ros2-ified #136
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| moveit_setup_assistant_config: | ||
| urdf: | ||
| package: moveit_resources_panda_description | ||
| relative_path: urdf/panda.urdf | ||
| srdf: | ||
| relative_path: config/panda.srdf | ||
| package_settings: | ||
| author_name: MoveIt maintainer team | ||
| author_email: moveit_releasers@googlegroups.com | ||
| generated_timestamp: 1686150423 | ||
| control_xacro: | ||
| command: | ||
| - position | ||
| state: | ||
| - position | ||
| - velocity | ||
| modified_urdf: | ||
| xacros: | ||
| - control_xacro | ||
| control_xacro: | ||
| command: | ||
| - position | ||
| state: | ||
| - position | ||
| - velocity | ||
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| cmake_minimum_required(VERSION 3.22) | ||
| project(panda_moveit_config) | ||
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| find_package(ament_cmake REQUIRED) | ||
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| install(DIRECTORY config ros1 DESTINATION share/${PROJECT_NAME}) | ||
| install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) | ||
| install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) | ||
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| ament_package() |
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| # Default initial positions for panda's ros2_control fake system | ||
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| initial_positions: | ||
| panda_finger_joint1: 0 | ||
| panda_joint1: 0 | ||
| panda_joint2: 0 | ||
| panda_joint3: 0 | ||
| panda_joint4: 0 | ||
| panda_joint5: 0 | ||
| panda_joint6: 0 | ||
| panda_joint7: 0 |
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| Panels: | ||
| - Class: rviz_common/Displays | ||
| Name: Displays | ||
| Property Tree Widget: | ||
| Expanded: | ||
| - /MotionPlanning1 | ||
| - Class: rviz_common/Help | ||
| Name: Help | ||
| - Class: rviz_common/Views | ||
| Name: Views | ||
| Visualization Manager: | ||
| Displays: | ||
| - Class: rviz_default_plugins/Grid | ||
| Name: Grid | ||
| Value: true | ||
| - Class: moveit_rviz_plugin/MotionPlanning | ||
| Name: MotionPlanning | ||
| Planned Path: | ||
| Loop Animation: true | ||
| State Display Time: 0.05 s | ||
| Trajectory Topic: display_planned_path | ||
| Planning Scene Topic: monitored_planning_scene | ||
| Robot Description: robot_description | ||
| Scene Geometry: | ||
| Scene Alpha: 1 | ||
| Scene Robot: | ||
| Robot Alpha: 0.5 | ||
| Value: true | ||
| Global Options: | ||
| Fixed Frame: panda_link0 | ||
| Tools: | ||
| - Class: rviz_default_plugins/Interact | ||
| - Class: rviz_default_plugins/MoveCamera | ||
| - Class: rviz_default_plugins/Select | ||
| Value: true | ||
| Views: | ||
| Current: | ||
| Class: rviz_default_plugins/Orbit | ||
| Distance: 2.0 | ||
| Focal Point: | ||
| X: -0.1 | ||
| Y: 0.25 | ||
| Z: 0.30 | ||
| Name: Current View | ||
| Pitch: 0.5 | ||
| Target Frame: panda_link0 | ||
| Yaw: -0.623 | ||
| Window Geometry: | ||
| Height: 975 | ||
| QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 | ||
| Width: 1200 |
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| # MoveIt uses this configuration for controller management | ||
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| moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager | ||
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| moveit_simple_controller_manager: | ||
| controller_names: | ||
| - panda_arm_controller | ||
| - hand_controller | ||
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| panda_arm_controller: | ||
| type: FollowJointTrajectory | ||
| action_ns: follow_joint_trajectory | ||
| default: true | ||
| joints: | ||
| - panda_joint1 | ||
| - panda_joint2 | ||
| - panda_joint3 | ||
| - panda_joint4 | ||
| - panda_joint5 | ||
| - panda_joint6 | ||
| - panda_joint7 | ||
| hand_controller: | ||
| type: GripperCommand | ||
| joints: | ||
| - panda_finger_joint1 | ||
| action_ns: gripper_cmd | ||
| default: true |
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
| <xacro:macro name="panda_ros2_control" params="name initial_positions_file"> | ||
| <xacro:property name="initial_positions" value="${load_yaml(initial_positions_file)['initial_positions']}"/> | ||
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| <ros2_control name="${name}" type="system"> | ||
| <hardware> | ||
| <!-- By default, set up controllers for simulation. This won't work on real hardware --> | ||
| <plugin>mock_components/GenericSystem</plugin> | ||
| </hardware> | ||
| <joint name="panda_joint1"> | ||
| <command_interface name="position"/> | ||
| <state_interface name="position"> | ||
| <param name="initial_value">${initial_positions['panda_joint1']}</param> | ||
| </state_interface> | ||
| <state_interface name="velocity"/> | ||
| </joint> | ||
| <joint name="panda_joint2"> | ||
| <command_interface name="position"/> | ||
| <state_interface name="position"> | ||
| <param name="initial_value">${initial_positions['panda_joint2']}</param> | ||
| </state_interface> | ||
| <state_interface name="velocity"/> | ||
| </joint> | ||
| <joint name="panda_joint3"> | ||
| <command_interface name="position"/> | ||
| <state_interface name="position"> | ||
| <param name="initial_value">${initial_positions['panda_joint3']}</param> | ||
| </state_interface> | ||
| <state_interface name="velocity"/> | ||
| </joint> | ||
| <joint name="panda_joint4"> | ||
| <command_interface name="position"/> | ||
| <state_interface name="position"> | ||
| <param name="initial_value">${initial_positions['panda_joint4']}</param> | ||
| </state_interface> | ||
| <state_interface name="velocity"/> | ||
| </joint> | ||
| <joint name="panda_joint5"> | ||
| <command_interface name="position"/> | ||
| <state_interface name="position"> | ||
| <param name="initial_value">${initial_positions['panda_joint5']}</param> | ||
| </state_interface> | ||
| <state_interface name="velocity"/> | ||
| </joint> | ||
| <joint name="panda_joint6"> | ||
| <command_interface name="position"/> | ||
| <state_interface name="position"> | ||
| <param name="initial_value">${initial_positions['panda_joint6']}</param> | ||
| </state_interface> | ||
| <state_interface name="velocity"/> | ||
| </joint> | ||
| <joint name="panda_joint7"> | ||
| <command_interface name="position"/> | ||
| <state_interface name="position"> | ||
| <param name="initial_value">${initial_positions['panda_joint7']}</param> | ||
| </state_interface> | ||
| <state_interface name="velocity"/> | ||
| </joint> | ||
| <joint name="panda_finger_joint1"> | ||
| <command_interface name="position"/> | ||
| <state_interface name="position"> | ||
| <param name="initial_value">${initial_positions['panda_finger_joint1']}</param> | ||
| </state_interface> | ||
| <state_interface name="velocity"/> | ||
| </joint> | ||
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| </ros2_control> | ||
| </xacro:macro> | ||
| </robot> |
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| <?xml version="1.0" encoding="UTF-8"?> | ||
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| <!--This does not replace URDF, and is not an extension of URDF. | ||
| 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 | ||
| --> | ||
| <robot name="panda"> | ||
| <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc--> | ||
| <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included--> | ||
| <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included--> | ||
| <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group--> | ||
| <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names--> | ||
| <group name="panda_arm"> | ||
| <joint name="virtual_joint"/> | ||
| <joint name="panda_joint1"/> | ||
| <joint name="panda_joint2"/> | ||
| <joint name="panda_joint3"/> | ||
| <joint name="panda_joint4"/> | ||
| <joint name="panda_joint5"/> | ||
| <joint name="panda_joint6"/> | ||
| <joint name="panda_joint7"/> | ||
| <joint name="panda_joint8"/> | ||
| </group> | ||
| <group name="hand"> | ||
| <link name="panda_hand"/> | ||
| <link name="panda_leftfinger"/> | ||
| <link name="panda_rightfinger"/> | ||
| </group> | ||
| <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'--> | ||
| <group_state name="ready" group="panda_arm"> | ||
| <joint name="panda_joint1" value="0"/> | ||
| <joint name="panda_joint2" value="-0.785"/> | ||
| <joint name="panda_joint3" value="0"/> | ||
| <joint name="panda_joint4" value="-2.356"/> | ||
| <joint name="panda_joint5" value="0"/> | ||
| <joint name="panda_joint6" value="1.571"/> | ||
| <joint name="panda_joint7" value="0.785"/> | ||
| </group_state> | ||
| <group_state name="open" group="hand"> | ||
| <joint name="panda_finger_joint1" value="0.035"/> | ||
| </group_state> | ||
| <group_state name="close" group="hand"> | ||
| <joint name="panda_finger_joint1" value="0"/> | ||
| </group_state> | ||
| <!--END EFFECTOR: Purpose: Represent information about an end effector.--> | ||
| <end_effector name="hand" parent_link="panda_link8" group="hand"/> | ||
| <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)--> | ||
| <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0"/> | ||
| <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. --> | ||
| <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/> | ||
| <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never"/> | ||
| <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/> | ||
| <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default"/> | ||
| <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never"/> | ||
| <disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent"/> | ||
| <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent"/> | ||
| <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never"/> | ||
| <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never"/> | ||
| <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never"/> | ||
| <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never"/> | ||
| <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default"/> | ||
| <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent"/> | ||
| <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never"/> | ||
| <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never"/> | ||
| <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never"/> | ||
| <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent"/> | ||
| <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never"/> | ||
| <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never"/> | ||
| <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/> | ||
| <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/> | ||
| <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/> | ||
| <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never"/> | ||
| <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/> | ||
| <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never"/> | ||
| <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never"/> | ||
| <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/> | ||
| <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/> | ||
| <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never"/> | ||
| <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never"/> | ||
| <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent"/> | ||
| <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/> | ||
| <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/> | ||
| <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never"/> | ||
| <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never"/> | ||
| </robot> | ||
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda"> | ||
| <xacro:arg name="initial_positions_file" default="initial_positions.yaml" /> | ||
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| <!-- Import panda urdf file --> | ||
| <xacro:include filename="$(find moveit_resources_panda_description)/urdf/panda.urdf" /> | ||
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| <!-- Import control_xacro --> | ||
| <xacro:include filename="panda.ros2_control.xacro" /> | ||
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| <xacro:panda_ros2_control name="FakeSystem" initial_positions_file="$(arg initial_positions_file)"/> | ||
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| </robot> | ||
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| # Limits for the Pilz planner | ||
| cartesian_limits: | ||
| max_trans_vel: 1.0 | ||
| max_trans_acc: 2.25 | ||
| max_trans_dec: -5.0 | ||
| max_rot_vel: 1.57 |
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| # This config file is used by ros2_control | ||
| controller_manager: | ||
| ros__parameters: | ||
| update_rate: 100 # Hz | ||
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| panda_arm_controller: | ||
| type: joint_trajectory_controller/JointTrajectoryController | ||
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| hand_controller: | ||
| type: position_controllers/GripperActionController | ||
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| joint_state_broadcaster: | ||
| type: joint_state_broadcaster/JointStateBroadcaster | ||
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| panda_arm_controller: | ||
| ros__parameters: | ||
| joints: | ||
| - panda_joint1 | ||
| - panda_joint2 | ||
| - panda_joint3 | ||
| - panda_joint4 | ||
| - panda_joint5 | ||
| - panda_joint6 | ||
| - panda_joint7 | ||
| command_interfaces: | ||
| - position | ||
| state_interfaces: | ||
| - position | ||
| - velocity | ||
| hand_controller: | ||
| ros__parameters: | ||
| joint: panda_finger_joint1 |
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| from moveit_configs_utils import MoveItConfigsBuilder | ||
| from moveit_configs_utils.launches import generate_demo_launch | ||
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| def generate_launch_description(): | ||
| moveit_config = MoveItConfigsBuilder("panda", package_name="panda_moveit_config").to_moveit_configs() | ||
| return generate_demo_launch(moveit_config) |
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| from moveit_configs_utils import MoveItConfigsBuilder | ||
| from moveit_configs_utils.launches import generate_move_group_launch | ||
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| def generate_launch_description(): | ||
| moveit_config = MoveItConfigsBuilder("panda", package_name="panda_moveit_config").to_moveit_configs() | ||
| return generate_move_group_launch(moveit_config) |
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| from moveit_configs_utils import MoveItConfigsBuilder | ||
| from moveit_configs_utils.launches import generate_moveit_rviz_launch | ||
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| def generate_launch_description(): | ||
| moveit_config = MoveItConfigsBuilder("panda", package_name="panda_moveit_config").to_moveit_configs() | ||
| return generate_moveit_rviz_launch(moveit_config) |
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| from moveit_configs_utils import MoveItConfigsBuilder | ||
| from moveit_configs_utils.launches import generate_rsp_launch | ||
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| def generate_launch_description(): | ||
| moveit_config = MoveItConfigsBuilder("panda", package_name="panda_moveit_config").to_moveit_configs() | ||
| return generate_rsp_launch(moveit_config) |
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panda_moveit_configshould rely on franka_description, not onmoveit_resources_panda_description.There was a problem hiding this comment.
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Makes sense especially having seen your comment moveit/moveit2_tutorials#61 (comment), which tells me the switch from
panda_moveit_configtomoveit_resources_panda_moveit_configin moveit2_tutorial might be unlikely a widely agreed move. Then, the entire PR will have to be re-done because the PR at the time of writing is made referencing to the model files inmoveit_resources_panda_descriptionpackage. Made the PR back to draft state.