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Removed unused modules, code cleanup

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This commit is contained in:
Bastian Hofmann 2022-03-19 18:26:59 +01:00
parent 0403aba97b
commit 71e384c8d7
14 changed files with 30 additions and 329 deletions
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5
src/iisy_config/config/cartesian_limits.yaml
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@ -1,5 +0,0 @@
cartesian_limits:
max_trans_vel: 1
max_trans_acc: 2.25
max_trans_dec: -5
max_rot_vel: 1.57

18
src/iisy_config/config/chomp_planning.yaml
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@ -1,18 +0,0 @@
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

13
src/iisy_config/config/fake_controllers.yaml
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@ -1,13 +0,0 @@
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

4
src/iisy_config/config/gazebo_controllers.yaml
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@ -1,4 +0,0 @@
# Publish joint_states
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

40
src/iisy_config/config/joint_limits.yaml
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@ -1,40 +0,0 @@
# 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

40
src/iisy_config/config/ros_controllers.yaml
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@ -1,40 +0,0 @@
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

2
src/iisy_config/config/sensors_3d.yaml
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@ -1,2 +0,0 @@
sensors:
[]

9
src/iisy_config/config/sensors_3d.yml Normal file
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@ -0,0 +1,9 @@
sensors:
sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
point_cloud_topic: /camera/depth_registered/points
max_range: 5.0
point_subsample: 1
padding_offset: 0.1
padding_scale: 1.0
max_update_rate: 1.0
filtered_cloud_topic: filtered_cloud

12
src/iisy_config/config/simple_moveit_controllers.yaml
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@ -1,12 +0,0 @@
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

39
src/iisy_config/config/stomp_planning.yaml
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@ -1,39 +0,0 @@
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

86
src/iisy_config/launch/lbr_bringup.launch.py
View File

@ -11,18 +11,15 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
def launch_setup(context, *args, **kwargs):
# Evaluate frequently used variables
model = LaunchConfiguration("model").perform(context)
# Load robot description
robot_description_content = Command(
[
FindExecutable(name="xacro"), " ",
PathJoinSubstitution(
[FindPackageShare("iisy_config"), "urdf/{}.urdf".format( model)]
[FindPackageShare("iisy_config"), "urdf/iisy.urdf"]
), " ",
"robot_name:=", LaunchConfiguration("robot_name"), " ",
"sim:=", LaunchConfiguration("sim")
"robot_name:=", "iisy", " ",
"sim:=", "true"
]
)
@ -35,11 +32,7 @@ def launch_setup(context, *args, **kwargs):
"lbr_control.launch.py"
])
), launch_arguments=[
("robot_description", robot_description_content),
("controller_configurations_package", LaunchConfiguration("controller_configurations_package")),
("controller_configurations", LaunchConfiguration("controller_configurations")),
("controller", LaunchConfiguration("controller")),
("sim", LaunchConfiguration("sim"))
("robot_description", robot_description_content)
]
)
@ -52,10 +45,6 @@ def launch_setup(context, *args, **kwargs):
"lbr_simulation.launch.py"
])
),
launch_arguments=[
("robot_name", LaunchConfiguration("robot_name"))
],
condition=IfCondition(LaunchConfiguration("sim"))
)
# Move group
@ -68,11 +57,7 @@ def launch_setup(context, *args, **kwargs):
])
),
launch_arguments=[
("robot_description", robot_description_content),
("moveit_controller_configurations_package", LaunchConfiguration("moveit_controller_configurations_package")),
("moveit_controller_configurations", LaunchConfiguration("moveit_controller_configurations")),
("model", LaunchConfiguration("model")),
("sim", LaunchConfiguration("sim"))
("robot_description", robot_description_content)
]
)
@ -88,65 +73,6 @@ def generate_launch_description():
# Launch arguments
launch_args = []
launch_args.append(DeclareLaunchArgument(
name="model",
default_value="iisy",
description="Desired LBR model. Use model:=iiwa7/iiwa14/med7/med14."
))
launch_args.append(DeclareLaunchArgument(
name="robot_name",
default_value="iisy",
description="Set robot name."
))
launch_args.append(DeclareLaunchArgument(
name="sim",
default_value="true",
description="Launch robot in simulation or on real setup."
))
launch_args.append(
DeclareLaunchArgument(
name="controller_configurations_package",
default_value="iisy_config",
description="Package that contains controller configurations."
)
)
launch_args.append(
DeclareLaunchArgument(
name="controller_configurations",
default_value="config/iisy_controllers.yml",
description="Relative path to controller configurations YAML file. Note that the joints in the controllers must be named according to the robot_name."
)
)
launch_args.append(
DeclareLaunchArgument(
name="controller",
default_value="position_trajectory_controller",
description="Robot controller."
)
)
launch_args.append(
DeclareLaunchArgument(
name="moveit_controller_configurations_package",
default_value="iisy_config",
description="Package that contains MoveIt! controller configurations."
)
)
launch_args.append(
DeclareLaunchArgument(
name="moveit_controller_configurations",
default_value="config/iisy_moveit_controllers.yml",
description="Relative path to MoveIt! controller configurations YAML file. Note that the joints in the controllers must be named according to the robot_name. This file lists controllers that are loaded through the controller_configurations file."
)
)
return LaunchDescription(
launch_args + [
return LaunchDescription([
OpaqueFunction(function=launch_setup)
])

37
src/iisy_config/launch/lbr_control.launch.py
View File

@ -11,22 +11,6 @@ def generate_launch_description():
# Launch arguments
launch_args = []
launch_args.append(
DeclareLaunchArgument(
name="controller_configurations_package",
default_value="iisy_config",
description="Package that contains controller configurations."
)
)
launch_args.append(
DeclareLaunchArgument(
name="controller_configurations",
default_value="config/iisy_controllers.yml",
description="Relative path to controller configurations YAML file."
)
)
launch_args.append(
DeclareLaunchArgument(
name="robot_description",
@ -34,29 +18,14 @@ def generate_launch_description():
)
)
launch_args.append(
DeclareLaunchArgument(
name="controller",
default_value="position_trajectory_controller",
description="Robot controller."
)
)
launch_args.append(
DeclareLaunchArgument(
name="sim",
default_value="true",
description="Launch robot in simulation or on real setup."
)
)
# Configure robot_description
robot_description = {"robot_description": LaunchConfiguration("robot_description")}
# Load controllers from YAML configuration file
controller_configurations = PathJoinSubstitution([
FindPackageShare(LaunchConfiguration("controller_configurations_package")),
LaunchConfiguration("controller_configurations")
FindPackageShare("iisy_config"),
"config/iisy_controllers.yml"
])
robot_state_publisher = Node(
@ -75,7 +44,7 @@ def generate_launch_description():
controller = Node(
package="controller_manager",
executable="spawner",
arguments=[LaunchConfiguration("controller"), "--controller-manager", "/controller_manager"],
arguments=["position_trajectory_controller", "--controller-manager", "/controller_manager"],
)
return LaunchDescription(

33
src/iisy_config/launch/lbr_move_group.launch.py
View File

@ -82,8 +82,8 @@ def launch_setup(context, *args, **kwargs):
# Controllers
controllers_yaml = load_yaml(
LaunchConfiguration("moveit_controller_configurations_package").perform(context),
LaunchConfiguration("moveit_controller_configurations").perform(context)
"iisy_config",
"config/iisy_moveit_controllers.yml"
)
moveit_controllers = {"moveit_simple_controller_manager": controllers_yaml,
@ -96,7 +96,9 @@ def launch_setup(context, *args, **kwargs):
"publish_transforms_updates": True}
# Time configuration
use_sim_time = {"use_sim_time": LaunchConfiguration("sim")}
use_sim_time = {"use_sim_time": True}
perception_pipeline = load_yaml("iisy_config","config/sensors_3d.yml")
# Prepare move group node
move_group_node = Node(
@ -114,7 +116,8 @@ def launch_setup(context, *args, **kwargs):
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters,
use_sim_time
use_sim_time,
perception_pipeline
]
)
@ -153,28 +156,6 @@ def generate_launch_description():
)
)
launch_args.append(
DeclareLaunchArgument(
name="moveit_controller_configurations_package",
default_value="iisy_config",
description="Package that contains MoveIt! controller configurations."
)
)
launch_args.append(
DeclareLaunchArgument(
name="moveit_controller_configurations",
default_value="config/iisy_moveit_controllers.yml",
description="Relative path to MoveIt! controller configurations YAML file. Note that the joints in the controllers must be named according to the robot_name."
)
)
launch_args.append(DeclareLaunchArgument(
name="sim",
default_value="true",
description="Launch robot in simulation or on real setup."
))
return LaunchDescription(
launch_args + [
OpaqueFunction(function=launch_setup)

19
src/iisy_config/launch/lbr_simulation.launch.py
View File

@ -7,16 +7,6 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
# Launch arguments
launch_args = []
launch_args.append(DeclareLaunchArgument(
name="robot_name",
default_value="iisy",
description="Set robot name."
))
# Launch Gazebo
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
@ -37,13 +27,12 @@ def generate_launch_description():
executable="spawn_entity.py",
arguments=[
"-topic", "robot_description",
"-entity", LaunchConfiguration("robot_name")
"-entity", "iisy"
],
output="screen"
)
return LaunchDescription(
launch_args + [
gazebo,
spawn_entity
return LaunchDescription([
gazebo,
spawn_entity
])