_driver" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -gen.add("prevent_programming", bool_t, 0, "Prevent driver from continuously uploading 'prog'", False) - -exit(gen.generate(PACKAGE, "ur_driver", "URDriver")) diff --git a/ur_driver/package.xml b/ur_driver/package.xml deleted file mode 100644 index dc4184902..000000000 --- a/ur_driver/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - ur_driver - 1.2.5 - - Driver for the UR5/10 arm based on the Polyscope control scheme. - - - Stuart Glaser - Shaun Edwards - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - http://ros.org/wiki/ur_driver - - catkin - dynamic_reconfigure - - rospy - actionlib - control_msgs - sensor_msgs - trajectory_msgs - ur_msgs - python-lxml - diff --git a/ur_driver/prog b/ur_driver/prog deleted file mode 100644 index 79bdc9c3d..000000000 --- a/ur_driver/prog +++ /dev/null @@ -1,228 +0,0 @@ -def driverProg(): - HOSTNAME = "%(driver_hostname)s" - PORT = %(driver_reverseport)d - MSG_OUT = 1 - MSG_QUIT = 2 - MSG_JOINT_STATES = 3 - MSG_MOVEJ = 4 - MSG_WAYPOINT_FINISHED = 5 - MSG_STOPJ = 6 - MSG_SERVOJ = 7 - MSG_SET_PAYLOAD = 8 - MSG_WRENCH = 9 - MSG_SET_DIGITAL_OUT = 10 - MSG_GET_IO = 11 - MSG_SET_FLAG = 12 - MSG_SET_TOOL_VOLTAGE = 13 - MSG_SET_ANALOG_OUT = 14 - MULT_wrench = 10000.0 - MULT_payload = 1000.0 - MULT_jointstate = 10000.0 - MULT_time = 1000000.0 - MULT_blend = 1000.0 - MULT_analog = 1000000.0 - pi = 3.14159265359 - - def send_out(msg): - enter_critical - socket_send_int(MSG_OUT) - socket_send_string(msg) - socket_send_string("~") - exit_critical - end - - def send_waypoint_finished(waypoint_id): - enter_critical - socket_send_int(MSG_WAYPOINT_FINISHED) - socket_send_int(waypoint_id) - exit_critical - end - - - SERVO_IDLE = 0 - SERVO_RUNNING = 1 - cmd_servo_state = SERVO_IDLE - cmd_servo_id = 0 # 0 = idle, -1 = stop - cmd_servo_q = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - cmd_servo_dt = 0.0 - def set_servo_setpoint(id, q, dt): - enter_critical - cmd_servo_state = SERVO_RUNNING - cmd_servo_id = id - cmd_servo_q = q - cmd_servo_dt = dt - exit_critical - end - thread servoThread(): - state = SERVO_IDLE - while True: - # Latches the new command - enter_critical - q = cmd_servo_q - dt = cmd_servo_dt - id = cmd_servo_id - do_brake = False - if (state == SERVO_RUNNING) and (cmd_servo_state == SERVO_IDLE): - # No command pending - do_brake = True - end - state = cmd_servo_state - cmd_servo_state = SERVO_IDLE - exit_critical - - #do_brake = False - - # Executes the command - if do_brake: - #stopj(1.0) # TODO - send_out("Braking") - sync() - elif state == SERVO_RUNNING: - servoj(q, 0, 0, dt) - #send_out("Servoed") - else: - #send_out("Idle") - sync() - end - end - end - - socket_open(HOSTNAME, PORT) - send_out("hello") - - thread_servo = run servoThread() - - # Servoes in a circle - #movej([1.5,-0.4,-1.57,0,0,0], 3, 0.75, 1.0) - #t = 0 - #while True: - # q = [1.5,0,-1.57,0,0,0] - # q[0] = q[0] + 0.2 * sin(0.25 * t*(2*pi)) - # q[1] = q[1] - 0.2 + 0.2 * cos(0.25 * t*(2*pi)) - # #servoj(q, 3, 1, 0.08) - # #send_out("servoed") - # set_servo_setpoint(t, q, 0.08) - # t = t + 0.08 - # sleep(0.08) - #end - - while True: - #send_out("Listening") - ll = socket_read_binary_integer(1) - - if ll[0] == 0: - #send_out("Received nothing") - elif ll[0] > 1: - send_out("Received too many things") - else: - mtype = ll[1] - if mtype == MSG_QUIT: - send_out("Received QUIT") - break - elif mtype == MSG_MOVEJ: - send_out("Received movej") - params_movej = socket_read_binary_integer(1+6+4) - if params_movej[0] == 0: - send_out("Received no parameters for movej message") - end - - # Unpacks the parameters - waypoint_id = params_movej[1] - q = [params_movej[2] / MULT_jointstate, - params_movej[3] / MULT_jointstate, - params_movej[4] / MULT_jointstate, - params_movej[5] / MULT_jointstate, - params_movej[6] / MULT_jointstate, - params_movej[7] / MULT_jointstate] - a = params_movej[8] / MULT_jointstate - v = params_movej[9] / MULT_jointstate - t = params_movej[10] / MULT_time - r = params_movej[11] / MULT_blend - - # Sends the command - send_out("movej started") - movej(q, a, v, t, r) - send_waypoint_finished(waypoint_id) - send_out("movej finished") - elif mtype == MSG_SERVOJ: - # Reads the parameters - params_servoj = socket_read_binary_integer(1+6+1) - if params_servoj[0] == 0: - send_out("Received no parameters for movej message") - end - - # Unpacks the parameters - waypoint_id = params_servoj[1] - q = [params_servoj[2] / MULT_jointstate, - params_servoj[3] / MULT_jointstate, - params_servoj[4] / MULT_jointstate, - params_servoj[5] / MULT_jointstate, - params_servoj[6] / MULT_jointstate, - params_servoj[7] / MULT_jointstate] - t = params_servoj[8] / MULT_time - - # Servos - #servoj(q, 3, 0.1, t) - #send_waypoint_finished(waypoint_id) - set_servo_setpoint(waypoint_id, q, t) - elif mtype == MSG_SET_PAYLOAD: - params = socket_read_binary_integer(1) - if params[0] == 0: - send_out("Received no parameters for setPayload message") - end - - payload = params[1] / MULT_payload - #send_out(payload) - send_out("Received new payload") - set_payload(payload) - elif mtype == MSG_STOPJ: - send_out("Received stopj") - stopj(1.0) - elif mtype == MSG_SET_DIGITAL_OUT: - #send_out("Received Digital Out Signal") - # Reads the parameters - params_sdo = socket_read_binary_integer(2) - if params_sdo[0] == 0: - send_out("Received no parameters for set_digital_out message") - end - if params_sdo[2] > 0: - set_digital_out(params_sdo[1], True) - elif params_sdo[2] == 0: - set_digital_out(params_sdo[1], False) - end - elif mtype == MSG_SET_FLAG: - #send_out("Received Set Flag Signal") - # Reads the parameters - params_sf = socket_read_binary_integer(2) - if params_sf[0] == 0: - send_out("Received no parameters for set_flag message") - end - if params_sf[2] != 0: - set_flag(params_sf[1], True) - elif params_sf[2] == 0: - set_flag(params_sf[1], False) - end - elif mtype == MSG_SET_ANALOG_OUT: - #send_out("Received Analog Out Signal") - # Reads the parameters - params_sao = socket_read_binary_integer(2) - if params_sao[0] == 0: - send_out("Received no parameters for set_analog_out message") - end - set_analog_out(params_sao[1], (params_sao[2] / MULT_analog)) - elif mtype == MSG_SET_TOOL_VOLTAGE: - #send_out("Received Tool Voltage Signal") - # Reads the parameters (also reads second dummy '0' integer) - params_stv = socket_read_binary_integer(2) - if params_stv[0] == 0: - send_out("Received no parameters for set_tool_voltage message") - end - set_tool_voltage(params_stv[1]) - else: - send_out("Received unknown message type") - end - end - end - - socket_send_int(MSG_QUIT) -end diff --git a/ur_driver/prog_reset b/ur_driver/prog_reset deleted file mode 100644 index ce2c7a743..000000000 --- a/ur_driver/prog_reset +++ /dev/null @@ -1,3 +0,0 @@ -def resetProg(): - sleep(0.0) -end diff --git a/ur_driver/setup.py b/ur_driver/setup.py deleted file mode 100644 index 581100e06..000000000 --- a/ur_driver/setup.py +++ /dev/null @@ -1,13 +0,0 @@ -#!/usr/bin/env python - -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -d = generate_distutils_setup( - ## don't do this unless you want a globally visible script - # scripts=['bin/myscript'], - packages=['ur_driver'], - package_dir={'': 'src'} -) - -setup(**d) diff --git a/ur_driver/src/ur_driver/__init__.py b/ur_driver/src/ur_driver/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/ur_driver/src/ur_driver/deserialize.py b/ur_driver/src/ur_driver/deserialize.py deleted file mode 100755 index 4a88aa79e..000000000 --- a/ur_driver/src/ur_driver/deserialize.py +++ /dev/null @@ -1,372 +0,0 @@ -import struct - -class PackageType(object): - ROBOT_MODE_DATA = 0 - JOINT_DATA = 1 - TOOL_DATA = 2 - MASTERBOARD_DATA = 3 - CARTESIAN_INFO = 4 - KINEMATICS_INFO = 5 - CONFIGURATION_DATA = 6 - FORCE_MODE_DATA = 7 - ADDITIONAL_INFO = 8 - CALIBRATION_DATA = 9 - -class RobotMode(object): - RUNNING = 0 - FREEDRIVE = 1 - READY = 2 - INITIALIZING = 3 - SECURITY_STOPPED = 4 - EMERGENCY_STOPPED = 5 - FATAL_ERROR = 6 - NO_POWER = 7 - NOT_CONNECTED = 8 - SHUTDOWN = 9 - SAFEGUARD_STOP = 10 - -class JointMode(object): - PART_D_CALIBRATION = 237 - BACKDRIVE = 238 - POWER_OFF = 239 - EMERGENCY_STOPPED = 240 - CALVAL_INITIALIZATION = 241 - ERROR = 242 - FREEDRIVE = 243 - SIMULATED = 244 - NOT_RESPONDING = 245 - MOTOR_INITIALISATION = 246 - ADC_CALIBRATION = 247 - DEAD_COMMUTATION = 248 - BOOTLOADER = 249 - CALIBRATION = 250 - STOPPED = 251 - FAULT = 252 - RUNNING = 253 - INITIALIZATION = 254 - IDLE = 255 - -class ToolMode(object): - BOOTLOADER = 249 - RUNNING = 253 - IDLE = 255 - -class MasterSafetyState(object): - UNDEFINED = 0 - BOOTLOADER = 1 - FAULT = 2 - BOOTING = 3 - INITIALIZING = 4 - ROBOT_EMERGENCY_STOP = 5 - EXTERNAL_EMERGENCY_STOP = 6 - SAFEGUARD_STOP = 7 - OK = 8 - -class MasterOnOffState(object): - OFF = 0 - TURNING_ON = 1 - ON = 2 - TURNING_OFF = 3 - -#this class handles different protocol versions -class RobotModeData(object): - @staticmethod - def unpack(buf): - rmd = RobotModeData() - (plen, ptype) = struct.unpack_from("!IB", buf) - if plen == 29: - return RobotModeData_V18.unpack(buf) - elif plen == 38: - return RobotModeData_V30.unpack(buf) - else: - print "RobotModeData has wrong length: " + str(plen) - return rmd - -#this parses RobotModeData for versions <= v1.8 (i.e. 1.6, 1.7, 1.8) -class RobotModeData_V18(object): - __slots__ = ['timestamp', 'robot_connected', 'real_robot_enabled', - 'power_on_robot', 'emergency_stopped', - 'security_stopped', 'program_running', 'program_paused', - 'robot_mode', 'speed_fraction'] - @staticmethod - def unpack(buf): - rmd = RobotModeData_V18() - (_, _, - rmd.timestamp, rmd.robot_connected, rmd.real_robot_enabled, - rmd.power_on_robot, rmd.emergency_stopped, rmd.security_stopped, - rmd.program_running, rmd.program_paused, rmd.robot_mode, - rmd.speed_fraction) = struct.unpack_from("!IBQ???????Bd", buf) - return rmd - -#this parses RobotModeData for versions >=3.0 (i.e. 3.0) -class RobotModeData_V30(object): - __slots__ = ['timestamp', 'robot_connected', 'real_robot_enabled', - 'power_on_robot', 'emergency_stopped', - 'security_stopped', 'program_running', 'program_paused', - 'robot_mode', 'control_mode', 'target_speed_fraction', - 'speed_scaling'] - @staticmethod - def unpack(buf): - rmd = RobotModeData_V30() - (_, _, - rmd.timestamp, rmd.robot_connected, rmd.real_robot_enabled, - rmd.power_on_robot, rmd.emergency_stopped, rmd.security_stopped, - rmd.program_running, rmd.program_paused, rmd.robot_mode, rmd.control_mode, - rmd.target_speed_fraction, rmd.speed_scaling) = struct.unpack_from("!IBQ???????BBdd", buf) - return rmd - -#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0) -class JointData(object): - __slots__ = ['q_actual', 'q_target', 'qd_actual', - 'I_actual', 'V_actual', 'T_motor', 'T_micro', 'joint_mode'] - @staticmethod - def unpack(buf): - all_joints = [] - offset = 5 - for i in range(6): - jd = JointData() - (jd.q_actual, jd.q_target, jd.qd_actual, jd.I_actual, jd.V_actual, - jd.T_motor, jd.T_micro, - jd.joint_mode) = struct.unpack_from("!dddffffB", buf, offset) - offset += 41 - all_joints.append(jd) - return all_joints - -#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0) -class ToolData(object): - __slots__ = ['analog_input_range2', 'analog_input_range3', - 'analog_input2', 'analog_input3', - 'tool_voltage_48V', 'tool_output_voltage', 'tool_current', - 'tool_temperature', 'tool_mode'] - @staticmethod - def unpack(buf): - td = ToolData() - (_, _, - td.analog_input_range2, td.analog_input_range3, - td.analog_input2, td.analog_input3, - td.tool_voltage_48V, td.tool_output_voltage, td.tool_current, - td.tool_temperature, td.tool_mode) = struct.unpack_from("!IBbbddfBffB", buf) - return td - -#this class handles different protocol versions -class MasterboardData(object): - @staticmethod - def unpack(buf): - md = MasterboardData() - (plen, ptype) = struct.unpack_from("!IB", buf) - if (plen == 64) or (plen == 76): # Euromap67 interface = 12 bytes - return MasterboardData_V18.unpack(buf) - elif (plen == 72) or (plen == 92): # Euromap67 interface = 20 bytes - return MasterboardData_V30.unpack(buf) - else: - print "MasterboardData has wrong length: " + str(plen) - print "Euromap67Interface is ignored" - return md - -#this parses MasterboardData for versions <= v1.8 (i.e. 1.6, 1.7, 1.8) -class MasterboardData_V18(object): - __slots__ = ['digital_input_bits', 'digital_output_bits', - 'analog_input_range0', 'analog_input_range1', - 'analog_input0', 'analog_input1', - 'analog_output_domain0', 'analog_output_domain1', - 'analog_output0', 'analog_output1', - 'masterboard_temperature', - 'robot_voltage_48V', 'robot_current', - 'master_io_current', 'master_safety_state', - 'master_onoff_state']#subsequent slots related to 'euromap' ignored - @staticmethod - def unpack(buf): - md = MasterboardData_V18() - (_, _, - md.digital_input_bits, md.digital_output_bits, - md.analog_input_range0, md.analog_input_range1, - md.analog_input0, md.analog_input1, - md.analog_output_domain0, md.analog_output_domain1, - md.analog_output0, md.analog_output1, - md.masterboard_temperature, - md.robot_voltage_48V, md.robot_current, - md.master_io_current, md.master_safety_state, - md.master_onoff_state) = struct.unpack_from("!IBhhbbddbbddffffBB", buf) - return md - -#this parses MasterboardData for versions >=3.0 (i.e. 3.0) -class MasterboardData_V30(object): - __slots__ = ['digital_input_bits', 'digital_output_bits', - 'analog_input_range0', 'analog_input_range1', - 'analog_input0', 'analog_input1', - 'analog_output_domain0', 'analog_output_domain1', - 'analog_output0', 'analog_output1', - 'masterboard_temperature', - 'robot_voltage_48V', 'robot_current', - 'master_io_current', 'safety_mode', - 'in_reduced_mode']#subsequent slots related to 'euromap' ignored - @staticmethod - def unpack(buf): - md = MasterboardData_V30() - (_, _, - md.digital_input_bits, md.digital_output_bits, - md.analog_input_range0, md.analog_input_range1, - md.analog_input0, md.analog_input1, - md.analog_output_domain0, md.analog_output_domain1, - md.analog_output0, md.analog_output1, - md.masterboard_temperature, - md.robot_voltage_48V, md.robot_current, - md.master_io_current, md.safety_mode, - md.in_reduced_mode) = struct.unpack_from("!IBiibbddbbddffffBB", buf) - return md - -#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0) -class CartesianInfo(object): - __slots__ = ['x', 'y', 'z', 'rx', 'ry', 'rz'] - @staticmethod - def unpack(buf): - ci = CartesianInfo() - (_, _, - ci.x, ci.y, ci.z, ci.rx, ci.ry, ci.rz) = struct.unpack_from("!IB6d", buf) - return ci - -#this parses KinematicsInfo for versions (i.e. 1.8, 3.0) -#KinematicsInfo is not available in 1.6 and 1.7 -class KinematicsInfo(object): - @staticmethod - def unpack(buf): - return KinematicsInfo() - -#helper class for ConfigurationData -class JointLimitData(object): - __slots__ = ['min_limit', 'max_limit', 'max_speed', 'max_acceleration'] - -#this parses ConfigurationData for versions (i.e. 1.8, 3.0) -#ConfigurationData is not available in 1.6 and 1.7 -class ConfigurationData(object): - __slots__ = ['joint_limit_data', - 'v_joint_default', 'a_joint_default', - 'v_tool_default', 'a_tool_default', 'eq_radius', - 'dh_a', 'dh_d', 'dh_alpha', 'dh_theta', - 'masterboard_version', 'controller_box_type', - 'robot_type', 'robot_subtype']#in v1.8 there is an additional slot 'motor_type' for each joint, which currently is ignored! - @staticmethod - def unpack(buf): - cd = ConfigurationData() - cd.joint_limit_data = [] - for i in range(6): - jld = JointLimitData() - (jld.min_limit, jld.max_limit) = struct.unpack_from("!dd", buf, 5+16*i) - (jld.max_speed, jld.max_acceleration) = struct.unpack_from("!dd", buf, 5+16*6+16*i) - cd.joint_limit_data.append(jld) - (cd.v_joint_default, cd.a_joint_default, cd.v_tool_default, cd.a_tool_default, - cd.eq_radius) = struct.unpack_from("!ddddd", buf, 5+32*6) - (cd.masterboard_version, cd.controller_box_type, cd.robot_type, - cd.robot_subtype) = struct.unpack_from("!iiii", buf, 5+32*6+5*8+6*32) - return cd - -#this parses KinematicsInfo for versions (i.e. 1.8, 3.0) -#KinematicsInfo is not available in 1.6 and 1.7 -class ForceModeData(object): - __slots__ = ['x', 'y', 'z', 'rx', 'ry', 'rz', 'robot_dexterity'] - @staticmethod - def unpack(buf): - fmd = ForceModeData() - (_, _, fmd.x, fmd.y, fmd.z, fmd.rx, fmd.ry, fmd.rz, - fmd.robot_dexterity) = struct.unpack_from("!IBddddddd", buf) - return fmd - -#this class handles different protocol versions -class AdditionalInfo(object): - @staticmethod - def unpack(buf): - ai = AdditionalInfo() - (plen, ptype) = struct.unpack_from("!IB", buf) - if plen == 10: - return AdditionalInfoOld.unpack(buf) - elif plen == 7: - return AdditionalInfoNew.unpack(buf) - else: - print "AdditionalInfo has wrong length: " + str(plen) - return ai - -class AdditionalInfoOld(object): - __slots__ = ['ctrl_bits', 'teach_button'] - @staticmethod - def unpack(buf): - ai = AdditionalInfoOld() - (_,_,ai.ctrl_bits, ai.teach_button) = struct.unpack_from("!IBIB", buf) - return ai - -class AdditionalInfoNew(object): - __slots__ = ['teach_button_enabled','teach_button_pressed'] - @staticmethod - def unpack(buf): - ai = AdditionalInfoNew() - (_,_,ai.teach_button_enabled, ai.teach_button_pressed) = struct.unpack_from("!IBBB", buf) - return ai - - -class RobotState(object): - __slots__ = ['robot_mode_data', 'joint_data', 'tool_data', - 'masterboard_data', 'cartesian_info', - 'kinematics_info', 'configuration_data', - 'force_mode_data', 'additional_info', - 'unknown_ptypes'] - - def __init__(self): - self.unknown_ptypes = [] - - @staticmethod - def unpack(buf): - length, mtype = struct.unpack_from("!IB", buf) - if length != len(buf): - raise Exception("Could not unpack packet: length field is incorrect") - if mtype != 16: - if mtype == 20: - print "Likely a syntax error:" - print buf[:2048] - raise Exception("Fatal error when unpacking RobotState packet") - - rs = RobotState() - offset = 5 - while offset < len(buf): - length, ptype = struct.unpack_from("!IB", buf, offset) - assert offset + length <= len(buf) - package_buf = buffer(buf, offset, length) - offset += length - - if ptype == PackageType.ROBOT_MODE_DATA: - rs.robot_mode_data = RobotModeData.unpack(package_buf) - elif ptype == PackageType.JOINT_DATA: - rs.joint_data = JointData.unpack(package_buf) - elif ptype == PackageType.TOOL_DATA: - rs.tool_data = ToolData.unpack(package_buf) - elif ptype == PackageType.MASTERBOARD_DATA: - rs.masterboard_data = MasterboardData.unpack(package_buf) - elif ptype == PackageType.CARTESIAN_INFO: - rs.cartesian_info = CartesianInfo.unpack(package_buf) - elif ptype == PackageType.KINEMATICS_INFO: - rs.kinematics_info = KinematicsInfo.unpack(package_buf) - elif ptype == PackageType.CONFIGURATION_DATA: - rs.configuration_data = ConfigurationData.unpack(package_buf) - elif ptype == PackageType.FORCE_MODE_DATA: - rs.force_mode_data = ForceModeData.unpack(package_buf) - elif ptype == PackageType.ADDITIONAL_INFO: - rs.additional_info = AdditionalInfo.unpack(package_buf) - elif ptype == PackageType.CALIBRATION_DATA: - pass # internal data, should be skipped - else: - rs.unknown_ptypes.append(ptype) - return rs - -def pstate(o, indent=''): - for s in o.__slots__: - child = getattr(o, s, None) - if child is None: - print "%s%s: None" % (indent, s) - elif hasattr(child, '__slots__'): - print "%s%s:" % (indent, s) - pstate(child, indent + ' ') - elif hasattr(child, '__iter__'): - print "%s%s:" % (indent, s) - for i, c in enumerate(child): - print "%s [%i]:" % (indent, i) - pstate(c, indent + ' ') - else: - print "%s%s: %s" % (indent, s, child) diff --git a/ur_driver/src/ur_driver/deserializeRT.py b/ur_driver/src/ur_driver/deserializeRT.py deleted file mode 100644 index ff6750cd4..000000000 --- a/ur_driver/src/ur_driver/deserializeRT.py +++ /dev/null @@ -1,418 +0,0 @@ -import struct -import copy - -#this class handles different protocol versions -class RobotStateRT(object): - @staticmethod - def unpack(buf): - rs = RobotStateRT() - (plen, ptype) = struct.unpack_from("!IB", buf) - if plen == 756: - return RobotStateRT_V15.unpack(buf) - elif plen == 812: - return RobotStateRT_V18.unpack(buf) - elif plen == 1044: - return RobotStateRT_V30.unpack(buf) - else: - print "RobotStateRT has wrong length: " + str(plen) - return rs - -#this parses RobotStateRT for versions = v1.5 -#http://wiki03.lynero.net/Technical/RealTimeClientInterface?foswiki_redirect_cache=9b4574b30760f720c6f79c5f1f2203dd -class RobotStateRT_V15(object): - __slots__ = ['time', - 'q_target', 'qd_target', 'qdd_target', 'i_target', 'm_target', - 'q_actual', 'qd_actual', 'i_actual', 'tool_acc_values', - 'unused', - 'tcp_force', 'tool_vector', 'tcp_speed', - 'digital_input_bits', 'motor_temperatures', 'controller_timer', - 'test_value'] - - @staticmethod - def unpack(buf): - offset = 0 - message_size = struct.unpack_from("!i", buf, offset)[0] - offset+=4 - if message_size != len(buf): - print("MessageSize: ", message_size, "; BufferSize: ", len(buf)) - raise Exception("Could not unpack RobotStateRT packet: length field is incorrect") - - rs = RobotStateRT_V15() - #time: 1x double (1x 8byte) - rs.time = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #q_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_target = copy.deepcopy(all_values) - - #qd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_target = copy.deepcopy(all_values) - - #qdd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qdd_target = copy.deepcopy(all_values) - - #i_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_target = copy.deepcopy(all_values) - - #m_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.m_target = copy.deepcopy(all_values) - - #q_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_actual = copy.deepcopy(all_values) - - #qd_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_actual = copy.deepcopy(all_values) - - #i_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_actual = copy.deepcopy(all_values) - - ### - - #tool_acc_values: 3x double (3x 8byte) - all_values = list(struct.unpack_from("!ddd",buf, offset)) - offset+=3*8 - rs.tool_acc_values = copy.deepcopy(all_values) - - #unused: 15x double (15x 8byte) - offset+=120 - rs.unused = [] - - #tcp_force: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_force = copy.deepcopy(all_values) - - #tool_vector: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tool_vector = copy.deepcopy(all_values) - - #tcp_speed: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_speed = copy.deepcopy(all_values) - - #digital_input_bits: 1x double (1x 8byte) ? - rs.digital_input_bits = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #motor_temperatures: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.motor_temperatures = copy.deepcopy(all_values) - - #controller_timer: 1x double (1x 8byte) - rs.controller_timer = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #test_value: 1x double (1x 8byte) - rs.test_value = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - return rs - - -#this parses RobotStateRT for versions <= v1.8 (i.e. 1.6, 1.7, 1.8) -class RobotStateRT_V18(object): - __slots__ = ['time', - 'q_target', 'qd_target', 'qdd_target', 'i_target', 'm_target', - 'q_actual', 'qd_actual', 'i_actual', 'tool_acc_values', - 'unused', - 'tcp_force', 'tool_vector', 'tcp_speed', - 'digital_input_bits', 'motor_temperatures', 'controller_timer', - 'test_value', - 'robot_mode', 'joint_modes'] - - @staticmethod - def unpack(buf): - offset = 0 - message_size = struct.unpack_from("!i", buf, offset)[0] - offset+=4 - if message_size != len(buf): - print("MessageSize: ", message_size, "; BufferSize: ", len(buf)) - raise Exception("Could not unpack RobotStateRT packet: length field is incorrect") - - rs = RobotStateRT_V18() - #time: 1x double (1x 8byte) - rs.time = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #q_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_target = copy.deepcopy(all_values) - - #qd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_target = copy.deepcopy(all_values) - - #qdd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qdd_target = copy.deepcopy(all_values) - - #i_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_target = copy.deepcopy(all_values) - - #m_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.m_target = copy.deepcopy(all_values) - - #q_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_actual = copy.deepcopy(all_values) - - #qd_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_actual = copy.deepcopy(all_values) - - #i_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_actual = copy.deepcopy(all_values) - - #tool_acc_values: 3x double (3x 8byte) - all_values = list(struct.unpack_from("!ddd",buf, offset)) - offset+=3*8 - rs.tool_acc_values = copy.deepcopy(all_values) - - #unused: 15x double (15x 8byte) - offset+=120 - rs.unused = [] - - #tcp_force: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_force = copy.deepcopy(all_values) - - #tool_vector: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tool_vector = copy.deepcopy(all_values) - - #tcp_speed: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_speed = copy.deepcopy(all_values) - - #digital_input_bits: 1x double (1x 8byte) ? - rs.digital_input_bits = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #motor_temperatures: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.motor_temperatures = copy.deepcopy(all_values) - - #controller_timer: 1x double (1x 8byte) - rs.controller_timer = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #test_value: 1x double (1x 8byte) - rs.test_value = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #robot_mode: 1x double (1x 8byte) - rs.robot_mode = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #joint_mode: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.joint_modes = copy.deepcopy(all_values) - - return rs - -#this parses RobotStateRT for versions >=3.0 (i.e. 3.0) -class RobotStateRT_V30(object): - __slots__ = ['time', - 'q_target', 'qd_target', 'qdd_target', 'i_target', 'm_target', - 'q_actual', 'qd_actual', 'i_actual', 'i_control', - 'tool_vector_actual', 'tcp_speed_actual', 'tcp_force', - 'tool_vector_target', 'tcp_speed_target', - 'digital_input_bits', 'motor_temperatures', 'controller_timer', - 'test_value', - 'robot_mode', 'joint_modes', 'safety_mode', - #6xd: unused - 'tool_acc_values', - #6xd: unused - 'speed_scaling', 'linear_momentum_norm', - #2xd: unused - 'v_main', 'v_robot', 'i_robot', 'v_actual'] - - @staticmethod - def unpack(buf): - offset = 0 - message_size = struct.unpack_from("!i", buf, offset)[0] - offset+=4 - if message_size != len(buf): - print("MessageSize: ", message_size, "; BufferSize: ", len(buf)) - raise Exception("Could not unpack RobotStateRT packet: length field is incorrect") - - rs = RobotStateRT_V30() - #time: 1x double (1x 8byte) - rs.time = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #q_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_target = copy.deepcopy(all_values) - - #qd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_target = copy.deepcopy(all_values) - - #qdd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qdd_target = copy.deepcopy(all_values) - - #i_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_target = copy.deepcopy(all_values) - - #m_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.m_target = copy.deepcopy(all_values) - - #q_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_actual = copy.deepcopy(all_values) - - #qd_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_actual = copy.deepcopy(all_values) - - #i_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_actual = copy.deepcopy(all_values) - - #i_control: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_control = copy.deepcopy(all_values) - - #tool_vector_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tool_vector_actual = copy.deepcopy(all_values) - - #tcp_speed_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_speed_actual = copy.deepcopy(all_values) - - #tcp_force: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_force = copy.deepcopy(all_values) - - #tool_vector_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tool_vector_target = copy.deepcopy(all_values) - - #tcp_speed_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_speed_target = copy.deepcopy(all_values) - - #digital_input_bits: 1x double (1x 8byte) ? - rs.digital_input_bits = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #motor_temperatures: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.motor_temperatures = copy.deepcopy(all_values) - - #controller_timer: 1x double (1x 8byte) - rs.controller_timer = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #test_value: 1x double (1x 8byte) - rs.test_value = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #robot_mode: 1x double (1x 8byte) - rs.robot_mode = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #joint_modes: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.joint_modes = copy.deepcopy(all_values) - - #safety_mode: 1x double (1x 8byte) - rs.safety_mode = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #unused: 6x double (6x 8byte) - offset+=48 - - #tool_acc_values: 3x double (3x 8byte) - all_values = list(struct.unpack_from("!ddd",buf, offset)) - offset+=3*8 - rs.tool_acc_values = copy.deepcopy(all_values) - - #unused: 6x double (6x 8byte) - offset+=48 - - #speed_scaling: 1x double (1x 8byte) - rs.speed_scaling = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #linear_momentum_norm: 1x double (1x 8byte) - rs.linear_momentum_norm = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #unused: 2x double (2x 8byte) - offset+=16 - - #v_main: 1x double (1x 8byte) - rs.v_main = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #v_robot: 1x double (1x 8byte) - rs.v_robot = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #i_robot: 1x double (1x 8byte) - rs.i_robot = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #v_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.v_actual = copy.deepcopy(all_values) - - return rs diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py deleted file mode 100755 index 20e25f3b3..000000000 --- a/ur_driver/src/ur_driver/driver.py +++ /dev/null @@ -1,1018 +0,0 @@ -#!/usr/bin/env python -import roslib; roslib.load_manifest('ur_driver') -import time, sys, threading, math -import copy -import datetime -import socket, select -import struct -import traceback, code -import optparse -import SocketServer - -import rospy -import actionlib -from sensor_msgs.msg import JointState -from control_msgs.msg import FollowJointTrajectoryAction -from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint -from geometry_msgs.msg import WrenchStamped - -from dynamic_reconfigure.server import Server -from ur_driver.cfg import URDriverConfig - -from ur_driver.deserialize import RobotState, RobotMode -from ur_driver.deserializeRT import RobotStateRT - -from ur_msgs.srv import SetPayload, SetIO -from ur_msgs.msg import * - -# renaming classes -DigitalIn = Digital -DigitalOut = Digital -Flag = Digital - -prevent_programming = False - -# Joint offsets, pulled from calibration information stored in the URDF -# -# { "joint_name" : offset } -# -# q_actual = q_from_driver + offset -joint_offsets = {} - -PORT=30002 # 10 Hz, RobotState -RT_PORT=30003 #125 Hz, RobotStateRT -DEFAULT_REVERSE_PORT = 50001 #125 Hz, custom data (from prog) - -MSG_OUT = 1 -MSG_QUIT = 2 -MSG_JOINT_STATES = 3 -MSG_MOVEJ = 4 -MSG_WAYPOINT_FINISHED = 5 -MSG_STOPJ = 6 -MSG_SERVOJ = 7 -MSG_SET_PAYLOAD = 8 -MSG_WRENCH = 9 -MSG_SET_DIGITAL_OUT = 10 -MSG_GET_IO = 11 -MSG_SET_FLAG = 12 -MSG_SET_TOOL_VOLTAGE = 13 -MSG_SET_ANALOG_OUT = 14 -MULT_payload = 1000.0 -MULT_wrench = 10000.0 -MULT_jointstate = 10000.0 -MULT_time = 1000000.0 -MULT_blend = 1000.0 -MULT_analog = 1000000.0 -MULT_analog_robotstate = 0.1 - -#Max Velocity accepted by ur_driver -MAX_VELOCITY = 10.0 -#Using a very high value in order to not limit execution of trajectories being sent from MoveIt! - -#Bounds for SetPayload service -MIN_PAYLOAD = 0.0 -MAX_PAYLOAD = 1.0 -#Using a very conservative value as it should be set throught the parameter server - - -IO_SLEEP_TIME = 0.05 - -JOINT_NAMES = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', - 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] - -Q1 = [2.2,0,-1.57,0,0,0] -Q2 = [1.5,0,-1.57,0,0,0] -Q3 = [1.5,-0.2,-1.57,0,0,0] - - -connected_robot = None -connected_robot_lock = threading.Lock() -connected_robot_cond = threading.Condition(connected_robot_lock) -last_joint_states = None -last_joint_states_lock = threading.Lock() -pub_joint_states = rospy.Publisher('joint_states', JointState, queue_size=1) -pub_wrench = rospy.Publisher('wrench', WrenchStamped, queue_size=1) -pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1) -#dump_state = open('dump_state', 'wb') - -class EOF(Exception): pass - -def dumpstacks(): - id2name = dict([(th.ident, th.name) for th in threading.enumerate()]) - code = [] - for threadId, stack in sys._current_frames().items(): - code.append("\n# Thread: %s(%d)" % (id2name.get(threadId,""), threadId)) - for filename, lineno, name, line in traceback.extract_stack(stack): - code.append('File: "%s", line %d, in %s' % (filename, lineno, name)) - if line: - code.append(" %s" % (line.strip())) - print "\n".join(code) - -def log(s): - print "[%s] %s" % (datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f'), s) - - -RESET_PROGRAM = '''def resetProg(): - sleep(0.0) -end -''' -#RESET_PROGRAM = '' - -class URConnection(object): - TIMEOUT = 1.0 - - DISCONNECTED = 0 - CONNECTED = 1 - READY_TO_PROGRAM = 2 - EXECUTING = 3 - - def __init__(self, hostname, port, program): - self.__thread = None - self.__sock = None - self.robot_state = self.DISCONNECTED - self.hostname = hostname - self.port = port - self.program = program - self.last_state = None - - def connect(self): - if self.__sock: - self.disconnect() - self.__buf = "" - self.robot_state = self.CONNECTED - self.__sock = socket.create_connection((self.hostname, self.port)) - self.__keep_running = True - self.__thread = threading.Thread(name="URConnection", target=self.__run) - self.__thread.daemon = True - self.__thread.start() - - def send_program(self): - global prevent_programming - if prevent_programming: - rospy.loginfo("Programming is currently prevented") - return - assert self.robot_state in [self.READY_TO_PROGRAM, self.EXECUTING] - rospy.loginfo("Programming the robot at %s" % self.hostname) - self.__sock.sendall(self.program) - self.robot_state = self.EXECUTING - - def send_reset_program(self): - self.__sock.sendall(RESET_PROGRAM) - self.robot_state = self.READY_TO_PROGRAM - - def disconnect(self): - if self.__thread: - self.__keep_running = False - self.__thread.join() - self.__thread = None - if self.__sock: - self.__sock.close() - self.__sock = None - self.last_state = None - self.robot_state = self.DISCONNECTED - - def ready_to_program(self): - return self.robot_state in [self.READY_TO_PROGRAM, self.EXECUTING] - - def __trigger_disconnected(self): - log("Robot disconnected") - self.robot_state = self.DISCONNECTED - def __trigger_ready_to_program(self): - rospy.loginfo("Robot ready to program") - def __trigger_halted(self): - log("Halted") - - def __on_packet(self, buf): - state = RobotState.unpack(buf) - self.last_state = state - #import deserialize; deserialize.pstate(self.last_state) - - #log("Packet. Mode=%s" % state.robot_mode_data.robot_mode) - - if not state.robot_mode_data.real_robot_enabled: - rospy.logfatal("Real robot is no longer enabled. Driver is fuxored") - time.sleep(2) - sys.exit(1) - - ### - # IO-Support is EXPERIMENTAL - # - # Notes: - # - Where are the flags coming from? Do we need flags? No, as 'prog' does not use them and other scripts are not running! - # - analog_input2 and analog_input3 are within ToolData - # - What to do with the different analog_input/output_range/domain? - # - Shall we have appropriate ur_msgs definitions in order to reflect MasterboardData, ToolData,...? - ### - - # Use information from the robot state packet to publish IOStates - msg = IOStates() - #gets digital in states - for i in range(0, 10): - msg.digital_in_states.append(DigitalIn(i, (state.masterboard_data.digital_input_bits & (1<>i)) - #gets digital out states - for i in range(0, 10): - msg.digital_out_states.append(DigitalOut(i, (state.masterboard_data.digital_output_bits & (1<>i)) - #gets analog_in[0] state - inp = state.masterboard_data.analog_input0 / MULT_analog_robotstate - msg.analog_in_states.append(Analog(0, inp)) - #gets analog_in[1] state - inp = state.masterboard_data.analog_input1 / MULT_analog_robotstate - msg.analog_in_states.append(Analog(1, inp)) - #gets analog_out[0] state - inp = state.masterboard_data.analog_output0 / MULT_analog_robotstate - msg.analog_out_states.append(Analog(0, inp)) - #gets analog_out[1] state - inp = state.masterboard_data.analog_output1 / MULT_analog_robotstate - msg.analog_out_states.append(Analog(1, inp)) - #print "Publish IO-Data from robot state data" - pub_io_states.publish(msg) - - - # Updates the state machine that determines whether we can program the robot. - can_execute = (state.robot_mode_data.robot_mode in [RobotMode.READY, RobotMode.RUNNING]) - if self.robot_state == self.CONNECTED: - if can_execute: - self.__trigger_ready_to_program() - self.robot_state = self.READY_TO_PROGRAM - elif self.robot_state == self.READY_TO_PROGRAM: - if not can_execute: - self.robot_state = self.CONNECTED - elif self.robot_state == self.EXECUTING: - if not can_execute: - self.__trigger_halted() - self.robot_state = self.CONNECTED - - # Report on any unknown packet types that were received - if len(state.unknown_ptypes) > 0: - state.unknown_ptypes.sort() - s_unknown_ptypes = [str(ptype) for ptype in state.unknown_ptypes] - self.throttle_warn_unknown(1.0, "Ignoring unknown pkt type(s): %s. " - "Please report." % ", ".join(s_unknown_ptypes)) - - def throttle_warn_unknown(self, period, msg): - self.__dict__.setdefault('_last_hit', 0.0) - # this only works for a single caller - if (self._last_hit + period) <= rospy.get_time(): - self._last_hit = rospy.get_time() - rospy.logwarn(msg) - - def __run(self): - while self.__keep_running: - r, _, _ = select.select([self.__sock], [], [], self.TIMEOUT) - if r: - more = self.__sock.recv(4096) - if more: - self.__buf = self.__buf + more - - #unpack_from requires a buffer of at least 48 bytes - while len(self.__buf) >= 48: - # Attempts to extract a packet - packet_length, ptype = struct.unpack_from("!IB", self.__buf) - #print("PacketLength: ", packet_length, "; BufferSize: ", len(self.__buf)) - if len(self.__buf) >= packet_length: - packet, self.__buf = self.__buf[:packet_length], self.__buf[packet_length:] - self.__on_packet(packet) - else: - break - - else: - self.__trigger_disconnected() - self.__keep_running = False - - else: - self.__trigger_disconnected() - self.__keep_running = False - - -class URConnectionRT(object): - TIMEOUT = 1.0 - - DISCONNECTED = 0 - CONNECTED = 1 - - def __init__(self, hostname, port): - self.__thread = None - self.__sock = None - self.robot_state = self.DISCONNECTED - self.hostname = hostname - self.port = port - self.last_stateRT = None - - def connect(self): - if self.__sock: - self.disconnect() - self.__buf = "" - self.robot_state = self.CONNECTED - self.__sock = socket.create_connection((self.hostname, self.port)) - self.__keep_running = True - self.__thread = threading.Thread(name="URConnectionRT", target=self.__run) - self.__thread.daemon = True - self.__thread.start() - - def disconnect(self): - if self.__thread: - self.__keep_running = False - self.__thread.join() - self.__thread = None - if self.__sock: - self.__sock.close() - self.__sock = None - self.last_state = None - self.robot_state = self.DISCONNECTED - - def __trigger_disconnected(self): - log("Robot disconnected") - self.robot_state = self.DISCONNECTED - - def __on_packet(self, buf): - global last_joint_states, last_joint_states_lock - now = rospy.get_rostime() - stateRT = RobotStateRT.unpack(buf) - self.last_stateRT = stateRT - - msg = JointState() - msg.header.stamp = now - msg.header.frame_id = "From real-time state data" - msg.name = joint_names - msg.position = [0.0] * 6 - for i, q in enumerate(stateRT.q_actual): - msg.position[i] = q + joint_offsets.get(joint_names[i], 0.0) - msg.velocity = stateRT.qd_actual - msg.effort = [0]*6 - pub_joint_states.publish(msg) - with last_joint_states_lock: - last_joint_states = msg - - wrench_msg = WrenchStamped() - wrench_msg.header.stamp = now - wrench_msg.wrench.force.x = stateRT.tcp_force[0] - wrench_msg.wrench.force.y = stateRT.tcp_force[1] - wrench_msg.wrench.force.z = stateRT.tcp_force[2] - wrench_msg.wrench.torque.x = stateRT.tcp_force[3] - wrench_msg.wrench.torque.y = stateRT.tcp_force[4] - wrench_msg.wrench.torque.z = stateRT.tcp_force[5] - pub_wrench.publish(wrench_msg) - - - def __run(self): - while self.__keep_running: - r, _, _ = select.select([self.__sock], [], [], self.TIMEOUT) - if r: - more = self.__sock.recv(4096) - if more: - self.__buf = self.__buf + more - - #unpack_from requires a buffer of at least 48 bytes - while len(self.__buf) >= 48: - # Attempts to extract a packet - packet_length = struct.unpack_from("!i", self.__buf)[0] - #print("PacketLength: ", packet_length, "; BufferSize: ", len(self.__buf)) - if len(self.__buf) >= packet_length: - packet, self.__buf = self.__buf[:packet_length], self.__buf[packet_length:] - self.__on_packet(packet) - else: - break - else: - self.__trigger_disconnected() - self.__keep_running = False - - else: - self.__trigger_disconnected() - self.__keep_running = False - - -def setConnectedRobot(r): - global connected_robot, connected_robot_lock - with connected_robot_lock: - connected_robot = r - connected_robot_cond.notify() - -def getConnectedRobot(wait=False, timeout=-1): - started = time.time() - with connected_robot_lock: - if wait: - while not connected_robot: - if timeout >= 0 and time.time() > started + timeout: - break - connected_robot_cond.wait(0.2) - return connected_robot - -# Receives messages from the robot over the socket -class CommanderTCPHandler(SocketServer.BaseRequestHandler): - - def recv_more(self): - global last_joint_states, last_joint_states_lock - while True: - r, _, _ = select.select([self.request], [], [], 0.2) - if r: - more = self.request.recv(4096) - if not more: - raise EOF("EOF on recv") - return more - else: - now = rospy.get_rostime() - if last_joint_states and \ - last_joint_states.header.stamp < now - rospy.Duration(1.0): - rospy.logerr("Stopped hearing from robot (last heard %.3f sec ago). Disconnected" % \ - (now - last_joint_states.header.stamp).to_sec()) - raise EOF() - - def handle(self): - self.__socket_lock = threading.Lock() - setConnectedRobot(self) - print "Handling a request" - try: - buf = self.recv_more() - if not buf: return - - while True: - #print "Buf:", [ord(b) for b in buf] - - # Unpacks the message type - mtype = struct.unpack_from("!i", buf, 0)[0] - buf = buf[4:] - #print "Message type:", mtype - - if mtype == MSG_OUT: - # Unpacks string message, terminated by tilde - i = buf.find("~") - while i < 0: - buf = buf + self.recv_more() - i = buf.find("~") - if len(buf) > 2000: - raise Exception("Probably forgot to terminate a string: %s..." % buf[:150]) - s, buf = buf[:i], buf[i+1:] - log("Out: %s" % s) - - elif mtype == MSG_QUIT: - print "Quitting" - raise EOF("Received quit") - elif mtype == MSG_WAYPOINT_FINISHED: - while len(buf) < 4: - buf = buf + self.recv_more() - waypoint_id = struct.unpack_from("!i", buf, 0)[0] - buf = buf[4:] - print "Waypoint finished (not handled)" - else: - raise Exception("Unknown message type: %i" % mtype) - - if not buf: - buf = buf + self.recv_more() - except EOF, ex: - print "Connection closed (command):", ex - setConnectedRobot(None) - - def __send_message(self, data): - """ - Send a message to the robot. - - The message is given as a list of integers that will be packed - as 4 bytes each in network byte order (big endian). - - A lock is acquired before sending the message to prevent race conditions. - - :param data: list of int, the data to send - """ - buf = struct.pack("!%ii" % len(data), *data) - with self.__socket_lock: - self.request.send(buf) - - def send_quit(self): - self.__send_message([MSG_QUIT]) - - def send_servoj(self, waypoint_id, q_actual, t): - assert(len(q_actual) == 6) - q_robot = [0.0] * 6 - for i, q in enumerate(q_actual): - q_robot[i] = q - joint_offsets.get(joint_names[i], 0.0) - params = [MSG_SERVOJ, waypoint_id] + \ - [MULT_jointstate * qq for qq in q_robot] + \ - [MULT_time * t] - self.__send_message(params) - - #Experimental set_payload implementation - def send_payload(self,payload): - self.__send_message([MSG_SET_PAYLOAD, payload * MULT_payload]) - - #Experimental set_digital_output implementation - def set_digital_out(self, pinnum, value): - self.__send_message([MSG_SET_DIGITAL_OUT, pinnum, value]) - time.sleep(IO_SLEEP_TIME) - - def set_analog_out(self, pinnum, value): - self.__send_message([MSG_SET_ANALOG_OUT, pinnum, value * MULT_analog]) - time.sleep(IO_SLEEP_TIME) - - def set_tool_voltage(self, value): - self.__send_message([MSG_SET_TOOL_VOLTAGE, value, 0]) - time.sleep(IO_SLEEP_TIME) - - def set_flag(self, pin, val): - self.__send_message([MSG_SET_FLAG, pin, val]) - #set_flag will fail if called too closely together--added delay - time.sleep(IO_SLEEP_TIME) - - def send_stopj(self): - self.__send_message([MSG_STOPJ]) - - def set_waypoint_finished_cb(self, cb): - self.waypoint_finished_cb = cb - - # Returns the last JointState message sent out - def get_joint_states(self): - global last_joint_states, last_joint_states_lock - return last_joint_states - - -class TCPServer(SocketServer.TCPServer): - allow_reuse_address = True # Allows the program to restart gracefully on crash - timeout = 5 - - -# Waits until all threads have completed. Allows KeyboardInterrupt to occur -def joinAll(threads): - while any(t.isAlive() for t in threads): - for t in threads: - t.join(0.2) - -# Returns the duration between moving from point (index-1) to point -# index in the given JointTrajectory -def get_segment_duration(traj, index): - if index == 0: - return traj.points[0].time_from_start.to_sec() - return (traj.points[index].time_from_start - traj.points[index-1].time_from_start).to_sec() - -# Reorders the JointTrajectory traj according to the order in -# joint_names. Destructive. -def reorder_traj_joints(traj, joint_names): - order = [traj.joint_names.index(j) for j in joint_names] - - new_points = [] - for p in traj.points: - new_points.append(JointTrajectoryPoint( - positions = [p.positions[i] for i in order], - velocities = [p.velocities[i] for i in order] if p.velocities else [], - accelerations = [p.accelerations[i] for i in order] if p.accelerations else [], - time_from_start = p.time_from_start)) - traj.joint_names = joint_names - traj.points = new_points - -def interp_cubic(p0, p1, t_abs): - T = (p1.time_from_start - p0.time_from_start).to_sec() - t = t_abs - p0.time_from_start.to_sec() - q = [0] * 6 - qdot = [0] * 6 - qddot = [0] * 6 - for i in range(len(p0.positions)): - a = p0.positions[i] - b = p0.velocities[i] - c = (-3*p0.positions[i] + 3*p1.positions[i] - 2*T*p0.velocities[i] - T*p1.velocities[i]) / T**2 - d = (2*p0.positions[i] - 2*p1.positions[i] + T*p0.velocities[i] + T*p1.velocities[i]) / T**3 - - q[i] = a + b*t + c*t**2 + d*t**3 - qdot[i] = b + 2*c*t + 3*d*t**2 - qddot[i] = 2*c + 6*d*t - return JointTrajectoryPoint(positions=q, velocities=qdot, accelerations=qddot, time_from_start=rospy.Duration(t_abs)) - -# Returns (q, qdot, qddot) for sampling the JointTrajectory at time t. -# The time t is the time since the trajectory was started. -def sample_traj(traj, t): - # First point - if t <= 0.0: - return copy.deepcopy(traj.points[0]) - # Last point - if t >= traj.points[-1].time_from_start.to_sec(): - return copy.deepcopy(traj.points[-1]) - - # Finds the (middle) segment containing t - i = 0 - while traj.points[i+1].time_from_start.to_sec() < t: - i += 1 - return interp_cubic(traj.points[i], traj.points[i+1], t) - -def traj_is_finite(traj): - for pt in traj.points: - for p in pt.positions: - if math.isinf(p) or math.isnan(p): - return False - for v in pt.velocities: - if math.isinf(v) or math.isnan(v): - return False - return True - -def has_limited_velocities(traj): - for p in traj.points: - for v in p.velocities: - if math.fabs(v) > max_velocity: - return False - return True - -def has_velocities(traj): - for p in traj.points: - if len(p.velocities) != len(p.positions): - return False - return True - -def within_tolerance(a_vec, b_vec, tol_vec): - for a, b, tol in zip(a_vec, b_vec, tol_vec): - if abs(a - b) > tol: - return False - return True - -class URServiceProvider(object): - def __init__(self, robot): - self.robot = robot - rospy.Service('ur_driver/setPayload', SetPayload, self.setPayload) - - def set_robot(self, robot): - self.robot = robot - - def setPayload(self, req): - if req.payload < min_payload or req.payload > max_payload: - print 'ERROR: Payload ' + str(req.payload) + ' out of bounds (' + str(min_payload) + ', ' + str(max_payload) + ')' - return False - - if self.robot: - self.robot.send_payload(req.payload) - else: - return False - return True - -class URTrajectoryFollower(object): - RATE = 0.02 - def __init__(self, robot, goal_time_tolerance=None): - self.goal_time_tolerance = goal_time_tolerance or rospy.Duration(0.0) - self.joint_goal_tolerances = [0.05, 0.05, 0.05, 0.05, 0.05, 0.05] - self.following_lock = threading.Lock() - self.T0 = time.time() - self.robot = robot - self.server = actionlib.ActionServer("follow_joint_trajectory", - FollowJointTrajectoryAction, - self.on_goal, self.on_cancel, auto_start=False) - - self.goal_handle = None - self.traj = None - self.traj_t0 = 0.0 - self.first_waypoint_id = 10 - self.tracking_i = 0 - self.pending_i = 0 - self.last_point_sent = True - - self.update_timer = rospy.Timer(rospy.Duration(self.RATE), self._update) - - def set_robot(self, robot): - # Cancels any goals in progress - if self.goal_handle: - self.goal_handle.set_canceled() - self.goal_handle = None - self.traj = None - self.robot = robot - if self.robot: - self.init_traj_from_robot() - - # Sets the trajectory to remain stationary at the current position - # of the robot. - def init_traj_from_robot(self): - if not self.robot: raise Exception("No robot connected") - # Busy wait (avoids another mutex) - state = self.robot.get_joint_states() - while not state: - time.sleep(0.1) - state = self.robot.get_joint_states() - self.traj_t0 = time.time() - self.traj = JointTrajectory() - self.traj.joint_names = joint_names - self.traj.points = [JointTrajectoryPoint( - positions = state.position, - velocities = [0] * 6, - accelerations = [0] * 6, - time_from_start = rospy.Duration(0.0))] - - def start(self): - self.init_traj_from_robot() - self.server.start() - print "The action server for this driver has been started" - - def on_goal(self, goal_handle): - log("on_goal") - - # Checks that the robot is connected - if not self.robot: - rospy.logerr("Received a goal, but the robot is not connected") - goal_handle.set_rejected() - return - - # Checks if the joints are just incorrect - if set(goal_handle.get_goal().trajectory.joint_names) != set(joint_names): - rospy.logerr("Received a goal with incorrect joint names: (%s)" % \ - ', '.join(goal_handle.get_goal().trajectory.joint_names)) - goal_handle.set_rejected() - return - - if not traj_is_finite(goal_handle.get_goal().trajectory): - rospy.logerr("Received a goal with infinites or NaNs") - goal_handle.set_rejected(text="Received a goal with infinites or NaNs") - return - - # Checks that the trajectory has velocities - if not has_velocities(goal_handle.get_goal().trajectory): - rospy.logerr("Received a goal without velocities") - goal_handle.set_rejected(text="Received a goal without velocities") - return - - # Checks that the velocities are withing the specified limits - if not has_limited_velocities(goal_handle.get_goal().trajectory): - message = "Received a goal with velocities that are higher than %f" % max_velocity - rospy.logerr(message) - goal_handle.set_rejected(text=message) - return - - # Orders the joints of the trajectory according to joint_names - reorder_traj_joints(goal_handle.get_goal().trajectory, joint_names) - - with self.following_lock: - if self.goal_handle: - # Cancels the existing goal - self.goal_handle.set_canceled() - self.first_waypoint_id += len(self.goal_handle.get_goal().trajectory.points) - self.goal_handle = None - - # Inserts the current setpoint at the head of the trajectory - now = time.time() - point0 = sample_traj(self.traj, now - self.traj_t0) - point0.time_from_start = rospy.Duration(0.0) - goal_handle.get_goal().trajectory.points.insert(0, point0) - self.traj_t0 = now - - # Replaces the goal - self.goal_handle = goal_handle - self.traj = goal_handle.get_goal().trajectory - self.goal_handle.set_accepted() - - def on_cancel(self, goal_handle): - log("on_cancel") - if goal_handle == self.goal_handle: - with self.following_lock: - # Uses the next little bit of trajectory to slow to a stop - STOP_DURATION = 0.5 - now = time.time() - point0 = sample_traj(self.traj, now - self.traj_t0) - point0.time_from_start = rospy.Duration(0.0) - point1 = sample_traj(self.traj, now - self.traj_t0 + STOP_DURATION) - point1.velocities = [0] * 6 - point1.accelerations = [0] * 6 - point1.time_from_start = rospy.Duration(STOP_DURATION) - self.traj_t0 = now - self.traj = JointTrajectory() - self.traj.joint_names = joint_names - self.traj.points = [point0, point1] - - self.goal_handle.set_canceled() - self.goal_handle = None - else: - goal_handle.set_canceled() - - last_now = time.time() - def _update(self, event): - if self.robot and self.traj: - now = time.time() - if (now - self.traj_t0) <= self.traj.points[-1].time_from_start.to_sec(): - self.last_point_sent = False #sending intermediate points - setpoint = sample_traj(self.traj, now - self.traj_t0) - try: - self.robot.send_servoj(999, setpoint.positions, 4 * self.RATE) - except socket.error: - pass - - elif not self.last_point_sent: - # All intermediate points sent, sending last point to make sure we - # reach the goal. - # This should solve an issue where the robot does not reach the final - # position and errors out due to not reaching the goal point. - last_point = self.traj.points[-1] - state = self.robot.get_joint_states() - position_in_tol = within_tolerance(state.position, last_point.positions, self.joint_goal_tolerances) - # Performing this check to try and catch our error condition. We will always - # send the last point just in case. - if not position_in_tol: - rospy.logwarn("Trajectory time exceeded and current robot state not at goal, last point required") - rospy.logwarn("Current trajectory time: %s, last point time: %s" % \ - (now - self.traj_t0, self.traj.points[-1].time_from_start.to_sec())) - rospy.logwarn("Desired: %s\nactual: %s\nvelocity: %s" % \ - (last_point.positions, state.position, state.velocity)) - setpoint = sample_traj(self.traj, self.traj.points[-1].time_from_start.to_sec()) - - try: - self.robot.send_servoj(999, setpoint.positions, 4 * self.RATE) - self.last_point_sent = True - except socket.error: - pass - - else: # Off the end - if self.goal_handle: - last_point = self.traj.points[-1] - state = self.robot.get_joint_states() - position_in_tol = within_tolerance(state.position, last_point.positions, [0.1]*6) - velocity_in_tol = within_tolerance(state.velocity, last_point.velocities, [0.05]*6) - if position_in_tol and velocity_in_tol: - # The arm reached the goal (and isn't moving). Succeeding - self.goal_handle.set_succeeded() - self.goal_handle = None - #elif now - (self.traj_t0 + last_point.time_from_start.to_sec()) > self.goal_time_tolerance.to_sec(): - # # Took too long to reach the goal. Aborting - # rospy.logwarn("Took too long to reach the goal.\nDesired: %s\nactual: %s\nvelocity: %s" % \ - # (last_point.positions, state.position, state.velocity)) - # self.goal_handle.set_aborted(text="Took too long to reach the goal") - # self.goal_handle = None - - -# joint_names: list of joints -# -# returns: { "joint_name" : joint_offset } -def load_joint_offsets(joint_names): - from lxml import etree - robot_description = rospy.get_param("robot_description") - doc = etree.fromstring(robot_description) - - # select only 'calibration_offset' elements whose parent is a joint - # element with a specific value for the name attribute - expr = "/robot/joint[@name=$name]/calibration_offset" - result = {} - for joint in joint_names: - joint_elt = doc.xpath(expr, name=joint) - if len(joint_elt) == 1: - calibration_offset = float(joint_elt[0].get("value")) - result[joint] = calibration_offset - rospy.loginfo("Found calibration offset for joint \"%s\": %.4f" % (joint, calibration_offset)) - elif len(joint_elt) > 1: - rospy.logerr("Too many joints matched on \"%s\". Please report to package maintainer(s)." % joint) - else: - rospy.logwarn("No calibration offset for joint \"%s\"" % joint) - return result - -def get_my_ip(robot_ip, port): - s = socket.create_connection((robot_ip, port)) - tmp = s.getsockname()[0] - s.close() - return tmp - -def handle_set_io(req): - r = getConnectedRobot(wait=False) - if r: - if req.fun == req.FUN_SET_DIGITAL_OUT: - r.set_digital_out(req.pin, req.state) - return True - elif req.fun == req.FUN_SET_FLAG: - r.set_flag(req.pin, req.state) - return True - elif req.fun == req.FUN_SET_ANALOG_OUT: - r.set_analog_out(req.pin, req.state) - return True - elif req.fun == req.FUN_SET_TOOL_VOLTAGE: - r.set_tool_voltage(req.pin) - return True - else: - raise ROSServiceException("Robot not connected") - -def set_io_server(): - s= rospy.Service('set_io', SetIO, handle_set_io) - -def reconfigure_callback(config, level): - global prevent_programming - prevent_programming = config.prevent_programming - ## What about updating the value on the parameter server? - return config - -def main(): - rospy.init_node('ur_driver', disable_signals=True) - if rospy.get_param("use_sim_time", False): - rospy.logwarn("use_sim_time is set!!!") - - global prevent_programming - reconfigure_srv = Server(URDriverConfig, reconfigure_callback) - - prefix = rospy.get_param("~prefix", "") - print "Setting prefix to %s" % prefix - global joint_names - joint_names = [prefix + name for name in JOINT_NAMES] - - # Parses command line arguments - parser = optparse.OptionParser(usage="usage: %prog robot_hostname [reverse_port]") - (options, args) = parser.parse_args(rospy.myargv()[1:]) - if len(args) < 1: - parser.error("You must specify the robot hostname") - elif len(args) == 1: - robot_hostname = args[0] - reverse_port = DEFAULT_REVERSE_PORT - elif len(args) == 2: - robot_hostname = args[0] - reverse_port = int(args[1]) - if not (0 <= reverse_port <= 65535): - parser.error("You entered an invalid port number") - else: - parser.error("Wrong number of parameters") - - # Reads the calibrated joint offsets from the URDF - global joint_offsets - joint_offsets = load_joint_offsets(joint_names) - if len(joint_offsets) > 0: - rospy.loginfo("Loaded calibration offsets from urdf: %s" % joint_offsets) - else: - rospy.loginfo("No calibration offsets loaded from urdf") - - # Reads the maximum velocity - # The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits - global max_velocity - max_velocity = rospy.get_param("~max_velocity", MAX_VELOCITY) # [rad/s] - rospy.loginfo("Max velocity accepted by ur_driver: %s [rad/s]" % max_velocity) - - # Reads the minimum payload - global min_payload - min_payload = rospy.get_param("~min_payload", MIN_PAYLOAD) - # Reads the maximum payload - global max_payload - max_payload = rospy.get_param("~max_payload", MAX_PAYLOAD) - rospy.loginfo("Bounds for Payload: [%s, %s]" % (min_payload, max_payload)) - - - # Sets up the server for the robot to connect to - server = TCPServer(("", reverse_port), CommanderTCPHandler) - thread_commander = threading.Thread(name="CommanderHandler", target=server.serve_forever) - thread_commander.daemon = True - thread_commander.start() - - with open(roslib.packages.get_pkg_dir('ur_driver') + '/prog') as fin: - program = fin.read() % {"driver_hostname": get_my_ip(robot_hostname, PORT), "driver_reverseport": reverse_port} - connection = URConnection(robot_hostname, PORT, program) - connection.connect() - connection.send_reset_program() - - connectionRT = URConnectionRT(robot_hostname, RT_PORT) - connectionRT.connect() - - set_io_server() - - service_provider = None - action_server = None - try: - while not rospy.is_shutdown(): - # Checks for disconnect - if getConnectedRobot(wait=False): - time.sleep(0.2) - try: - prevent_programming = rospy.get_param("~prevent_programming") - update = {'prevent_programming': prevent_programming} - reconfigure_srv.update_configuration(update) - except KeyError, ex: - print "Parameter 'prevent_programming' not set. Value: " + str(prevent_programming) - pass - if prevent_programming: - print "Programming now prevented" - connection.send_reset_program() - else: - print "Disconnected. Reconnecting" - if action_server: - action_server.set_robot(None) - - rospy.loginfo("Programming the robot") - while True: - # Sends the program to the robot - while not connection.ready_to_program(): - print "Waiting to program" - time.sleep(1.0) - try: - prevent_programming = rospy.get_param("~prevent_programming") - update = {'prevent_programming': prevent_programming} - reconfigure_srv.update_configuration(update) - except KeyError, ex: - print "Parameter 'prevent_programming' not set. Value: " + str(prevent_programming) - pass - connection.send_program() - - r = getConnectedRobot(wait=True, timeout=1.0) - if r: - break - rospy.loginfo("Robot connected") - - #provider for service calls - if service_provider: - service_provider.set_robot(r) - else: - service_provider = URServiceProvider(r) - - if action_server: - action_server.set_robot(r) - else: - action_server = URTrajectoryFollower(r, rospy.Duration(1.0)) - action_server.start() - - except KeyboardInterrupt: - try: - r = getConnectedRobot(wait=False) - rospy.signal_shutdown("KeyboardInterrupt") - if r: r.send_quit() - except: - pass - raise - -if __name__ == '__main__': main() diff --git a/ur_driver/src/ur_driver/io_interface.py b/ur_driver/src/ur_driver/io_interface.py deleted file mode 100644 index e78c0b423..000000000 --- a/ur_driver/src/ur_driver/io_interface.py +++ /dev/null @@ -1,79 +0,0 @@ -#!/usr/bin/env python - -import sys -import rospy -from ur_msgs.srv import * -from ur_msgs.msg import * - -FUN_SET_DIGITAL_OUT = 1 -FUN_SET_FLAG = 2 -FUN_SET_ANALOG_OUT = 3 -FUN_SET_TOOL_VOLTAGE = 4 - -#Flag_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0] -Digital_Out_States = [0,0,0,0,0,0,0,0,0,0] #8(controller)+2(tool) -Digital_In_States = [0,0,0,0,0,0,0,0,0,0] #8(controller)+2(tool) -Analog_Out_States = [0,0] #2(controller) -Analog_In_States = [0,0] #2(controller)+0(tool) - -ANALOG_TOLERANCE_VALUE = 0.01 - -def set_io_val(fun, pin, val): - try: - set_io(fun, pin, val) - except rospy.ServiceException, e: - print "Service call failed: %s"%e - -def set_tool_voltage(volts): - try: - set_io(FUN_SET_TOOL_VOLTAGE, volts, 0) - except rospy.ServiceException, e: - print "Service call failed: %s"%e - -def set_digital_out(pin, val): - try: - set_io(FUN_SET_DIGITAL_OUT, pin, val) - except rospy.ServiceException, e: - print "Service call failed: %s"%e - -def set_analog_out(pin, val): - try: - set_io(FUN_SET_ANALOG_OUT, pin, val) - except rospy.ServiceException, e: - print "Service call failed: %s"%e - -def set_flag(pin, val): - rospy.logerr("SETTING FLAGS IS NOT SUPPORTED!") - #try: - #set_io(FUN_SET_FLAG, pin, val) - #except rospy.ServiceException, e: - #print "Service call failed: %s"%e - -def callback(data): - rospy.logerr("Flag_States are currently not supported") - #for i in range(0,32): - #del Flag_States[i] - #Flag_States.insert(i, data.flag_states[i].state) - for i in range(0,10): - del Digital_Out_States[i] - Digital_Out_States.insert(i, data.digital_out_states[i].state) - for i in range(0,10): - del Digital_In_States[i] - Digital_In_States.insert(i, data.digital_in_states[i].state) - for i in range(0,2): - del Analog_Out_States[i] - Analog_Out_States.insert(i, data.analog_out_states[i].state) - rospy.logerr("ToolInput analog_in[2] and analog_in[3] currently not supported") - for i in range(0,2): - del Analog_In_States[i] - Analog_In_States.insert(i, data.analog_in_states[i].state) - -def get_states(): - rospy.init_node('UR_State_Getter') - rospy.Subscriber("io_states", IOStates, callback) - -def set_states(): - rospy.wait_for_service('set_io') - global set_io - set_io = rospy.ServiceProxy('set_io', SetIO) - diff --git a/ur_driver/src/ur_driver/testRT_comm.py b/ur_driver/src/ur_driver/testRT_comm.py deleted file mode 100755 index 11daffa67..000000000 --- a/ur_driver/src/ur_driver/testRT_comm.py +++ /dev/null @@ -1,98 +0,0 @@ -#!/usr/bin/env python -import roslib; roslib.load_manifest('ur_driver') -import time, sys, threading, math -import copy -import datetime -import socket, select -import struct -import traceback, code -import SocketServer - -import rospy - -from sensor_msgs.msg import JointState -from ur_driver.deserializeRT import RobotStateRT -from ur_msgs.msg import * - - -joint_names = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', - 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] -joint_offsets = {} - - -def __on_packet(buf): - stateRT = RobotStateRT.unpack(buf) - - msg = RobotStateRTMsg() - msg.time = stateRT.time - msg.q_target = stateRT.q_target - msg.qd_target = stateRT.qd_target - msg.qdd_target = stateRT.qdd_target - msg.i_target = stateRT.i_target - msg.m_target = stateRT.m_target - msg.q_actual = stateRT.q_actual - msg.qd_actual = stateRT.qd_actual - msg.i_actual = stateRT.i_actual - msg.tool_acc_values = stateRT.tool_acc_values - msg.tcp_force = stateRT.tcp_force - msg.tool_vector = stateRT.tool_vector - msg.tcp_speed = stateRT.tcp_speed - msg.digital_input_bits = stateRT.digital_input_bits - msg.motor_temperatures = stateRT.motor_temperatures - msg.controller_timer = stateRT.controller_timer - msg.test_value = stateRT.test_value - msg.robot_mode = stateRT.robot_mode - msg.joint_modes = stateRT.joint_modes - pub_robot_stateRT.publish(msg) - - - msg = JointState() - msg.header.stamp = rospy.get_rostime() - msg.header.frame_id = "From real-time state data" - msg.name = joint_names - msg.position = [0.0] * 6 - for i, q in enumerate(stateRT.q_actual): - msg.position[i] = q + joint_offsets.get(joint_names[i], 0.0) - msg.velocity = stateRT.qd_actual - msg.effort = [0]*6 - pub_joint_statesRT.publish(msg) - - - - -def main(): - rospy.init_node('testRT_comm', disable_signals=True) - - global pub_joint_statesRT - pub_joint_statesRT = rospy.Publisher('joint_statesRT', JointState, queue_size=1) - global pub_robot_stateRT - pub_robot_stateRT = rospy.Publisher('robot_stateRT', RobotStateRTMsg, queue_size=1) - - - - robot_hostname = '192.168.0.42' - rt_port = 30003 - - rt_socket = socket.create_connection((robot_hostname, rt_port)) - buf = "" - - while not rospy.is_shutdown(): - more = rt_socket.recv(4096) - if more: - buf = buf + more - - # Attempts to extract a packet - packet_length = struct.unpack_from("!i", buf)[0] - print("PacketLength: ", packet_length, "; BufferSize: ", len(buf)) - if len(buf) >= packet_length: - packet, buf = buf[:packet_length], buf[packet_length:] - __on_packet(packet) - else: - print("There is no more...") - - rt_socket.close() - - - - -if __name__ == '__main__': main() diff --git a/ur_driver/src/ur_driver/test_comm.py b/ur_driver/src/ur_driver/test_comm.py deleted file mode 100755 index 1670db852..000000000 --- a/ur_driver/src/ur_driver/test_comm.py +++ /dev/null @@ -1,120 +0,0 @@ -#!/usr/bin/env python -import roslib; roslib.load_manifest('ur_driver') -import time, sys, threading, math -import copy -import datetime -import socket, select -import struct -import traceback, code -import SocketServer - -import rospy - -from sensor_msgs.msg import JointState -from ur_driver.deserialize import RobotState -from ur_msgs.msg import * - -# renaming classes -DigitalIn = Digital -DigitalOut = Digital -Flag = Digital - -MULT_analog = 1000000.0 -MULT_analog_robotstate = 0.1 - -joint_names = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', - 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] -joint_offsets = {} - - -def __on_packet(buf): - state = RobotState.unpack(buf) - - mb_msg = MasterboardDataMsg() - mb_msg.digital_input_bits = state.masterboard_data.digital_input_bits - mb_msg.digital_output_bits = state.masterboard_data.digital_output_bits - mb_msg.analog_input_range0 = state.masterboard_data.analog_input_range0 - mb_msg.analog_input_range1 = state.masterboard_data.analog_input_range1 - mb_msg.analog_input0 = state.masterboard_data.analog_input0 - mb_msg.analog_input1 = state.masterboard_data.analog_input1 - mb_msg.analog_output_domain0 = state.masterboard_data.analog_output_domain0 - mb_msg.analog_output_domain1 = state.masterboard_data.analog_output_domain1 - mb_msg.analog_output0 = state.masterboard_data.analog_output0 - mb_msg.analog_output1 = state.masterboard_data.analog_output1 - mb_msg.masterboard_temperature = state.masterboard_data.masterboard_temperature - mb_msg.robot_voltage_48V = state.masterboard_data.robot_voltage_48V - mb_msg.robot_current = state.masterboard_data.robot_current - mb_msg.master_io_current = state.masterboard_data.master_io_current - mb_msg.master_safety_state = state.masterboard_data.master_safety_state - mb_msg.master_onoff_state = state.masterboard_data.master_onoff_state - pub_masterboard_state.publish(mb_msg) - - - # Use information from the robot state packet to publish IOStates - msg = IOStates() - #gets digital in states - for i in range(0, 10): - msg.digital_in_states.append(DigitalIn(i, (state.masterboard_data.digital_input_bits & (1<>i)) - #gets digital out states - for i in range(0, 10): - msg.digital_out_states.append(DigitalOut(i, (state.masterboard_data.digital_output_bits & (1<>i)) - #gets analog_in[0] state - inp = state.masterboard_data.analog_input0 / MULT_analog_robotstate - msg.analog_in_states.append(Analog(0, inp)) - #gets analog_in[1] state - inp = state.masterboard_data.analog_input1 / MULT_analog_robotstate - msg.analog_in_states.append(Analog(1, inp)) - #gets analog_out[0] state - inp = state.masterboard_data.analog_output0 / MULT_analog_robotstate - msg.analog_out_states.append(Analog(0, inp)) - #gets analog_out[1] state - inp = state.masterboard_data.analog_output1 / MULT_analog_robotstate - msg.analog_out_states.append(Analog(1, inp)) - #print "Publish IO-Data from robot state data" - pub_io_states.publish(msg) - - # Notes: - # - Where are the flags coming from? Do we need flags? No, as 'prog' does not use them and other scripts are not running! - # - analog_input2 and analog_input3 are within ToolData - # - What to do with the different analog_input/output_range/domain? - # - Shall we have appropriate ur_msgs definitions in order to reflect MasterboardData, ToolData,...? - - - - - -def main(): - rospy.init_node('test_comm', disable_signals=True) - - global pub_masterboard_state - pub_masterboard_state = rospy.Publisher('masterboard_state', MasterboardDataMsg, queue_size=1) - global pub_io_states - pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1) - - - robot_hostname = '192.168.0.42' - port = 30002 - - test_socket = socket.create_connection((robot_hostname, port)) - buf = "" - - while not rospy.is_shutdown(): - more = test_socket.recv(4096) - if more: - buf = buf + more - - # Attempts to extract a packet - packet_length = struct.unpack_from("!i", buf)[0] - print("PacketLength: ", packet_length, "; BufferSize: ", len(buf)) - if len(buf) >= packet_length: - packet, buf = buf[:packet_length], buf[packet_length:] - __on_packet(packet) - else: - print("There is no more...") - - test_socket.close() - - - - -if __name__ == '__main__': main() diff --git a/ur_driver/test_io.py b/ur_driver/test_io.py deleted file mode 100755 index 7b3c2a826..000000000 --- a/ur_driver/test_io.py +++ /dev/null @@ -1,31 +0,0 @@ -#!/usr/bin/env python -import time -from ur_driver.io_interface import * - -if __name__ == "__main__": - print "testing io-interface" - get_states() - print "listener has been activated" - set_states() - print "service-server has been started" - while(True): - set_tool_voltage(12) - set_digital_out(0, True) - set_analog_out(0, 0.75) - #print "Flags are currently not supported" - ##set_flag(0, True) - ##print(Flag_States[0]) - print(Analog_Out_States[0]) - print(Digital_Out_States[0]) - time.sleep(1) - set_tool_voltage(24) - set_digital_out(0, False) - set_analog_out(0, 0.25) - #print "Flags are currently not supported" - ##set_flag(0, False) - ##print(Flag_States[0]) - print(Analog_Out_States[0]) - print(Digital_Out_States[0]) - time.sleep(1) - - diff --git a/ur_driver/test_move.py b/ur_driver/test_move.py deleted file mode 100755 index 54b9115fc..000000000 --- a/ur_driver/test_move.py +++ /dev/null @@ -1,106 +0,0 @@ -#!/usr/bin/env python -import time -import roslib; roslib.load_manifest('ur_driver') -import rospy -import actionlib -from control_msgs.msg import * -from trajectory_msgs.msg import * - -JOINT_NAMES = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', - 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] -Q1 = [2.2,0,-1.57,0,0,0] -Q2 = [1.5,0,-1.57,0,0,0] -Q3 = [1.5,-0.2,-1.57,0,0,0] - -client = None - -def move1(): - g = FollowJointTrajectoryGoal() - g.trajectory = JointTrajectory() - g.trajectory.joint_names = JOINT_NAMES - g.trajectory.points = [ - JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)), - JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)), - JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))] - client.send_goal(g) - try: - client.wait_for_result() - except KeyboardInterrupt: - client.cancel_goal() - raise - -def move_disordered(): - order = [4, 2, 3, 1, 5, 0] - g = FollowJointTrajectoryGoal() - g.trajectory = JointTrajectory() - g.trajectory.joint_names = [JOINT_NAMES[i] for i in order] - q1 = [Q1[i] for i in order] - q2 = [Q2[i] for i in order] - q3 = [Q3[i] for i in order] - g.trajectory.points = [ - JointTrajectoryPoint(positions=q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)), - JointTrajectoryPoint(positions=q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)), - JointTrajectoryPoint(positions=q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))] - client.send_goal(g) - client.wait_for_result() - -def move_repeated(): - g = FollowJointTrajectoryGoal() - g.trajectory = JointTrajectory() - g.trajectory.joint_names = JOINT_NAMES - - d = 2.0 - g.trajectory.points = [] - for i in range(10): - g.trajectory.points.append( - JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(d))) - d += 1 - g.trajectory.points.append( - JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(d))) - d += 1 - g.trajectory.points.append( - JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(d))) - d += 2 - client.send_goal(g) - try: - client.wait_for_result() - except KeyboardInterrupt: - client.cancel_goal() - raise - -def move_interrupt(): - g = FollowJointTrajectoryGoal() - g.trajectory = JointTrajectory() - g.trajectory.joint_names = JOINT_NAMES - g.trajectory.points = [ - JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)), - JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)), - JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))] - - client.send_goal(g) - time.sleep(2.0) - print "Interrupting" - client.send_goal(g) - try: - client.wait_for_result() - except KeyboardInterrupt: - client.cancel_goal() - raise - -def main(): - global client - try: - rospy.init_node("test_move", anonymous=True, disable_signals=True) - client = actionlib.SimpleActionClient('follow_joint_trajectory', FollowJointTrajectoryAction) - print "Waiting for server..." - client.wait_for_server() - print "Connected to server" - #move1() - move_repeated() - #move_disordered() - #move_interrupt() - except KeyboardInterrupt: - rospy.signal_shutdown("KeyboardInterrupt") - raise - -if __name__ == '__main__': main() diff --git a/ur_e_description/CHANGELOG.rst b/ur_e_description/CHANGELOG.rst deleted file mode 100644 index 823e8bb30..000000000 --- a/ur_e_description/CHANGELOG.rst +++ /dev/null @@ -1,10 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_e_description -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* First release (of this package) -* Update maintainer listing: add Miguel (`#410 `_) -* UR-E Series (`#380 `_) -* Contributors: Dave Niewinski, gavanderhoorn diff --git a/ur_e_description/CMakeLists.txt b/ur_e_description/CMakeLists.txt deleted file mode 100644 index f729cb3eb..000000000 --- a/ur_e_description/CMakeLists.txt +++ /dev/null @@ -1,15 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur_e_description) - -find_package(catkin REQUIRED) - -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ur_e_description -# CATKIN_DEPENDS urdf -# DEPENDS system_lib -) - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_e_description/cfg/view_robot.rviz b/ur_e_description/cfg/view_robot.rviz deleted file mode 100644 index eca0bdce6..000000000 --- a/ur_e_description/cfg/view_robot.rviz +++ /dev/null @@ -1,184 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - - /TF1 - Splitter Ratio: 0.5 - Tree Height: 787 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - 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 - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - /base_link: - Value: true - /link_1: - Value: true - /link_2: - Value: true - /link_3: - Value: true - /link_4: - Value: true - /link_5: - Value: true - /link_6: - Value: true - /tool0: - Value: true - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - /base_link: - /link_1: - /link_2: - /link_3: - /link_4: - /link_5: - /link_6: - /tool0: - {} - Update Interval: 0 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: /base_link - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 10 - Focal Point: - X: 0 - Y: 0 - Z: 0 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.115398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.930399 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1000 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000013c000003a2fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003a2000000dd00ffffff000000010000010f000003a2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000003a2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f700fffffffb0000000800540069006d00650100000000000004500000000000000000000002a9000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1280 - X: 60 - Y: 60 diff --git a/ur_e_description/launch/ur10e_upload.launch b/ur_e_description/launch/ur10e_upload.launch deleted file mode 100644 index c9f8bbddd..000000000 --- a/ur_e_description/launch/ur10e_upload.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/ur_e_description/launch/ur3e_upload.launch b/ur_e_description/launch/ur3e_upload.launch deleted file mode 100644 index 67132551f..000000000 --- a/ur_e_description/launch/ur3e_upload.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/ur_e_description/launch/ur5e_upload.launch b/ur_e_description/launch/ur5e_upload.launch deleted file mode 100644 index f2e4a30e1..000000000 --- a/ur_e_description/launch/ur5e_upload.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/ur_e_description/launch/view_ur10e.launch b/ur_e_description/launch/view_ur10e.launch deleted file mode 100644 index d80983873..000000000 --- a/ur_e_description/launch/view_ur10e.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_description/launch/view_ur3e.launch b/ur_e_description/launch/view_ur3e.launch deleted file mode 100644 index 560020010..000000000 --- a/ur_e_description/launch/view_ur3e.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_description/launch/view_ur5e.launch b/ur_e_description/launch/view_ur5e.launch deleted file mode 100644 index f849247c9..000000000 --- a/ur_e_description/launch/view_ur5e.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_description/package.xml b/ur_e_description/package.xml deleted file mode 100644 index e8776490a..000000000 --- a/ur_e_description/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - ur_e_description - 1.2.5 - - URDF description for Universal UR5/10 robot arms - - - Wim Meeussen - Kelsey Hawkins - Mathias Ludtke - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - http://ros.org/wiki/ur_e_description - - catkin - joint_state_publisher - robot_state_publisher - rviz - urdf - xacro - - - - diff --git a/ur_e_description/urdf/common.gazebo.xacro b/ur_e_description/urdf/common.gazebo.xacro deleted file mode 100644 index f800be84b..000000000 --- a/ur_e_description/urdf/common.gazebo.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur.gazebo.xacro b/ur_e_description/urdf/ur.gazebo.xacro deleted file mode 100644 index beaeb225a..000000000 --- a/ur_e_description/urdf/ur.gazebo.xacro +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - true - - - true - - - true - - - true - - - true - - - true - - - true - - - - - diff --git a/ur_e_description/urdf/ur.transmission.xacro b/ur_e_description/urdf/ur.transmission.xacro deleted file mode 100644 index 4b2d12630..000000000 --- a/ur_e_description/urdf/ur.transmission.xacro +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - - diff --git a/ur_e_description/urdf/ur10e.urdf.xacro b/ur_e_description/urdf/ur10e.urdf.xacro deleted file mode 100644 index 9cd24e786..000000000 --- a/ur_e_description/urdf/ur10e.urdf.xacro +++ /dev/null @@ -1,366 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro deleted file mode 100644 index 1959d2f8c..000000000 --- a/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur10e_robot.urdf.xacro b/ur_e_description/urdf/ur10e_robot.urdf.xacro deleted file mode 100644 index 3babbe7b0..000000000 --- a/ur_e_description/urdf/ur10e_robot.urdf.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur3e.urdf.xacro b/ur_e_description/urdf/ur3e.urdf.xacro deleted file mode 100644 index fc8fe1da1..000000000 --- a/ur_e_description/urdf/ur3e.urdf.xacro +++ /dev/null @@ -1,365 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro deleted file mode 100644 index 88a579976..000000000 --- a/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur3e_robot.urdf.xacro b/ur_e_description/urdf/ur3e_robot.urdf.xacro deleted file mode 100644 index 9a3036462..000000000 --- a/ur_e_description/urdf/ur3e_robot.urdf.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur5e.urdf.xacro b/ur_e_description/urdf/ur5e.urdf.xacro deleted file mode 100644 index 460ba61a5..000000000 --- a/ur_e_description/urdf/ur5e.urdf.xacro +++ /dev/null @@ -1,382 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro deleted file mode 100644 index 7d7489247..000000000 --- a/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur5e_robot.urdf.xacro b/ur_e_description/urdf/ur5e_robot.urdf.xacro deleted file mode 100644 index ada88a192..000000000 --- a/ur_e_description/urdf/ur5e_robot.urdf.xacro +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_gazebo/CHANGELOG.rst b/ur_e_gazebo/CHANGELOG.rst deleted file mode 100644 index 3b57581ad..000000000 --- a/ur_e_gazebo/CHANGELOG.rst +++ /dev/null @@ -1,10 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_e_gazebo -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* First release (of this package) -* Update maintainer listing: add Miguel (`#410 `_) -* UR-E Series (`#380 `_) -* Contributors: Dave Niewinski, gavanderhoorn diff --git a/ur_e_gazebo/CMakeLists.txt b/ur_e_gazebo/CMakeLists.txt deleted file mode 100644 index 045db89df..000000000 --- a/ur_e_gazebo/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(ur_e_gazebo) - -find_package(catkin REQUIRED) - -catkin_package() - -if (CATKIN_ENABLE_TESTING) - find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test.xml) -endif() - -install(DIRECTORY launch controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_e_gazebo/controller/arm_controller_ur10e.yaml b/ur_e_gazebo/controller/arm_controller_ur10e.yaml deleted file mode 100644 index fb7b3d4fe..000000000 --- a/ur_e_gazebo/controller/arm_controller_ur10e.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/ur_e_gazebo/controller/arm_controller_ur3e.yaml b/ur_e_gazebo/controller/arm_controller_ur3e.yaml deleted file mode 100644 index fb7b3d4fe..000000000 --- a/ur_e_gazebo/controller/arm_controller_ur3e.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/ur_e_gazebo/controller/arm_controller_ur5e.yaml b/ur_e_gazebo/controller/arm_controller_ur5e.yaml deleted file mode 100644 index fb7b3d4fe..000000000 --- a/ur_e_gazebo/controller/arm_controller_ur5e.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/ur_e_gazebo/controller/joint_state_controller.yaml b/ur_e_gazebo/controller/joint_state_controller.yaml deleted file mode 100644 index 0cd5bb707..000000000 --- a/ur_e_gazebo/controller/joint_state_controller.yaml +++ /dev/null @@ -1,3 +0,0 @@ -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 diff --git a/ur_e_gazebo/launch/controller_utils.launch b/ur_e_gazebo/launch/controller_utils.launch deleted file mode 100644 index 8bfdf0114..000000000 --- a/ur_e_gazebo/launch/controller_utils.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/ur_e_gazebo/launch/ur10e.launch b/ur_e_gazebo/launch/ur10e.launch deleted file mode 100644 index ec37fd536..000000000 --- a/ur_e_gazebo/launch/ur10e.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_gazebo/launch/ur10e_joint_limited.launch b/ur_e_gazebo/launch/ur10e_joint_limited.launch deleted file mode 100644 index 59b0825ee..000000000 --- a/ur_e_gazebo/launch/ur10e_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_gazebo/launch/ur3e.launch b/ur_e_gazebo/launch/ur3e.launch deleted file mode 100644 index 31bc8dcb8..000000000 --- a/ur_e_gazebo/launch/ur3e.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_gazebo/launch/ur3e_joint_limited.launch b/ur_e_gazebo/launch/ur3e_joint_limited.launch deleted file mode 100644 index b8d118879..000000000 --- a/ur_e_gazebo/launch/ur3e_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_gazebo/launch/ur5e.launch b/ur_e_gazebo/launch/ur5e.launch deleted file mode 100644 index 756549339..000000000 --- a/ur_e_gazebo/launch/ur5e.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_gazebo/launch/ur5e_joint_limited.launch b/ur_e_gazebo/launch/ur5e_joint_limited.launch deleted file mode 100644 index e260acbd4..000000000 --- a/ur_e_gazebo/launch/ur5e_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_gazebo/package.xml b/ur_e_gazebo/package.xml deleted file mode 100644 index e738b7e3b..000000000 --- a/ur_e_gazebo/package.xml +++ /dev/null @@ -1,37 +0,0 @@ - - - ur_e_gazebo - 1.2.5 - - Gazebo wrapper for the Universal UR5/10 robot arms. - - - - Alexander Bubeck - Shaun Edwards - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - http://ros.org/wiki/ur_e_gazebo - - catkin - roslaunch - controller_manager - effort_controllers - joint_state_controller - joint_trajectory_controller - gazebo_ros - gazebo_ros_control - position_controllers - robot_state_publisher - rostopic - ur_e_description - - - - - diff --git a/ur_e_gazebo/tests/roslaunch_test.xml b/ur_e_gazebo/tests/roslaunch_test.xml deleted file mode 100644 index f95ac6a7a..000000000 --- a/ur_e_gazebo/tests/roslaunch_test.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt index 19effd7a8..c74e7b36e 100644 --- a/ur_gazebo/CMakeLists.txt +++ b/ur_gazebo/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(ur_gazebo) @@ -8,7 +8,14 @@ catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur3.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur5.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur10.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml) endif() -install(DIRECTORY launch controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config launch urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_gazebo/config/ur10_controllers.yaml b/ur_gazebo/config/ur10_controllers.yaml new file mode 100644 index 000000000..ad5c1e955 --- /dev/null +++ b/ur_gazebo/config/ur10_controllers.yaml @@ -0,0 +1,36 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 125 + +eff_joint_traj_controller: + type: effort_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + gains: # Required because we're controlling an effort interface + shoulder_pan_joint: {p: 20000, d: 500, i: 10, i_clamp: 1} + shoulder_lift_joint: {p: 20000, d: 500, i: 10, i_clamp: 1} + elbow_joint: {p: 20000, d: 500, i: 10, i_clamp: 1} + wrist_1_joint: {p: 500, d: 10, i: 1, i_clamp: 1} + wrist_2_joint: {p: 500, d: 10, i: 1, i_clamp: 1} + wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1} + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_eff_controller: + type: effort_controllers/JointGroupEffortController + joints: *robot_joints diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/config/ur10e_controllers.yaml new file mode 100644 index 000000000..1c94e84c2 --- /dev/null +++ b/ur_gazebo/config/ur10e_controllers.yaml @@ -0,0 +1,36 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 500 + +eff_joint_traj_controller: + type: effort_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + gains: # Required because we're controlling an effort interface + shoulder_pan_joint: {p: 20000, d: 100, i: 10, i_clamp: 1} + shoulder_lift_joint: {p: 20000, d: 100, i: 20, i_clamp: 1} + elbow_joint: {p: 10000, d: 100, i: 10, i_clamp: 1} + wrist_1_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_2_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1} + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_eff_controller: + type: effort_controllers/JointGroupEffortController + joints: *robot_joints diff --git a/ur_gazebo/config/ur16e_controllers.yaml b/ur_gazebo/config/ur16e_controllers.yaml new file mode 100644 index 000000000..ad04faf38 --- /dev/null +++ b/ur_gazebo/config/ur16e_controllers.yaml @@ -0,0 +1,36 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 500 + +eff_joint_traj_controller: + type: effort_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + gains: # Required because we're controlling an effort interface + shoulder_pan_joint: {p: 20000, d: 500, i: 10, i_clamp: 1} + shoulder_lift_joint: {p: 20000, d: 500, i: 10, i_clamp: 1} + elbow_joint: {p: 10000, d: 200, i: 10, i_clamp: 1} + wrist_1_joint: {p: 500, d: 10, i: 1, i_clamp: 1} + wrist_2_joint: {p: 500, d: 10, i: 1, i_clamp: 1} + wrist_3_joint: {p: 100, d: 0.1, i: 0, i_clamp: 1} + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_eff_controller: + type: effort_controllers/JointGroupEffortController + joints: *robot_joints diff --git a/ur_gazebo/config/ur3_controllers.yaml b/ur_gazebo/config/ur3_controllers.yaml new file mode 100644 index 000000000..b4ed47511 --- /dev/null +++ b/ur_gazebo/config/ur3_controllers.yaml @@ -0,0 +1,36 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 125 + +eff_joint_traj_controller: + type: effort_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + gains: # Required because we're controlling an effort interface + shoulder_pan_joint: {p: 2000, d: 20, i: 1, i_clamp: 1} + shoulder_lift_joint: {p: 6000, d: 40, i: 1, i_clamp: 1} + elbow_joint: {p: 2000, d: 20, i: 1, i_clamp: 1} + wrist_1_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_2_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1} + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_eff_controller: + type: effort_controllers/JointGroupEffortController + joints: *robot_joints diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/config/ur3e_controllers.yaml new file mode 100644 index 000000000..c159a612f --- /dev/null +++ b/ur_gazebo/config/ur3e_controllers.yaml @@ -0,0 +1,36 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 500 + +eff_joint_traj_controller: + type: effort_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + gains: # Required because we're controlling an effort interface + shoulder_pan_joint: {p: 2000, d: 20, i: 1, i_clamp: 1} + shoulder_lift_joint: {p: 6000, d: 40, i: 1, i_clamp: 1} + elbow_joint: {p: 2000, d: 20, i: 1, i_clamp: 1} + wrist_1_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_2_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1} + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_eff_controller: + type: effort_controllers/JointGroupEffortController + joints: *robot_joints diff --git a/ur_gazebo/config/ur5_controllers.yaml b/ur_gazebo/config/ur5_controllers.yaml new file mode 100644 index 000000000..a4ff6fff0 --- /dev/null +++ b/ur_gazebo/config/ur5_controllers.yaml @@ -0,0 +1,36 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 125 + +eff_joint_traj_controller: + type: effort_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + gains: # Required because we're controlling an effort interface + shoulder_pan_joint: {p: 4000, d: 200, i: 1, i_clamp: 1} + shoulder_lift_joint: {p: 10000, d: 200, i: 1, i_clamp: 1} + elbow_joint: {p: 2000, d: 20, i: 1, i_clamp: 1} + wrist_1_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_2_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1} + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_eff_controller: + type: effort_controllers/JointGroupEffortController + joints: *robot_joints diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/config/ur5e_controllers.yaml new file mode 100644 index 000000000..70836f212 --- /dev/null +++ b/ur_gazebo/config/ur5e_controllers.yaml @@ -0,0 +1,36 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 500 + +eff_joint_traj_controller: + type: effort_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + gains: # Required because we're controlling an effort interface + shoulder_pan_joint: {p: 4000, d: 200, i: 1, i_clamp: 1} + shoulder_lift_joint: {p: 10000, d: 200, i: 1, i_clamp: 1} + elbow_joint: {p: 2000, d: 20, i: 1, i_clamp: 1} + wrist_1_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_2_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1} + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_eff_controller: + type: effort_controllers/JointGroupEffortController + joints: *robot_joints diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml deleted file mode 100644 index fb7b3d4fe..000000000 --- a/ur_gazebo/controller/arm_controller_ur10.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/ur_gazebo/controller/arm_controller_ur3.yaml b/ur_gazebo/controller/arm_controller_ur3.yaml deleted file mode 100644 index fb7b3d4fe..000000000 --- a/ur_gazebo/controller/arm_controller_ur3.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/controller/arm_controller_ur5.yaml deleted file mode 100644 index fb7b3d4fe..000000000 --- a/ur_gazebo/controller/arm_controller_ur5.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/ur_gazebo/controller/joint_state_controller.yaml b/ur_gazebo/controller/joint_state_controller.yaml deleted file mode 100644 index 0cd5bb707..000000000 --- a/ur_gazebo/controller/joint_state_controller.yaml +++ /dev/null @@ -1,3 +0,0 @@ -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 diff --git a/ur_gazebo/launch/controller_utils.launch b/ur_gazebo/launch/controller_utils.launch deleted file mode 100644 index f4cd9bab1..000000000 --- a/ur_gazebo/launch/controller_utils.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/inc/load_ur.launch.xml new file mode 100644 index 000000000..3828d0777 --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur.launch.xml @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur10.launch.xml b/ur_gazebo/launch/inc/load_ur10.launch.xml new file mode 100644 index 000000000..a5f6c0162 --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur10.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur10e.launch.xml b/ur_gazebo/launch/inc/load_ur10e.launch.xml new file mode 100644 index 000000000..9acf8ffc6 --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur10e.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur16e.launch.xml b/ur_gazebo/launch/inc/load_ur16e.launch.xml new file mode 100644 index 000000000..8c79bd9c9 --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur16e.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur3.launch.xml b/ur_gazebo/launch/inc/load_ur3.launch.xml new file mode 100644 index 000000000..beb2de095 --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur3.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur3e.launch.xml b/ur_gazebo/launch/inc/load_ur3e.launch.xml new file mode 100644 index 000000000..95eb214ed --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur3e.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur5.launch.xml b/ur_gazebo/launch/inc/load_ur5.launch.xml new file mode 100644 index 000000000..1bc482b6e --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur5.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur5e.launch.xml b/ur_gazebo/launch/inc/load_ur5e.launch.xml new file mode 100644 index 000000000..72f7f9cac --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur5e.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/ur_control.launch.xml b/ur_gazebo/launch/inc/ur_control.launch.xml new file mode 100644 index 000000000..3d93c6d66 --- /dev/null +++ b/ur_gazebo/launch/inc/ur_control.launch.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10.launch deleted file mode 100644 index bd422b937..000000000 --- a/ur_gazebo/launch/ur10.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch new file mode 100644 index 000000000..5102f8230 --- /dev/null +++ b/ur_gazebo/launch/ur10_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur10_joint_limited.launch b/ur_gazebo/launch/ur10_joint_limited.launch deleted file mode 100644 index e618e2685..000000000 --- a/ur_gazebo/launch/ur10_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch new file mode 100644 index 000000000..177d8e59e --- /dev/null +++ b/ur_gazebo/launch/ur10e_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch new file mode 100644 index 000000000..a2018ff7c --- /dev/null +++ b/ur_gazebo/launch/ur16e_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur3.launch b/ur_gazebo/launch/ur3.launch deleted file mode 100644 index 076e1dcc4..000000000 --- a/ur_gazebo/launch/ur3.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch new file mode 100644 index 000000000..6f22a1d71 --- /dev/null +++ b/ur_gazebo/launch/ur3_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur3_joint_limited.launch b/ur_gazebo/launch/ur3_joint_limited.launch deleted file mode 100644 index ca5fe7560..000000000 --- a/ur_gazebo/launch/ur3_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch new file mode 100644 index 000000000..93cec225f --- /dev/null +++ b/ur_gazebo/launch/ur3e_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch deleted file mode 100644 index 2dc3291b7..000000000 --- a/ur_gazebo/launch/ur5.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch new file mode 100644 index 000000000..f4edf3307 --- /dev/null +++ b/ur_gazebo/launch/ur5_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur5_joint_limited.launch b/ur_gazebo/launch/ur5_joint_limited.launch deleted file mode 100644 index 3abf24e95..000000000 --- a/ur_gazebo/launch/ur5_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch new file mode 100644 index 000000000..4dcf940c5 --- /dev/null +++ b/ur_gazebo/launch/ur5e_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/package.xml b/ur_gazebo/package.xml index 506cef08e..89e20c456 100644 --- a/ur_gazebo/package.xml +++ b/ur_gazebo/package.xml @@ -28,7 +28,6 @@ joint_trajectory_controller position_controllers robot_state_publisher - rostopic ur_description diff --git a/ur_gazebo/tests/roslaunch_test.xml b/ur_gazebo/tests/roslaunch_test.xml deleted file mode 100644 index 815829d06..000000000 --- a/ur_gazebo/tests/roslaunch_test.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur10.xml b/ur_gazebo/tests/roslaunch_test_ur10.xml new file mode 100644 index 000000000..02e6458c7 --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur10.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur10e.xml b/ur_gazebo/tests/roslaunch_test_ur10e.xml new file mode 100644 index 000000000..8443ef3d4 --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur10e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur16e.xml b/ur_gazebo/tests/roslaunch_test_ur16e.xml new file mode 100644 index 000000000..566e1f1cd --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur16e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur3.xml b/ur_gazebo/tests/roslaunch_test_ur3.xml new file mode 100644 index 000000000..d9c9c148d --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur3.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur3e.xml b/ur_gazebo/tests/roslaunch_test_ur3e.xml new file mode 100644 index 000000000..4a10cd48f --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur3e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur5.xml b/ur_gazebo/tests/roslaunch_test_ur5.xml new file mode 100644 index 000000000..dae9deae7 --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur5.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur5e.xml b/ur_gazebo/tests/roslaunch_test_ur5e.xml new file mode 100644 index 000000000..0cf392035 --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur5e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro new file mode 100644 index 000000000..2d202a7d6 --- /dev/null +++ b/ur_gazebo/urdf/ur.xacro @@ -0,0 +1,87 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro new file mode 100644 index 000000000..fca825035 --- /dev/null +++ b/ur_gazebo/urdf/ur_macro.xacro @@ -0,0 +1,109 @@ + + + + + + + + + + + + + + + + + true + + + true + + + true + + + true + + + true + + + true + + + true + + + + + + + + + + + diff --git a/ur_kinematics/CMakeLists.txt b/ur_kinematics/CMakeLists.txt index 5d0eede00..152294b59 100644 --- a/ur_kinematics/CMakeLists.txt +++ b/ur_kinematics/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(ur_kinematics) add_compile_options(-std=c++11) @@ -29,12 +29,24 @@ include_directories(include ${catkin_INCLUDE_DIRS}) add_library(ur3_kin src/ur_kin.cpp) set_target_properties(ur3_kin PROPERTIES COMPILE_DEFINITIONS "UR3_PARAMS") +add_library(ur3e_kin src/ur_kin.cpp) +set_target_properties(ur3e_kin PROPERTIES COMPILE_DEFINITIONS "UR3e_PARAMS") + add_library(ur5_kin src/ur_kin.cpp) set_target_properties(ur5_kin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS") +add_library(ur5e_kin src/ur_kin.cpp) +set_target_properties(ur5e_kin PROPERTIES COMPILE_DEFINITIONS "UR5e_PARAMS") + add_library(ur10_kin src/ur_kin.cpp) set_target_properties(ur10_kin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS") +add_library(ur10e_kin src/ur_kin.cpp) +set_target_properties(ur10e_kin PROPERTIES COMPILE_DEFINITIONS "UR10e_PARAMS") + +add_library(ur16e_kin src/ur_kin.cpp) +set_target_properties(ur16e_kin PROPERTIES COMPILE_DEFINITIONS "UR16e_PARAMS") + add_library(ur3_moveit_plugin src/ur_moveit_plugin.cpp) set_target_properties(ur3_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR3_PARAMS") @@ -43,6 +55,13 @@ target_link_libraries(ur3_moveit_plugin ${Boost_LIBRARIES} ur3_kin) +add_library(ur3e_moveit_plugin src/ur_moveit_plugin.cpp) +set_target_properties(ur3e_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR3e_PARAMS") +target_link_libraries(ur3e_moveit_plugin + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} + ur3e_kin) + add_library(ur5_moveit_plugin src/ur_moveit_plugin.cpp) set_target_properties(ur5_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS") target_link_libraries(ur5_moveit_plugin @@ -50,6 +69,13 @@ target_link_libraries(ur5_moveit_plugin ${Boost_LIBRARIES} ur5_kin) +add_library(ur5e_moveit_plugin src/ur_moveit_plugin.cpp) +set_target_properties(ur5e_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR5e_PARAMS") +target_link_libraries(ur5e_moveit_plugin + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} + ur5e_kin) + add_library(ur10_moveit_plugin src/ur_moveit_plugin.cpp) set_target_properties(ur10_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS") target_link_libraries(ur10_moveit_plugin @@ -57,12 +83,39 @@ target_link_libraries(ur10_moveit_plugin ${Boost_LIBRARIES} ur10_kin) +add_library(ur10e_moveit_plugin src/ur_moveit_plugin.cpp) +set_target_properties(ur10e_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR10e_PARAMS") +target_link_libraries(ur10e_moveit_plugin + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} + ur10e_kin) + +add_library(ur16e_moveit_plugin src/ur_moveit_plugin.cpp) +set_target_properties(ur16e_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR16e_PARAMS") +target_link_libraries(ur16e_moveit_plugin + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} + ur16e_kin) + ############# ## Install ## ############# -install(TARGETS ur3_kin ur5_kin ur10_kin ur3_moveit_plugin ur5_moveit_plugin ur10_moveit_plugin +install(TARGETS + ur3_kin + ur3e_kin + ur5_kin + ur5e_kin + ur10_kin + ur10e_kin + ur3_moveit_plugin + ur3_moveit_plugin + ur5_moveit_plugin + ur5e_moveit_plugin + ur10_moveit_plugin + ur10e_moveit_plugin + ur16e_moveit_plugin ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} diff --git a/ur_kinematics/README.md b/ur_kinematics/README.md new file mode 100644 index 000000000..0c75179de --- /dev/null +++ b/ur_kinematics/README.md @@ -0,0 +1,5 @@ +# ur_kinematics +IKFast plugin to use as an IK solver with MoveIt! + +**NOTE**: This does not use the calibrated robot information but the hardcoded uncalibrated robot +model which is why it is not suggested to use this. diff --git a/ur_kinematics/src/ur_kin.cpp b/ur_kinematics/src/ur_kin.cpp index 8e4e17a85..d1190079a 100644 --- a/ur_kinematics/src/ur_kin.cpp +++ b/ur_kinematics/src/ur_kin.cpp @@ -13,6 +13,16 @@ namespace ur_kinematics { } const double PI = M_PI; + //#define UR16e_PARAMS + #ifdef UR16e_PARAMS + const double d1 = 0.1807; + const double a2 = -0.4784; + const double a3 = -0.36; + const double d4 = 0.17415; + const double d5 = 0.11985; + const double d6 = 0.11655; + #endif + //#define UR10_PARAMS #ifdef UR10_PARAMS const double d1 = 0.1273; @@ -23,6 +33,16 @@ namespace ur_kinematics { const double d6 = 0.0922; #endif + //#define UR10e_PARAMS + #ifdef UR10e_PARAMS + const double d1 = 0.1807; + const double a2 = -0.6127; + const double a3 = -0.57155; + const double d4 = 0.17415; + const double d5 = 0.11985; + const double d6 = 0.11655; + #endif + //#define UR5_PARAMS #ifdef UR5_PARAMS const double d1 = 0.089159; @@ -32,7 +52,17 @@ namespace ur_kinematics { const double d5 = 0.09465; const double d6 = 0.0823; #endif - + + //#define UR5e_PARAMS + #ifdef UR5e_PARAMS + const double d1 = 0.1625; + const double a2 = -0.425; + const double a3 = -0.3922; + const double d4 = 0.1333; + const double d5 = 0.0997; + const double d6 = 0.0996; + #endif + //#define UR3_PARAMS #ifdef UR3_PARAMS const double d1 = 0.1519; @@ -42,6 +72,16 @@ namespace ur_kinematics { const double d5 = 0.08535; const double d6 = 0.0819; #endif + + //#define UR3e_PARAMS + #ifdef UR3e_PARAMS + const double d1 = 0.15185; + const double a2 = -0.24355; + const double a3 = -0.2132; + const double d4 = 0.13105; + const double d5 = 0.08535; + const double d6 = 0.0921; + #endif } void forward(const double* q, double* T) { diff --git a/ur_kinematics/src/ur_kinematics/test_analytical_ik.py b/ur_kinematics/src/ur_kinematics/test_analytical_ik.py index c11860bf5..74a2e4337 100644 --- a/ur_kinematics/src/ur_kinematics/test_analytical_ik.py +++ b/ur_kinematics/src/ur_kinematics/test_analytical_ik.py @@ -1,3 +1,4 @@ +from __future__ import print_function import numpy as np import sys import roslib @@ -30,21 +31,21 @@ def test_q(q): qsol = [999.]*6 diff = np.sum(np.abs(np.array(qsol) - q)) if diff > 0.001: - print np.array(sols) - print 'Best q:', qsol - print 'Actual:', np.array(q) - print 'Diff: ', q - qsol - print 'Difdiv:', (q - qsol)/np.pi - print i1-3, i2-3, i3-3, i4-3, i5-3, i6-3 + print(np.array(sols)) + print('Best q:', qsol) + print('Actual:', np.array(q)) + print('Diff: ', q - qsol) + print('Difdiv:', (q - qsol)/np.pi) + print(i1-3, i2-3, i3-3, i4-3, i5-3, i6-3) if raw_input() == 'q': sys.exit() def main(): np.set_printoptions(precision=3) - print "Testing multiples of pi/2..." + print("Testing multiples of pi/2...") for i1 in range(0,5): for i2 in range(0,5): - print i1, i2 + print(i1, i2) for i3 in range(0,5): for i4 in range(0,5): for i5 in range(0,5): @@ -52,11 +53,11 @@ def main(): q = np.array([i1*np.pi/2., i2*np.pi/2., i3*np.pi/2., i4*np.pi/2., i5*np.pi/2., i6*np.pi/2.]) test_q(q) - print "Testing random configurations..." + print("Testing random configurations...") for i in range(10000): q = (np.random.rand(6)-.5)*4*np.pi test_q(q) - print "Done!" + print("Done!") if __name__ == "__main__": if False: diff --git a/ur_kinematics/ur_moveit_plugins.xml b/ur_kinematics/ur_moveit_plugins.xml index f77bd7c66..2d0dd8eb0 100644 --- a/ur_kinematics/ur_moveit_plugins.xml +++ b/ur_kinematics/ur_moveit_plugins.xml @@ -8,6 +8,16 @@ + + + + Analytic kinematics for the Universal Robots UR3e. + Developed by Kelsey Hawkins from Georgia Tech. + See http://hdl.handle.net/1853/50782 for details. + + + + @@ -18,6 +28,16 @@ + + + + Analytic kinematics for the Universal Robots UR5e. + Developed by Kelsey Hawkins from Georgia Tech. + See http://hdl.handle.net/1853/50782 for details. + + + + @@ -27,3 +47,23 @@ + + + + + Analytic kinematics for the Universal Robots UR10e. + Developed by Kelsey Hawkins from Georgia Tech. + See http://hdl.handle.net/1853/50782 for details. + + + + + + + + Analytic kinematics for the Universal Robots UR16e. + Developed by Kelsey Hawkins from Georgia Tech. + See http://hdl.handle.net/1853/50782 for details. + + + diff --git a/ur_msgs/CHANGELOG.rst b/ur_msgs/CHANGELOG.rst deleted file mode 100644 index 02ddba397..000000000 --- a/ur_msgs/CHANGELOG.rst +++ /dev/null @@ -1,38 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_msgs -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Correct width and type of 'digital\_*_bits'. (`#416 `_) -* Clarify use of fields in SetIO svc. (`#415 `_) -* Update maintainer listing: add Miguel (`#410 `_) -* Add RobotModeDataMsg (`#395 `_) -* Update maintainer and author information. -* Contributors: Felix von Drigalski, gavanderhoorn - -1.2.1 (2018-01-06) ------------------- - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* Add message definition for ToolData. -* Contributors: Nikolas Engelhard - -1.1.6 (2016-04-01) ------------------- -* Moved SetIO FUN constants from driver.py to relevant srv file for easier interaction from other files -* catkin_lint -* Contributors: Thomas Timm Andersen, ipa-fxm diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt deleted file mode 100644 index 84f715b46..000000000 --- a/ur_msgs/CMakeLists.txt +++ /dev/null @@ -1,57 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur_msgs) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS message_generation std_msgs) - - -## Generate messages in the 'msg' folder -add_message_files( - FILES - Analog.msg - Digital.msg - IOStates.msg - RobotStateRTMsg.msg - MasterboardDataMsg.msg - RobotModeDataMsg.msg - ToolDataMsg.msg -) - -## Generate services in the 'srv' folder -add_service_files( - FILES - SetPayload.srv - SetSpeedSliderFraction.srv - SetIO.srv -) - - -## Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - std_msgs -) - -################################### -## catkin specific configuration ## -################################### -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ur_msgs - CATKIN_DEPENDS message_runtime std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -############# -## Install ## -############# - -############# -## Testing ## -############# diff --git a/ur_msgs/msg/Analog.msg b/ur_msgs/msg/Analog.msg deleted file mode 100644 index 2a3375221..000000000 --- a/ur_msgs/msg/Analog.msg +++ /dev/null @@ -1,6 +0,0 @@ -uint8 VOLTAGE=0 -uint8 CURRENT=1 - -uint8 pin -uint8 domain # can be VOLTAGE or CURRENT -float32 state diff --git a/ur_msgs/msg/Digital.msg b/ur_msgs/msg/Digital.msg deleted file mode 100644 index 618394595..000000000 --- a/ur_msgs/msg/Digital.msg +++ /dev/null @@ -1,2 +0,0 @@ -uint8 pin -bool state diff --git a/ur_msgs/msg/IOStates.msg b/ur_msgs/msg/IOStates.msg deleted file mode 100644 index e71957353..000000000 --- a/ur_msgs/msg/IOStates.msg +++ /dev/null @@ -1,5 +0,0 @@ -Digital[] digital_in_states -Digital[] digital_out_states -Digital[] flag_states -Analog[] analog_in_states -Analog[] analog_out_states diff --git a/ur_msgs/msg/MasterboardDataMsg.msg b/ur_msgs/msg/MasterboardDataMsg.msg deleted file mode 100644 index 18b6bbea7..000000000 --- a/ur_msgs/msg/MasterboardDataMsg.msg +++ /dev/null @@ -1,27 +0,0 @@ -# This data structure contains the MasterboardData structure -# used by the Universal Robots controller -# -# MasterboardData is part of the data structure being send on the -# secondary client communications interface -# -# This data structure is send at 10 Hz on TCP port 30002 -# -# Documentation can be found on the Universal Robots Support site, article -# number 16496. - -uint32 digital_input_bits -uint32 digital_output_bits -int8 analog_input_range0 -int8 analog_input_range1 -float64 analog_input0 -float64 analog_input1 -int8 analog_output_domain0 -int8 analog_output_domain1 -float64 analog_output0 -float64 analog_output1 -float32 masterboard_temperature -float32 robot_voltage_48V -float32 robot_current -float32 master_io_current -uint8 master_safety_state -uint8 master_onoff_state diff --git a/ur_msgs/msg/RobotModeDataMsg.msg b/ur_msgs/msg/RobotModeDataMsg.msg deleted file mode 100644 index 5c443f7b6..000000000 --- a/ur_msgs/msg/RobotModeDataMsg.msg +++ /dev/null @@ -1,15 +0,0 @@ -# This data structure contains the RobotModeData structure -# used by the Universal Robots controller -# -# This data structure is send at 10 Hz on TCP port 30002 -# -# Note: this message does not carry all fields from the RobotModeData structure as broadcast by the robot controller, but a subset. - -uint64 timestamp -bool is_robot_connected -bool is_real_robot_enabled -bool is_power_on_robot -bool is_emergency_stopped -bool is_protective_stopped -bool is_program_running -bool is_program_paused diff --git a/ur_msgs/msg/RobotStateRTMsg.msg b/ur_msgs/msg/RobotStateRTMsg.msg deleted file mode 100644 index 274146397..000000000 --- a/ur_msgs/msg/RobotStateRTMsg.msg +++ /dev/null @@ -1,27 +0,0 @@ -# Data structure for the realtime communications interface (aka Matlab interface) -# used by the Universal Robots controller -# -# This data structure is send at 125 Hz on TCP port 30003 -# -# Dokumentation can be found on the Universal Robots Support Wiki -# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9) - -float64 time -float64[] q_target -float64[] qd_target -float64[] qdd_target -float64[] i_target -float64[] m_target -float64[] q_actual -float64[] qd_actual -float64[] i_actual -float64[] tool_acc_values -float64[] tcp_force -float64[] tool_vector -float64[] tcp_speed -float64 digital_input_bits -float64[] motor_temperatures -float64 controller_timer -float64 test_value -float64 robot_mode -float64[] joint_modes diff --git a/ur_msgs/msg/ToolDataMsg.msg b/ur_msgs/msg/ToolDataMsg.msg deleted file mode 100644 index 83d782ab9..000000000 --- a/ur_msgs/msg/ToolDataMsg.msg +++ /dev/null @@ -1,20 +0,0 @@ -# This data structure contains the ToolData structure -# used by the Universal Robots controller - -int8 ANALOG_INPUT_RANGE_CURRENT = 0 -int8 ANALOG_INPUT_RANGE_VOLTAGE = 1 - -int8 analog_input_range2 # one of ANALOG_INPUT_RANGE_* -int8 analog_input_range3 # one of ANALOG_INPUT_RANGE_* -float64 analog_input2 -float64 analog_input3 -float32 tool_voltage_48v -uint8 tool_output_voltage -float32 tool_current -float32 tool_temperature - -uint8 TOOL_BOOTLOADER_MODE = 249 -uint8 TOOL_RUNNING_MODE = 253 -uint8 TOOL_IDLE_MODE = 255 - -uint8 tool_mode # one of TOOL_* diff --git a/ur_msgs/package.xml b/ur_msgs/package.xml deleted file mode 100644 index 3b2b3c378..000000000 --- a/ur_msgs/package.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - ur_msgs - 1.2.5 - The ur_msgs package - - Andrew Glusiec - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - catkin - message_generation - std_msgs - message_runtime - - - - diff --git a/ur_msgs/srv/SetIO.srv b/ur_msgs/srv/SetIO.srv deleted file mode 100644 index 0bea454e4..000000000 --- a/ur_msgs/srv/SetIO.srv +++ /dev/null @@ -1,42 +0,0 @@ -# Service allows setting digital (DIO) and analog (AIO) IO, as well as flags -# and configuring tool voltage. -# -# This service has three request fields (see below). -# -# When setting DIO or AIO pins to new values: -# -# fun The function to perform -# pin Numeric ID of the pin to set -# state Desired pin state (signal level for analog or STATE_(ON|OFF) for DIO and flags) -# -# When configuring tool voltage: -# -# fun Set to FUN_SET_TOOL_VOLTAGE -# pin Ignored -# state Desired tool voltage (use STATE_TOOL_VOLTAGE constants) - -# constants - -# valid function values -# -# Note: 'fun' is short for 'function' (ie: the function the service should perform). -int8 FUN_SET_DIGITAL_OUT = 1 -int8 FUN_SET_FLAG = 2 -int8 FUN_SET_ANALOG_OUT = 3 -int8 FUN_SET_TOOL_VOLTAGE = 4 - -# valid values for 'state' when setting digital IO or flags -int8 STATE_OFF = 0 -int8 STATE_ON = 1 - -# valid 'state' values when setting tool voltage -int8 STATE_TOOL_VOLTAGE_0V = 0 -int8 STATE_TOOL_VOLTAGE_12V = 12 -int8 STATE_TOOL_VOLTAGE_24V = 24 - -# request fields -int8 fun -int8 pin -float32 state ---- -bool success diff --git a/ur_msgs/srv/SetPayload.srv b/ur_msgs/srv/SetPayload.srv deleted file mode 100644 index d68eb5c86..000000000 --- a/ur_msgs/srv/SetPayload.srv +++ /dev/null @@ -1,3 +0,0 @@ -float32 payload ------------------------ -bool success diff --git a/ur_msgs/srv/SetSpeedSliderFraction.srv b/ur_msgs/srv/SetSpeedSliderFraction.srv deleted file mode 100644 index 263a37597..000000000 --- a/ur_msgs/srv/SetSpeedSliderFraction.srv +++ /dev/null @@ -1,8 +0,0 @@ -# Set the speed slider on the teach pendant to the specified value. -# -# Values for 'speed_slider_fraction' must be from [0; 1.0]; values outside this -# valid range will result in an error being returned to the caller. - -float64 speed_slider_fraction ---- -bool success