basic import of generated iisy_config

2022-03-15 05:53:38 +01:00 · 2022-03-15 05:53:38 +01:00 · 2650b088f6
commit 2650b088f6
parent 80da2d4153
47 changed files with 1266 additions and 8 deletions
--- a/src/gaz_simulation/.package.xml.kate-swp
+++ b/src/gaz_simulation/.package.xml.kate-swp
--- a/src/gaz_simulation/launch/.moveit_launch.py.kate-swp
+++ b/src/gaz_simulation/launch/.moveit_launch.py.kate-swp
--- a/src/gaz_simulation/launch/moveit_launch.py
+++ b/src/gaz_simulation/launch/moveit_launch.py
@ -0,0 +1,114 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess, IncludeLaunchDescription
+from launch_ros.substitutions import FindPackageShare
+from launch.substitutions import Command
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    robot_name = "iisy"
+    package_name = "gaz_simulation"
+    pkg_gazebo_ros = FindPackageShare(package='gazebo_ros').find('gazebo_ros')
+    path = FindPackageShare(package=package_name).find(package_name)
+    world_path = os.path.join(path, "world/test2.xml")
+    urdf_path = os.path.join(path, "urdf/iisy.urdf")
+    return LaunchDescription([
+        #IncludeLaunchDescription(
+        #    PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
+        #    launch_arguments={'world': world_path}.items()
+        #),
+        
+        ExecuteProcess(
+            cmd=[[
+                'LIBGL_ALWAYS_SOFTWARE=true ros2 launch gazebo_ros gzserver.launch.py "world:='+world_path+'"'
+            ]],
+            shell=True
+        ),
+
+
+        # Start Gazebo client
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py'))
+        ),
+        Node(
+            package='tf2_ros',
+            namespace='gaz_simulation',
+            executable='static_transform_publisher',
+            name='lidar_1_broadcaster',
+            arguments=["1", "-1.9", "1", "1.5707963267949", "0", "0", "map", "lidar_1_link"]
+        ),
+        Node(
+            package='tf2_ros',
+            namespace='gaz_simulation',
+            executable='static_transform_publisher',
+            name='lidar_2_broadcaster',
+            arguments=["-1.9", "1", "1", "0", "0", "0", "map", "lidar_2_link"]
+        ),
+        Node(
+            package='gazebo_ros',
+            executable='spawn_entity.py',
+            arguments=['-entity', robot_name,
+                       '-topic', 'robot_description',
+                       '-x', '-1',
+                       '-y', '-1',
+                       '-z', '1',
+                       '-Y', '0'],  # Yaw
+            output='screen'
+        ),
+        # Subscribe to the joint states of the robot, and publish the 3D pose of each link.
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            parameters=[{'robot_description': Command(['xacro ', urdf_path])}]
+        ),
+
+        # Publish the joint states of the robot
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher'
+        )
+
+        # ,
+        # Node(
+        #    namespace='turtlesim1',
+        #    executable='gazebo',
+        #    name='gazebo',
+        #    arguments=["test.xml"]
+        # )
+    ])
+
+
+<?xml version="1.0"?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
+       default=" -J base_link1_joint 0 -J base_rot 0 -J link1_link2_joint 0 -J link2_link3_joint 0 -J link2_rot 0 -J link3_rot 0"/>
+
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <let name="world_name" default="worlds/empty.world"/>
+    <let name="paused" value="true"/>
+    <let name="gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <!-- send robot urdf to param server -->
+  <param name="robot_description" textfile="$(find gaz_simulation)/urdf/iisy.urdf" />
+
+  <!-- unpause only after loading robot model -->
+  <let name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
+  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
+  <arg name="world_pose" value="-x 0 -y 0 -z 0" />
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
+    respawn="false" output="screen" />
+
+  <!-- Load joint controller parameters for Gazebo -->
+  <param from="$(find iisy_config)/config/gazebo_controllers.yaml" />
+  <!-- Spawn Gazebo ROS controllers -->
+  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
+  <!-- Load ROS controllers -->
+  <include file="$(dirname)/ros_controllers.launch"/>
+
+</launch>
--- a/src/gaz_simulation/launch/test_launch.py
+++ b/src/gaz_simulation/launch/test_launch.py
@ -6,6 +6,7 @@ from launch_ros.substitutions import FindPackageShare
 from launch.substitutions import Command
 from launch.launch_description_sources import PythonLaunchDescriptionSource

+
 def generate_launch_description():
    robot_name = "iisy"
    package_name = "gaz_simulation"
--- a/src/gaz_simulation/package.xml
+++ b/src/gaz_simulation/package.xml
@ -7,7 +7,7 @@

  <buildtool_depend>ament_cmake</buildtool_depend>

-  <exec_depend>gazebo-11</exec_depend>
+  <exec_depend>gazebo</exec_depend>

  <exec_depend>image_transport_plugins</exec_depend>
  <exec_depend>robot_state_publisher</exec_depend>
--- a/src/gaz_simulation/urdf/iisy.urdf
+++ b/src/gaz_simulation/urdf/iisy.urdf
@ -189,11 +189,6 @@
        <axis xyz="0 0 1"/>
        <limit effort="30" velocity="1.7453292519943"/>
    </joint>
-    <gazebo>
-        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-            <robotNamespace>/simple_model</robotNamespace>
-        </plugin>
-    </gazebo>

    <transmission name="trans_base_rot">
        <type>transmission_interface/SimpleTransmission</type>
@ -257,7 +252,7 @@
    </transmission>
    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-            <robotNamespace>/</robotNamespace>
+            <robotNamespace>/iisy</robotNamespace>
        </plugin>
    </gazebo>
 </robot>
--- a/src/iisy_config/.setup_assistant
+++ b/src/iisy_config/.setup_assistant
@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: gaz_simulation
+    relative_path: urdf/iisy.urdf
+    xacro_args: ""
+  SRDF:
+    relative_path: config/iisy.srdf
+  CONFIG:
+    author_name: bastian
+    author_email: bastian.hofmann@xitaso.com
+    generated_timestamp: 1647313439
--- a/src/iisy_config/CMakeLists.txt
+++ b/src/iisy_config/CMakeLists.txt
@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.8)
+project(iisy_config)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
--- a/src/iisy_config/config/cartesian_limits.yaml
+++ b/src/iisy_config/config/cartesian_limits.yaml
@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57
--- a/src/iisy_config/config/chomp_planning.yaml
+++ b/src/iisy_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: 0.0
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearance: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: false
+max_recovery_attempts: 5
--- a/src/iisy_config/config/fake_controllers.yaml
+++ b/src/iisy_config/config/fake_controllers.yaml
@ -0,0 +1,13 @@
+controller_list:
+  - name: fake_iisy_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - base_rot
+      - base_link1_joint
+      - link1_link2_joint
+      - link2_rot
+      - link2_link3_joint
+      - link3_rot
+initial:  # Define initial robot poses per group
+  - group: iisy
+    pose: home
--- a/src/iisy_config/config/gazebo_controllers.yaml
+++ b/src/iisy_config/config/gazebo_controllers.yaml
@ -0,0 +1,4 @@
+# Publish joint_states
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
--- a/src/iisy_config/config/iisy.srdf
+++ b/src/iisy_config/config/iisy.srdf
@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--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="iisy">
+    <!--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="iisy">
+        <joint name="base_rot"/>
+        <joint name="base_link1_joint"/>
+        <joint name="link1_link2_joint"/>
+        <joint name="link2_rot"/>
+        <joint name="link2_link3_joint"/>
+        <joint name="link3_rot"/>
+    </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="home" group="iisy">
+        <joint name="base_link1_joint" value="0"/>
+        <joint name="base_rot" value="0"/>
+        <joint name="link1_link2_joint" value="0"/>
+        <joint name="link2_link3_joint" value="0"/>
+        <joint name="link2_rot" value="0"/>
+        <joint name="link3_rot" value="0"/>
+    </group_state>
+    <!--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="base" link2="base_top" reason="Adjacent"/>
+    <disable_collisions link1="base_top" link2="link1_full" reason="Adjacent"/>
+    <disable_collisions link1="base_top" link2="link2_bottom" reason="Never"/>
+    <disable_collisions link1="link1_full" link2="link2_bottom" reason="Adjacent"/>
+    <disable_collisions link1="link1_full" link2="link3_bottom" reason="Never"/>
+    <disable_collisions link1="link2_bottom" link2="link2_top" reason="Adjacent"/>
+    <disable_collisions link1="link2_bottom" link2="link3_bottom" reason="Never"/>
+    <disable_collisions link1="link2_top" link2="link3_bottom" reason="Adjacent"/>
+    <disable_collisions link1="link3_bottom" link2="link3_top" reason="Adjacent"/>
+</robot>
--- a/src/iisy_config/config/joint_limits.yaml
+++ b/src/iisy_config/config/joint_limits.yaml
@ -0,0 +1,40 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# 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: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# 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:
+  base_link1_joint:
+    has_velocity_limits: true
+    max_velocity: 1.7453292519943
+    has_acceleration_limits: false
+    max_acceleration: 0
+  base_rot:
+    has_velocity_limits: true
+    max_velocity: 1.7453292519943
+    has_acceleration_limits: false
+    max_acceleration: 0
+  link1_link2_joint:
+    has_velocity_limits: true
+    max_velocity: 1.7453292519943
+    has_acceleration_limits: false
+    max_acceleration: 0
+  link2_link3_joint:
+    has_velocity_limits: true
+    max_velocity: 1.7453292519943
+    has_acceleration_limits: false
+    max_acceleration: 0
+  link2_rot:
+    has_velocity_limits: true
+    max_velocity: 1.7453292519943
+    has_acceleration_limits: false
+    max_acceleration: 0
+  link3_rot:
+    has_velocity_limits: true
+    max_velocity: 1.7453292519943
+    has_acceleration_limits: false
+    max_acceleration: 0
--- a/src/iisy_config/config/kinematics.yaml
+++ b/src/iisy_config/config/kinematics.yaml
@ -0,0 +1,4 @@
+iisy:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
--- a/src/iisy_config/config/ompl_planning.yaml
+++ b/src/iisy_config/config/ompl_planning.yaml
@ -0,0 +1,157 @@
+planner_configs:
+  AnytimePathShortening:
+    type: geometric::AnytimePathShortening
+    shortcut: true  # Attempt to shortcut all new solution paths
+    hybridize: true  # Compute hybrid solution trajectories
+    max_hybrid_paths: 24  # Number of hybrid paths generated per iteration
+    num_planners: 4  # The number of default planners to use for planning
+    planners: ""  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
+  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
+iisy:
+  planner_configs:
+    - AnytimePathShortening
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
+  projection_evaluator: joints(base_rot,base_link1_joint)
+  longest_valid_segment_fraction: 0.005
--- a/src/iisy_config/config/ros_controllers.yaml
+++ b/src/iisy_config/config/ros_controllers.yaml
@ -0,0 +1,40 @@
+iisy_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - base_rot
+    - base_link1_joint
+    - link1_link2_joint
+    - link2_rot
+    - link2_link3_joint
+    - link3_rot
+  gains:
+    base_rot:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    base_link1_joint:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    link1_link2_joint:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    link2_rot:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    link2_link3_joint:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    link3_rot:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
--- a/src/iisy_config/config/sensors_3d.yaml
+++ b/src/iisy_config/config/sensors_3d.yaml
@ -0,0 +1,2 @@
+sensors:
+  []
--- a/src/iisy_config/config/simple_moveit_controllers.yaml
+++ b/src/iisy_config/config/simple_moveit_controllers.yaml
@ -0,0 +1,12 @@
+controller_list:
+  - name: iisy_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - base_rot
+      - base_link1_joint
+      - link1_link2_joint
+      - link2_rot
+      - link2_link3_joint
+      - link3_rot
--- a/src/iisy_config/config/stomp_planning.yaml
+++ b/src/iisy_config/config/stomp_planning.yaml
@ -0,0 +1,39 @@
+stomp/iisy:
+  group_name: iisy
+  optimization:
+    num_timesteps: 60
+    num_iterations: 40
+    num_iterations_after_valid: 0
+    num_rollouts: 30
+    max_rollouts: 30
+    initialization_method: 1  # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
+    control_cost_weight: 0.0
+  task:
+    noise_generator:
+      - class: stomp_moveit/NormalDistributionSampling
+        stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+    cost_functions:
+      - class: stomp_moveit/CollisionCheck
+        collision_penalty: 1.0
+        cost_weight: 1.0
+        kernel_window_percentage: 0.2
+        longest_valid_joint_move: 0.05
+    noisy_filters:
+      - class: stomp_moveit/JointLimits
+        lock_start: True
+        lock_goal: True
+      - class: stomp_moveit/MultiTrajectoryVisualization
+        line_width: 0.02
+        rgb: [255, 255, 0]
+        marker_array_topic: stomp_trajectories
+        marker_namespace: noisy
+    update_filters:
+      - class: stomp_moveit/PolynomialSmoother
+        poly_order: 6
+      - class: stomp_moveit/TrajectoryVisualization
+        line_width: 0.05
+        rgb: [0, 191, 255]
+        error_rgb: [255, 0, 0]
+        publish_intermediate: True
+        marker_topic: stomp_trajectory
+        marker_namespace: optimized
--- a/src/iisy_config/launch/chomp_planning_pipeline.launch.xml
+++ b/src/iisy_config/launch/chomp_planning_pipeline.launch.xml
@ -0,0 +1,23 @@
+<launch>
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
+
+  <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find iisy_config)/config/chomp_planning.yaml" />
+</launch>
--- a/src/iisy_config/launch/default_warehouse_db.launch
+++ b/src/iisy_config/launch/default_warehouse_db.launch
@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find iisy_config)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(dirname)/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
--- a/src/iisy_config/launch/demo.launch
+++ b/src/iisy_config/launch/demo.launch
@ -0,0 +1,68 @@
+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find iisy_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+
+
+
+  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
+    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
+         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" exec="joint_state_publisher" unless="$(arg use_gui)">
+      <param from="source_list">[move_group/fake_controller_joint_states]</param>
+    </node>
+    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
+         This corresponds to moving around the real robot without the use of MoveIt. -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui" if="$(arg use_gui)">
+      <param from="source_list">[move_group/fake_controller_joint_states]</param>
+    </node>
+
+    <!-- Given the published joint states, publish tf for the robot links -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher" respawn="true" output="screen" />
+  </group>
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(dirname)/move_group.launch">
+    <let name="allow_trajectory_execution" value="true"/>
+    <let name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <let name="fake_execution_type" value="$(arg fake_execution_type)"/>
+    <let name="info" value="true"/>
+    <let name="debug" value="$(arg debug)"/>
+    <let name="pipeline" value="$(arg pipeline)"/>
+    <let name="load_robot_description" value="$(arg load_robot_description)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
+    <let name="rviz_config" value="$(dirname)/moveit.rviz"/>
+    <let name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
+    <let name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
--- a/src/iisy_config/launch/demo_gazebo.launch
+++ b/src/iisy_config/launch/demo_gazebo.launch
@ -0,0 +1,21 @@
+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- Gazebo specific options -->
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="paused" default="false"/>
+
+  <!-- launch the gazebo simulator and spawn the robot -->
+  <include file="$(dirname)/gazebo.launch" >
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <include file="$(dirname)/demo.launch" pass_all_args="true">
+    <!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
+    <arg name="load_robot_description" value="false" />
+    <arg name="moveit_controller_manager" value="ros_control" />
+  </include>
+</launch>
--- a/src/iisy_config/launch/fake_moveit_controller_manager.launch.xml
+++ b/src/iisy_config/launch/fake_moveit_controller_manager.launch.xml
@ -0,0 +1,12 @@
+<launch>
+
+  <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam subst_value="true" file="$(find iisy_config)/config/fake_controllers.yaml"/>
+
+</launch>
--- a/src/iisy_config/launch/gazebo.launch
+++ b/src/iisy_config/launch/gazebo.launch
@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
+       default=" -J base_link1_joint 0 -J base_rot 0 -J link1_link2_joint 0 -J link2_link3_joint 0 -J link2_rot 0 -J link3_rot 0"/>
+
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <let name="world_name" default="worlds/empty.world"/>
+    <let name="paused" value="true"/>
+    <let name="gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <!-- send robot urdf to param server -->
+  <param name="robot_description" textfile="$(find gaz_simulation)/urdf/iisy.urdf" />
+
+  <!-- unpause only after loading robot model -->
+  <let name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
+  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
+  <arg name="world_pose" value="-x 0 -y 0 -z 0" />
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
+    respawn="false" output="screen" />
+
+  <!-- Load joint controller parameters for Gazebo -->
+  <param from="$(find iisy_config)/config/gazebo_controllers.yaml" />
+  <!-- Spawn Gazebo ROS controllers -->
+  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
+  <!-- Load ROS controllers -->
+  <include file="$(dirname)/ros_controllers.launch"/>
+
+</launch>
--- a/src/iisy_config/launch/iisy_moveit_sensor_manager.launch.xml
+++ b/src/iisy_config/launch/iisy_moveit_sensor_manager.launch.xml
@ -0,0 +1,3 @@
+<launch>
+
+</launch>
--- a/src/iisy_config/launch/joystick_control.launch
+++ b/src/iisy_config/launch/joystick_control.launch
@ -0,0 +1,17 @@
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+
+</launch>
--- a/src/iisy_config/launch/move_group.launch
+++ b/src/iisy_config/launch/move_group.launch
@ -0,0 +1,101 @@
+<launch>
+
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+           value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="pipeline" default="ompl" />
+  <arg name="allow_trajectory_execution" default="true"/>
+  <arg name="moveit_controller_manager" default="simple" />
+  <arg name="fake_execution_type" default="interpolate"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="publish_monitored_planning_scene" default="true"/>
+
+  <arg name="capabilities" default=""/>
+  <arg name="disable_capabilities" default=""/>
+  <!-- load these non-default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="capabilities" value="
+                a_package/AwsomeMotionPlanningCapability
+                another_package/GraspPlanningPipeline
+                " />
+  -->
+
+  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="disable_capabilities" value="
+                move_group/MoveGroupKinematicsService
+                move_group/ClearOctomapService
+                " />
+  -->
+
+  <arg name="load_robot_description" default="true" />
+  <!-- load URDF, SRDF and joint_limits configuration -->
+  <include file="$(dirname)/planning_context.launch">
+    <arg name="load_robot_description" value="$(arg load_robot_description)" />
+  </include>
+
+  <!-- Planning Pipelines -->
+  <group ns="move_group/planning_pipelines">
+
+    <!-- OMPL -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="ompl" />
+    </include>
+
+    <!-- CHOMP -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="chomp" />
+    </include>
+
+    <!-- Pilz Industrial Motion -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="pilz_industrial_motion_planner" />
+    </include>
+
+    <!-- Support custom planning pipeline -->
+    <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
+             file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="$(arg pipeline)" />
+    </include>
+  </group>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
+  </include>
+
+  <!-- Sensors Functionality -->
+  <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="iisy" />
+  </include>
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
+    <!-- Set the display variable, in case OpenGL code is used internally -->
+    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
+
+    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+    <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="default_planning_pipeline" value="$(arg pipeline)" />
+    <param name="capabilities" value="$(arg capabilities)" />
+    <param name="disable_capabilities" value="$(arg disable_capabilities)" />
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+  </node>
+
+</launch>
--- a/src/iisy_config/launch/moveit.rviz
+++ b/src/iisy_config/launch/moveit.rviz
@ -0,0 +1,131 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 84
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+      Splitter Ratio: 0.5
+    Tree Height: 226
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+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: <Fixed Frame>
+      Value: true
+    - Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Name: MotionPlanning
+      Planned Path:
+        Links: ~
+        Loop Animation: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        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
+      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
+        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
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links: ~
+        Robot Alpha: 0.5
+        Show Scene Robot: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.0
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.75
+      Focal Point:
+        X: -0.1
+        Y: 0.25
+        Z: 0.30
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.5
+      Target Frame: world
+      Yaw: -0.6232355833053589
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 848
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000173000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017d0000017d00ffffff00000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1291
+  X: 454
+  Y: 25
--- a/src/iisy_config/launch/moveit_rviz.launch
+++ b/src/iisy_config/launch/moveit_rviz.launch
@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
+  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+        args="$(arg command_args)" output="screen">
+  </node>
+
+</launch>
--- a/src/iisy_config/launch/ompl-chomp_planning_pipeline.launch.xml
+++ b/src/iisy_config/launch/ompl-chomp_planning_pipeline.launch.xml
@ -0,0 +1,19 @@
+<launch>
+  <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
+  <include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
+    <arg name="planning_adapters" value="
+       default_planner_request_adapters/AddTimeParameterization
+       default_planner_request_adapters/FixWorkspaceBounds
+       default_planner_request_adapters/FixStartStateBounds
+       default_planner_request_adapters/FixStartStateCollision
+       default_planner_request_adapters/FixStartStatePathConstraints
+       chomp/OptimizerAdapter"
+       />
+  </include>
+
+  <!-- load chomp config -->
+  <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
+
+  <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
+  <param name="trajectory_initialization_method" value="fillTrajectory"/>
+</launch>
--- a/src/iisy_config/launch/ompl_planning_pipeline.launch.xml
+++ b/src/iisy_config/launch/ompl_planning_pipeline.launch.xml
@ -0,0 +1,26 @@
+<launch>
+
+  <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
+
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+
+  <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find iisy_config)/config/ompl_planning.yaml"/>
+
+</launch>
--- a/src/iisy_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
+++ b/src/iisy_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters" default="" />
+
+  <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+
+  <!-- Define default planner (for all groups) -->
+  <param name="default_planner_config" value="PTP" />
+
+  <!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
+  <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
+                                    pilz_industrial_motion_planner/MoveGroupSequenceService" />
+</launch>
--- a/src/iisy_config/launch/planning_context.launch
+++ b/src/iisy_config/launch/planning_context.launch
@ -0,0 +1,26 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find gaz_simulation)/urdf/iisy.urdf"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find iisy_config)/config/iisy.srdf" />
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find iisy_config)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find iisy_config)/config/cartesian_limits.yaml"/>
+  </group>
+
+  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+  <group ns="$(arg robot_description)_kinematics">
+    <rosparam command="load" file="$(find iisy_config)/config/kinematics.yaml"/>
+
+  </group>
+
+</launch>
--- a/src/iisy_config/launch/planning_pipeline.launch.xml
+++ b/src/iisy_config/launch/planning_pipeline.launch.xml
@ -0,0 +1,10 @@
+<launch>
+
+  <!-- This file makes it easy to include different planning pipelines;
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
+
+  <arg name="pipeline" default="ompl" />
+
+  <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
+
+</launch>
--- a/src/iisy_config/launch/ros_control_moveit_controller_manager.launch.xml
+++ b/src/iisy_config/launch/ros_control_moveit_controller_manager.launch.xml
@ -0,0 +1,4 @@
+<launch>
+	<!-- Define MoveIt controller manager plugin -->
+	<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
+</launch>
--- a/src/iisy_config/launch/ros_controllers.launch
+++ b/src/iisy_config/launch/ros_controllers.launch
@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find iisy_config)/config/ros_controllers.yaml" command="load"/>
+
+  <!-- Load the controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args="iisy_controller "/>
+
+</launch>
--- a/src/iisy_config/launch/run_benchmark_ompl.launch
+++ b/src/iisy_config/launch/run_benchmark_ompl.launch
@ -0,0 +1,21 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(dirname)/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(dirname)/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
+  </include>
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
+    <rosparam command="load" file="$(find iisy_config)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
--- a/src/iisy_config/launch/sensor_manager.launch.xml
+++ b/src/iisy_config/launch/sensor_manager.launch.xml
@ -0,0 +1,17 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->
+
+  <!-- Params for 3D sensors config -->
+  <rosparam command="load" file="$(find iisy_config)/config/sensors_3d.yaml" />
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <param name="octomap_resolution" type="double" value="0.025" />
+  <param name="max_range" type="double" value="5.0" />
+
+  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
+  <arg name="moveit_sensor_manager" default="iisy" />
+  <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+
+</launch>
--- a/src/iisy_config/launch/setup_assistant.launch
+++ b/src/iisy_config/launch/setup_assistant.launch
@ -0,0 +1,16 @@
+<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
+<launch>
+
+  <!-- Debug Info -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <!-- Run -->
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
+        args="--config_pkg=iisy_config"
+        launch-prefix="$(arg launch_prefix)"
+        required="true"
+        output="screen" />
+
+</launch>
--- a/src/iisy_config/launch/simple_moveit_controller_manager.launch.xml
+++ b/src/iisy_config/launch/simple_moveit_controller_manager.launch.xml
@ -0,0 +1,8 @@
+<launch>
+  <!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
+  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+
+  <!-- Load controller list to the parameter server -->
+  <rosparam file="$(find iisy_config)/config/simple_moveit_controllers.yaml" />
+  <rosparam file="$(find iisy_config)/config/ros_controllers.yaml" />
+</launch>
--- a/src/iisy_config/launch/stomp_planning_pipeline.launch.xml
+++ b/src/iisy_config/launch/stomp_planning_pipeline.launch.xml
@ -0,0 +1,25 @@
+<launch>
+  <!-- Stomp Plugin for MoveIt -->
+  <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+  <arg name="jiggle_fraction" value="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints" />
+
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find iisy_config)/config/stomp_planning.yaml"/>
+</launch>
--- a/src/iisy_config/launch/trajectory_execution.launch.xml
+++ b/src/iisy_config/launch/trajectory_execution.launch.xml
@ -0,0 +1,23 @@
+<launch>
+  <!-- This file summarizes all settings required for trajectory execution  -->
+
+  <!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" />
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- Flag indicating whether MoveIt is allowed to load/unload  or switch controllers -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
+
+  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
+  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
+
+  <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
+       As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
+  <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
+
+</launch>
--- a/src/iisy_config/launch/warehouse.launch
+++ b/src/iisy_config/launch/warehouse.launch
@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->
+  <include file="$(dirname)/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
--- a/src/iisy_config/launch/warehouse_settings.launch.xml
+++ b/src/iisy_config/launch/warehouse_settings.launch.xml
@ -0,0 +1,16 @@
+<launch>
+  <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+  <arg name="moveit_warehouse_port" default="33829" />
+
+  <!-- The default DB host for moveit -->
+  <arg name="moveit_warehouse_host" default="localhost" />
+
+  <!-- Set parameters for the warehouse -->
+  <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
+  <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
+  <param name="warehouse_exec" value="mongod" />
+  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
+
+</launch>
--- a/src/iisy_config/package.xml
+++ b/src/iisy_config/package.xml
@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>iisy_config</name>
+  <version>0.3.0</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using the iisy with the MoveIt Motion Planning Framework
+  </description>
+  <author email="bastian.hofmann@xitaso.com">bastian</author>
+  <maintainer email="bastian.hofmann@xitaso.com">bastian</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit</url>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>moveit_ros_move_group</depend>
+  <!--<depend>moveit_fake_controller_manager</depend>-->
+  <depend>moveit_kinematics</depend>
+  <depend>moveit_planners_ompl</depend>
+  <depend>moveit_ros_visualization</depend>
+  <depend>moveit_setup_assistant</depend>
+  <depend>moveit_simple_controller_manager</depend>
+  <depend>joint_state_publisher</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz2</depend>
+  <depend>tf2_ros</depend>
+  <depend>xacro</depend>
+  <!-- The next 2 packages are required for the gazebo simulation.
+       We don't include them by default to prevent installing gazebo and all its dependencies. -->
+  <!-- <depend>joint_trajectory_controller</depend> -->
+  <!-- <depend>gazebo_ros_control</depend> -->
+  <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
+  <!-- <depend>warehouse_ros_mongo</depend> -->
+  <depend>gaz_simulation</depend>
+  
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>