Split resources into multiple packages

.travis.yml

@@ -14,7 +14,6 @@ env:
   matrix:
     - ROS_DISTRO="melodic"  ROS_REPO=ros
     - ROS_DISTRO="kinetic"  ROS_REPO=ros
-    - ROS_DISTRO="indigo"   ROS_REPO=ros
 
 before_script:
   - git clone -q https://github.com/ros-planning/moveit_ci.git .moveit_ci

fanuc_description/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(moveit_resources_fanuc_description)
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY meshes urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

package.xml → fanuc_description/package.xml

@@ -1,7 +1,7 @@
 <package>
-  <name>moveit_resources</name>
+  <name>moveit_resources_fanuc_description</name>
   <version>0.6.5</version>
-  <description>Resources used for MoveIt! testing</description>
+  <description>Fanuc Resources used for MoveIt! testing</description>
 
   <author email="isucan@willowgarage.edu">Ioan Sucan</author>
   <author email="acorn@willowgarage.edu">Acorn Pooley</author>
@@ -14,8 +14,4 @@
   <url type="repository">https://github.com/ros-planning/moveit-resources</url>
 
   <buildtool_depend>catkin</buildtool_depend>
-
-  <run_depend>joint_state_publisher</run_depend>
-  <run_depend>robot_state_publisher</run_depend>
-
 </package>

fanuc_description/urdf/fanuc.urdf

@@ -8,7 +8,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/visual/base_link.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/visual/base_link.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.4 0.4 0.4 1.0"/>
@@ -17,15 +17,15 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/collision/base_link.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/collision/base_link.stl"/>
       </geometry>
     </collision>
   </link>
   <link name="link_1">
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/visual/link_1.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/visual/link_1.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.96 0.76 0.13 1.0"/>
@@ -34,15 +34,15 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/collision/link_1.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/collision/link_1.stl"/>
       </geometry>
     </collision>
   </link>
   <link name="link_2">
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/visual/link_2.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/visual/link_2.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.96 0.76 0.13 1.0"/>
@@ -51,15 +51,15 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/collision/link_2.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/collision/link_2.stl"/>
       </geometry>
     </collision>
   </link>
   <link name="link_3">
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/visual/link_3.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/visual/link_3.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.96 0.76 0.13 1.0"/>
@@ -68,15 +68,15 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/collision/link_3.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/collision/link_3.stl"/>
       </geometry>
     </collision>
   </link>
   <link name="link_4">
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/visual/link_4.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/visual/link_4.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.96 0.76 0.13 1.0"/>
@@ -85,15 +85,15 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/collision/link_4.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/collision/link_4.stl"/>
       </geometry>
     </collision>
   </link>
   <link name="link_5">
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/visual/link_5.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/visual/link_5.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.96 0.76 0.13 1.0"/>
@@ -102,15 +102,15 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/collision/link_5.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/collision/link_5.stl"/>
       </geometry>
     </collision>
   </link>
   <link name="link_6">
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/visual/link_6.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/visual/link_6.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.15 0.15 0.15 1.0"/>
@@ -119,7 +119,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://moveit_resources/fanuc_description/meshes/collision/link_6.stl"/>
+        <mesh filename="package://moveit_resources_fanuc_description/meshes/collision/link_6.stl"/>
       </geometry>
     </collision>
   </link>
@@ -178,4 +178,3 @@
     <child link="base"/>
   </joint>
 </robot>
-

fanuc_moveit_config/.setup_assistant

@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: moveit_resources_fanuc_description
+    relative_path: urdf/fanuc.urdf
+    xacro_args: ""
+  SRDF:
+    relative_path: config/fanuc.srdf
+  CONFIG:
+    author_name: Dave Coleman
+    author_email: dave@dav.ee
+    generated_timestamp: 1594035007

fanuc_moveit_config/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(moveit_resources_fanuc_moveit_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

fanuc_moveit_config/LICENSE

@@ -1,6 +1,6 @@
 Software License Agreement (BSD License)
 
-Copyright (c) 2012-2015, TU Delft Robotics Institute
+Copyright (c) 2020, Hamburg University
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

fanuc_moveit_config/README.md

@@ -1,5 +1,5 @@
-# fanuc_moveit_config
+## MoveIt Resources for testing: Fanuc M-10iA.
 
-The launch and configuration files contained in this package were copied from the ROS-Industrial `fanuc_m10ia_moveit_config` package and adapted for use with `moveit_resources`.
+A project-internal moveit configuration for testing in MoveIt.
 
-All imported files were released under the BSD 3-Clause license.
+Use ROS-Industrial's upstream files if you actually want to work with the robot!

fanuc_moveit_config/config/chomp_planning.yaml

@@ -4,22 +4,15 @@ max_iterations_after_collision_free: 5
 smoothness_cost_weight: 0.1
 obstacle_cost_weight: 1.0
 learning_rate: 0.01
-animate_path: true
-add_randomness: false
 smoothness_cost_velocity: 0.0
 smoothness_cost_acceleration: 1.0
 smoothness_cost_jerk: 0.0
-hmc_discretization: 0.01
-hmc_stochasticity: 0.01
-hmc_annealing_factor: 0.99
-use_hamiltonian_monte_carlo: false
-ridge_factor: 0.0
+ridge_factor: 0.01
 use_pseudo_inverse: false
 pseudo_inverse_ridge_factor: 1e-4
-animate_endeffector: false
-animate_endeffector_segment: "r_gripper_tool_frame"
 joint_update_limit: 0.1
 collision_clearence: 0.2
 collision_threshold: 0.07
-random_jump_amount: 1.0
 use_stochastic_descent: true
+enable_failure_recovery: true
+max_recovery_attempts: 5

fanuc_moveit_config/config/fake_controllers.yaml

@@ -6,4 +6,7 @@ controller_list:
       - joint_3
       - joint_4
       - joint_5
-      - joint_6
+      - joint_6
+initial:  # Define initial robot poses.
+  - group: manipulator
+    pose: all-zeros

fanuc_moveit_config/config/joint_limits.yaml

@@ -1,6 +1,12 @@
 # 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]
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 1.0
+default_acceleration_scaling_factor: 1.0
+
 joint_limits:
   joint_1:
     has_velocity_limits: true
@@ -31,4 +37,4 @@ joint_limits:
     has_velocity_limits: true
     max_velocity: 10.47
     has_acceleration_limits: true
-    max_acceleration: 2.094
+    max_acceleration: 2.094