diff --git a/src/gaz_simulation/CMakeLists.txt b/src/gaz_simulation/CMakeLists.txt deleted file mode 100644 index 707c7f9..0000000 --- a/src/gaz_simulation/CMakeLists.txt +++ /dev/null @@ -1,28 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(gaz_simulation) - -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( REQUIRED) - -install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY world DESTINATION share/${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() diff --git a/src/gaz_simulation/calc.lua b/src/gaz_simulation/calc.lua deleted file mode 100755 index 68632b1..0000000 --- a/src/gaz_simulation/calc.lua +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/lua - -io.write("Radius: ") -local radius=io.read("*line") -io.write("Height: ") -local height=io.read("*line") -io.write("Weight: ") -local weight=io.read("*line") - -local ix_and_y=(1/12)*weight*(3*radius*radius+height*height) -local iz=(1/2)*weight*radius*radius - -print([[ - - -]]) diff --git a/src/gaz_simulation/launch/moveit_launch.py b/src/gaz_simulation/launch/moveit_launch.py deleted file mode 100644 index aa59279..0000000 --- a/src/gaz_simulation/launch/moveit_launch.py +++ /dev/null @@ -1,188 +0,0 @@ -import os -import yaml -from launch import LaunchDescription -from launch_ros.actions import Node -from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, UnsetEnvironmentVariable -from launch_ros.substitutions import FindPackageShare -from launch.substitutions import Command, LaunchConfiguration -from launch.launch_description_sources import PythonLaunchDescriptionSource -from ament_index_python.packages import get_package_share_directory - - -def load_file(package_name, file_path): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - with open(absolute_file_path, 'r') as file: - print("Opened file") - return file.read() - except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available - print("ERROR: load_file " + package_name + " | " + file_path + " -> " + absolute_file_path) - return None - - -def load_yaml(package_name, file_path): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - with open(absolute_file_path, 'r') as file: - print("Opened file") - return yaml.safe_load(file) - except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available - print("ERROR: load_yaml " + package_name + " | " + file_path + " -> " + absolute_file_path) - - return None - - -def generate_launch_description(): - robot_name = "iisy" - # pkg_gazebo_ros = FindPackageShare(package='gazebo_ros').find('gazebo_ros') - world_path = os.path.join(FindPackageShare(package="gaz_simulation").find("gaz_simulation"), "world/test2.xml") - urdf_path = os.path.join(FindPackageShare(package="iisy_config").find("iisy_config"), "urdf/iisy.urdf") - - robot_description_config = load_file('iisy_config', 'urdf/iisy.urdf') - robot_description = {'robot_description': robot_description_config} - - robot_description_semantic_config = load_file('iisy_config', 'srdf/iisy.srdf') - robot_description_semantic = {'robot_description_semantic': robot_description_semantic_config} - - kinematics_yaml = load_yaml('iisy_config', 'config/kinematics.yml') - robot_description_kinematics = {'robot_description_kinematics': kinematics_yaml} - - ompl_planning_pipeline_config = {'move_group': { - 'planning_plugin': 'ompl_interface/OMPLPlanner', - 'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""", - 'start_state_max_bounds_error': 0.1}} - ompl_planning_yaml = load_yaml('iisy_config', 'config/ompl_planning.yml') - ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml) - - controllers_yaml = load_yaml('iisy_config', 'config/iisy_controllers.yml') - moveit_controllers = {'moveit_simple_controller_manager': controllers_yaml, - 'moveit_controller_manager': 'moveit_simple_controller_manager/MoveItSimpleControllerManager'} - - trajectory_execution = {'moveit_manage_controllers': True, - 'trajectory_execution.allowed_execution_duration_scaling': 1.2, - 'trajectory_execution.allowed_goal_duration_margin': 0.5, - 'trajectory_execution.allowed_start_tolerance': 0.01} - - planning_scene_monitor_parameters = {"publish_planning_scene": True, - "publish_geometry_updates": True, - "publish_state_updates": True, - "publish_transforms_updates": True} - - # octomap_config = {'octomap_frame': 'camera_rgb_optical_frame', - # 'octomap_resolution': 0.05, - # 'max_range': 5.0} - - # octomap_updater_config = load_yaml('moveit_tutorials', 'config/sensors_3d.yaml') - - return LaunchDescription([ - # SetEnvironmentVariable(name='LIBGL_ALWAYS_SOFTWARE', value='true'), - - # IncludeLaunchDescription( - # PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), - # launch_arguments={'world': world_path}.items() - # ), - - # UnsetEnvironmentVariable(name='LIBGL_ALWAYS_SOFTWARE'), - - # 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' - #), - - # Node( - # package="gazebo_ros", - # executable="spawn_entity.py", - # arguments=[ - # "-topic", "robot_description", - # "-entity", LaunchConfiguration("iisy") - # ], - # output="screen" - # ), - - # Node( - # package='robot_state_publisher', - # executable='robot_state_publisher', - # name='robot_state_publisher', - # output='both', - # parameters=[robot_description] - # ), - - Node( - package='robot_state_publisher', - executable='robot_state_publisher', - parameters=[{'robot_description': Command(['xacro ', urdf_path])}] - ), - - Node( - package='robot_state_publisher', - executable='robot_state_publisher', - name='joint_state_publisher' - ), - - # , - # Node( - # namespace='turtlesim1', - # executable='gazebo', - # name='gazebo', - # arguments=["test.xml"] - # ) - - Node( - package='controller_manager', - name='gazebo_controller_spawner', - executable='spawner', - output='screen', - parameters=[ - controllers_yaml, - ] - ), - - Node(package='moveit_ros_move_group', - executable='move_group', - # prefix='xterm -fs 10 -e gdb --ex run --args', - output='screen', - parameters=[ - robot_description, - robot_description_semantic, - kinematics_yaml, - ompl_planning_pipeline_config, - trajectory_execution, - moveit_controllers, - planning_scene_monitor_parameters, - # octomap_config, - # octomap_updater_config - ] - ), - ]) diff --git a/src/gaz_simulation/launch/test_launch.py b/src/gaz_simulation/launch/test_launch.py deleted file mode 100644 index 57c7a95..0000000 --- a/src/gaz_simulation/launch/test_launch.py +++ /dev/null @@ -1,77 +0,0 @@ -import os -from launch import LaunchDescription -from launch_ros.actions import Node -from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable, UnsetEnvironmentVariable -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([ - SetEnvironmentVariable(name='LIBGL_ALWAYS_SOFTWARE', value='true'), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), - launch_arguments={'world': world_path}.items() - ), - - UnsetEnvironmentVariable(name='LIBGL_ALWAYS_SOFTWARE'), - - # 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"] - # ) - ]) diff --git a/src/gaz_simulation/package.xml b/src/gaz_simulation/package.xml deleted file mode 100644 index aecf684..0000000 --- a/src/gaz_simulation/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - gaz_simulation - 0.244.1 - Launch file for simulation of pick and place - Apache 2.0 - Bastian Hofmann - - ament_cmake - - gazebo - - image_transport_plugins - robot_state_publisher - ros_ign_bridge - ros_ign_gazebo - ros_ign_image - - - rqt_image_view - rqt_plot - rqt_topic - rviz2 - xacro - - - ament_cmake - - diff --git a/src/gaz_simulation/world/gaz_ign.sdf b/src/gaz_simulation/world/gaz_ign.sdf deleted file mode 100644 index dcd4b46..0000000 --- a/src/gaz_simulation/world/gaz_ign.sdf +++ /dev/null @@ -1,328 +0,0 @@ - - - - - - 0.001 - 1.0 - - - - - ogre2 - - - - - - true - 0 0 10 0 0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - - - 1 - - 0 - 3 8 1.2 0 0 0 - - - - 10.1 .1 2.4 - - - - - - - 10.1 .1 2.4 - - - - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - - - - - 0 - 3 -2 1.2 0 0 0 - - - - 10.1 .1 2.4 - - - - - - - 10.1 .1 2.4 - - - - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - - - - - 0 - 8 3 1.2 0 0 0 - - - - .1 9.9 2.4 - - - - - - - .1 9.9 2.4 - - - - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - - - - - 0 - -2 3 1.2 0 0 0 - - - - .1 9.9 2.4 - - - - - - - .1 9.9 2.4 - - - - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - - - - - - 1 - - 1 -1.85 1 0 0 1.5707963267949 - - laser_1 - 10 - - - - 270 - 1 - -2.3561944901923 - 2.3561944901923 - - - 1 - 1 - 0 - 0 - - - - 0.05 - 10.0 - 0.05 - - - 1 - true - - - - - 1 - - -1.85 1 1 0 0 0 - - laser_2 - 10 - - - - 270 - 1 - -2.3561944901923 - 2.3561944901923 - - - 1 - 1 - 0 - 0 - - - - 0.05 - 10.0 - 0.05 - - - 1 - true - - - - - 1 - - - - - 0 0 1 - 100 100 - - - - - 65535 - - - - - 100 - 50 - - - - - - - - 10 - - - 0 - - - 0 0 1 - 100 100 - - - - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - - - 0 - 0 - 0 - - - - - 0 2 1.25 0 0 0 - - https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae - 1.0 - - - https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae - true - - - - - 0 1 1.25 0 0 0 - - - /home/ros/go.dae - 1.0 - - - /home/ros/go.dae - 1.000000 - true - - - 2 2 1 - 1.15 - 1.8 - 5.1 - - ground_plane - - - - 0 0 -9.8 - 6e-06 2.3e-05 -4.2e-05 - - - 0.001 - 1 - 1000 - - - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - 1 - - - - EARTH_WGS84 - 0 - 0 - 0 - 0 - - - 21 655000000 - 21 863005214 - 1644846646 70909467 - 21655 - - 0 0 0 0 -0 0 - 1 1 1 - - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - 0 0 10 0 -0 0 - - - - - 5 -5 2 0 0.275643 2.35619 - orbit - perspective - - - - diff --git a/src/gaz_simulation/world/test2.xml b/src/gaz_simulation/world/test2.xml deleted file mode 100644 index 7d0329c..0000000 --- a/src/gaz_simulation/world/test2.xml +++ /dev/null @@ -1,319 +0,0 @@ - - - - 1 - 0 0 10 0 -0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - 0 - 0 - 0 - - - - 1 - - 0 - 3 8 1.2 - - - - 10.1 .1 2.4 - - - - - - - 10.1 .1 2.4 - - - - - - 0 - 3 -2 1.2 - - - - 10.1 .1 2.4 - - - - - - - 10.1 .1 2.4 - - - - - - 0 - 8 3 1.2 - - - - .1 9.9 2.4 - - - - - - - .1 9.9 2.4 - - - - - - 0 - -2 3 1.2 - - - - .1 9.9 2.4 - - - - - - - .1 9.9 2.4 - - - - - - - 1 - - 1 -2 1 0 0 1.5707963267949 - - - 0.1 0 0 0 0 0 - - - - 270 - 1 - -2.3561944901923 - 2.3561944901923 - - - - 0.05 - 10 - 0.05 - - - 1 - 10 - true - - - - /lidar_1 - --ros-args --remap ~/out:=scan - - sensor_msgs/PointCloud2 - - - - - - 1 - - -1.9 1 1 0 0 - - - - - - 270 - 1 - -2.3561944901923 - 2.3561944901923 - - - - 0.05 - 10 - 0.05 - - - 1 - 10 - true - - - - /lidar_2 - /lidar_2_link - --ros-args --remap ~/out:=scan - - sensor_msgs/PointCloud2 - - - - - - 1 - - - - - 0 0 1 - 100 100 - - - - - 65535 - - - - - 100 - 50 - - - - - - - - 10 - - - 0 - - - 0 0 1 - 100 100 - - - - - - - 0 - 0 - 0 - - - - 0 1 1.25 0 0 0 - - - walk.dae - 1.0 - - - walk.dae - 1.000000 - true - - - 2 2 1 - 1.15 - 1.8 - 5.1 - - ground_plane - - - - 0 0 -9.8 - 6e-06 2.3e-05 -4.2e-05 - - - 0.001 - 1 - 1000 - - - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - 1 - - - - EARTH_WGS84 - 0 - 0 - 0 - 0 - - - 21 655000000 - 21 863005214 - 1644846646 70909467 - 21655 - - 0 0 0 0 -0 0 - 1 1 1 - - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - 0 0 10 0 -0 0 - - - - - 5 -5 2 0 0.275643 2.35619 - orbit - perspective - - - - - /demo - model_states:=model_states_demo - - 1.0 - - - diff --git a/src/ign_world/launch/gazebo_controller_launch.py b/src/ign_world/launch/gazebo_controller_launch.py index 7f7082a..11cbb15 100644 --- a/src/ign_world/launch/gazebo_controller_launch.py +++ b/src/ign_world/launch/gazebo_controller_launch.py @@ -9,7 +9,7 @@ from moveit_configs_utils import MoveItConfigsBuilder import xacro def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config_2").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs() load_joint_state_broadcaster = ExecuteProcess( cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'joint_state_broadcaster'], @@ -27,7 +27,7 @@ def generate_launch_description(): arguments=[ '-name', 'iisy', '-allow_renaming', 'true', - '-string', xacro.process(os.path.join(get_package_share_directory('iisy_config_2'), 'config', 'iisy.urdf.xacro')), + '-string', xacro.process(os.path.join(get_package_share_directory('iisy_config'), 'config', 'iisy.urdf.xacro')), ], output='screen' ) diff --git a/src/ign_world/launch/new_launch.py b/src/ign_world/launch/new_launch.py index 2d26641..1e545b8 100644 --- a/src/ign_world/launch/new_launch.py +++ b/src/ign_world/launch/new_launch.py @@ -8,7 +8,7 @@ from moveit_configs_utils import MoveItConfigsBuilder from xacro import process as xacro_process def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config_2").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs() return LaunchDescription([ SetParameter(name="use_sim_time", value=True), @@ -43,7 +43,7 @@ def generate_launch_description(): #Node( # package='ros_gz_sim', # executable='create', - # arguments=['-world', 'default', '-string', xacro_process(os.path.join(get_package_share_directory('iisy_config_2'), 'config', 'iisy_xacro.urdf'))], + # arguments=['-world', 'default', '-string', xacro_process(os.path.join(get_package_share_directory('iisy_config'), 'config', 'iisy_xacro.urdf'))], # output='screen' #), diff --git a/src/iisy_config/.setup_assistant b/src/iisy_config/.setup_assistant index 696bae9..65c2a29 100644 --- a/src/iisy_config/.setup_assistant +++ b/src/iisy_config/.setup_assistant @@ -1,11 +1,25 @@ moveit_setup_assistant_config: - URDF: - package: gaz_simulation - relative_path: urdf/iisy.urdf - xacro_args: "" - SRDF: + urdf: + package: iisy_config + relative_path: config/iisy.urdf + srdf: relative_path: config/iisy.srdf - CONFIG: - author_name: bastian - author_email: bastian.hofmann@xitaso.com - generated_timestamp: 1647313439 \ No newline at end of file + package_settings: + author_name: Bastian Hofmann + author_email: bhogm4@gmail.com + generated_timestamp: 1677166762 + control_xacro: + command: + - position + state: + - position + - velocity + modified_urdf: + xacros: + - control_xacro + control_xacro: + command: + - position + state: + - position + - velocity \ No newline at end of file diff --git a/src/iisy_config/CMakeLists.txt b/src/iisy_config/CMakeLists.txt index 17b2138..b35f29b 100644 --- a/src/iisy_config/CMakeLists.txt +++ b/src/iisy_config/CMakeLists.txt @@ -1,30 +1,12 @@ -cmake_minimum_required(VERSION 3.8) +cmake_minimum_required(VERSION 3.22) 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( REQUIRED) - -install( - DIRECTORY config launch srdf stl urdf - DESTINATION share/${PROJECT_NAME} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # uncomment the line when a copyright and license is not present in all source files - #set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # uncomment the line when this package is not in a git repo - #set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() ament_package() + +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY stl DESTINATION share/${PROJECT_NAME}) +install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) diff --git a/src/iisy_config/config/config.rviz b/src/iisy_config/config/config.rviz deleted file mode 100644 index 1be2d1c..0000000 --- a/src/iisy_config/config/config.rviz +++ /dev/null @@ -1,384 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 212 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz_common/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - lbr_link_0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_ee: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Acceleration_Scaling_Factor: 0.1 - Class: moveit_rviz_plugin/MotionPlanning - Enabled: true - Move Group Namespace: "" - MoveIt_Allow_Approximate_IK: false - MoveIt_Allow_External_Program: false - MoveIt_Allow_Replanning: false - MoveIt_Allow_Sensor_Positioning: false - MoveIt_Planning_Attempts: 10 - MoveIt_Planning_Time: 5 - MoveIt_Use_Cartesian_Path: false - MoveIt_Use_Constraint_Aware_IK: false - MoveIt_Warehouse_Host: 127.0.0.1 - MoveIt_Warehouse_Port: 33829 - MoveIt_Workspace: - Center: - X: 0 - Y: 0 - Z: 0 - Size: - X: 2 - Y: 2 - Z: 2 - Name: MotionPlanning - Planned Path: - Color Enabled: false - Interrupt Display: false - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - lbr_link_0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_ee: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Loop Animation: false - Robot Alpha: 0.5 - Robot Color: 150; 50; 150 - Show Robot Collision: false - Show Robot Visual: true - Show Trail: false - State Display Time: 0.05 s - Trail Step Size: 1 - Trajectory Topic: /display_planned_path - Planning Metrics: - Payload: 1 - Show Joint Torques: false - Show Manipulability: false - Show Manipulability Index: false - Show Weight Limit: false - TextHeight: 0.07999999821186066 - Planning Request: - Colliding Link Color: 255; 0; 0 - Goal State Alpha: 1 - Goal State Color: 250; 128; 0 - Interactive Marker Size: 0 - Joint Violation Color: 255; 0; 255 - Planning Group: med7_arm - Query Goal State: true - Query Start State: false - Show Workspace: false - Start State Alpha: 1 - Start State Color: 0; 255; 0 - Planning Scene Topic: /monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 0.8999999761581421 - Scene Color: 50; 230; 50 - Scene Display Time: 0.009999999776482582 - Show Scene Geometry: true - Voxel Coloring: Z-Axis - Voxel Rendering: Occupied Voxels - Scene Robot: - Attached Body Color: 150; 50; 150 - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - lbr_link_0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lbr_link_ee: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: true - Velocity_Scaling_Factor: 0.01 - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 2.398728847503662 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.056836556643247604 - Y: -0.0032705869525671005 - Z: 0.7173376083374023 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.5103980898857117 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.248579978942871 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1016 - Hide Left Dock: false - Hide Right Dock: true - MotionPlanning: - collapsed: false - MotionPlanning - Trajectory Slider: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001f30000032afc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000111000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000154000002130000017d00ffffff000000010000010000000280fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000280000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000006efc0100000002fb0000000800540069006d00650100000000000007380000005800fffffffb0000000800540069006d006501000000000000045000000000000000000000053f0000032a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1848 - X: 0 - Y: 27 diff --git a/src/iisy_config_2/config/iisy.ros2_control.xacro b/src/iisy_config/config/iisy.ros2_control.xacro similarity index 96% rename from src/iisy_config_2/config/iisy.ros2_control.xacro rename to src/iisy_config/config/iisy.ros2_control.xacro index b18f164..990efd1 100644 --- a/src/iisy_config_2/config/iisy.ros2_control.xacro +++ b/src/iisy_config/config/iisy.ros2_control.xacro @@ -5,7 +5,7 @@ - $(find iisy_config_2)/config/ros2_controllers.yaml + $(find iisy_config)/config/ros2_controllers.yaml diff --git a/src/iisy_config_2/config/iisy.srdf b/src/iisy_config/config/iisy.srdf similarity index 100% rename from src/iisy_config_2/config/iisy.srdf rename to src/iisy_config/config/iisy.srdf diff --git a/src/iisy_config_2/config/iisy.urdf b/src/iisy_config/config/iisy.urdf similarity index 100% rename from src/iisy_config_2/config/iisy.urdf rename to src/iisy_config/config/iisy.urdf diff --git a/src/iisy_config_2/config/iisy.urdf.xacro b/src/iisy_config/config/iisy.urdf.xacro similarity index 85% rename from src/iisy_config_2/config/iisy.urdf.xacro rename to src/iisy_config/config/iisy.urdf.xacro index e905a2f..5f90f71 100644 --- a/src/iisy_config_2/config/iisy.urdf.xacro +++ b/src/iisy_config/config/iisy.urdf.xacro @@ -3,7 +3,7 @@ - + diff --git a/src/iisy_config/config/iisy_controllers.yml b/src/iisy_config/config/iisy_controllers.yml deleted file mode 100644 index 00686b1..0000000 --- a/src/iisy_config/config/iisy_controllers.yml +++ /dev/null @@ -1,27 +0,0 @@ -# see controllers: http://control.ros.org/ros2_controllers/doc/controllers_index.html -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster # if left empty, all states are published https://github.com/ros-controls/ros2_controllers/blob/b9afbcd74a5263fafa77181187b8ffa8f0696ea8/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp#L41 - - joint_trajectory_controller: - # find declaration here https://github.com/ros-controls/ros2_controllers/blob/b9afbcd74a5263fafa77181187b8ffa8f0696ea8/joint_trajectory_controller/joint_trajectory_plugin.xml#L2 - type: joint_trajectory_controller/JointTrajectoryController - -joint_trajectory_controller: - ros__parameters: - # find required parameters here https://github.com/ros-controls/ros2_controllers/blob/master/joint_trajectory_controller/src/joint_trajectory_controller.cpp - joints: - - base_rot - - base_link1_joint - - link1_link2_joint - - link2_rot - - link2_link3_joint - - link3_rot - command_interfaces: - - position - state_interfaces: - - position - - velocity diff --git a/src/iisy_config/config/iisy_gazebo_controllers.yml b/src/iisy_config/config/iisy_gazebo_controllers.yml deleted file mode 100644 index b1e0ad9..0000000 --- a/src/iisy_config/config/iisy_gazebo_controllers.yml +++ /dev/null @@ -1,7 +0,0 @@ -# see controllers: http://control.ros.org/ros2_controllers/doc/controllers_index.html -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - - joint_state_controller: - type: joint_state_controller/JointStateController # if left empty, all states are published https://github.com/ros-controls/ros2_controllers/blob/b9afbcd74a5263fafa77181187b8ffa8f0696ea8/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp#L41 \ No newline at end of file diff --git a/src/iisy_config/config/iisy_moveit_controllers.yml b/src/iisy_config/config/iisy_moveit_controllers.yml deleted file mode 100644 index 6f45afe..0000000 --- a/src/iisy_config/config/iisy_moveit_controllers.yml +++ /dev/null @@ -1,14 +0,0 @@ -controller_names: - - joint_trajectory_controller - -# http://control.ros.org/ros2_controllers/joint_trajectory_controller/doc/userdoc.html#ros2-interface-of-the-controller -joint_trajectory_controller: - type: FollowJointTrajectory - default: true - joints: - - base_rot - - base_link1_joint - - link1_link2_joint - - link2_rot - - link2_link3_joint - - link3_rot diff --git a/src/iisy_config_2/config/initial_positions.yaml b/src/iisy_config/config/initial_positions.yaml similarity index 100% rename from src/iisy_config_2/config/initial_positions.yaml rename to src/iisy_config/config/initial_positions.yaml diff --git a/src/iisy_config_2/config/joint_limits.yaml b/src/iisy_config/config/joint_limits.yaml similarity index 100% rename from src/iisy_config_2/config/joint_limits.yaml rename to src/iisy_config/config/joint_limits.yaml diff --git a/src/iisy_config_2/config/kinematics.yaml b/src/iisy_config/config/kinematics.yaml similarity index 100% rename from src/iisy_config_2/config/kinematics.yaml rename to src/iisy_config/config/kinematics.yaml diff --git a/src/iisy_config/config/kinematics.yml b/src/iisy_config/config/kinematics.yml deleted file mode 100644 index 21e35d5..0000000 --- a/src/iisy_config/config/kinematics.yml +++ /dev/null @@ -1,4 +0,0 @@ -iisy: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 \ No newline at end of file diff --git a/src/iisy_config_2/config/moveit.rviz b/src/iisy_config/config/moveit.rviz similarity index 100% rename from src/iisy_config_2/config/moveit.rviz rename to src/iisy_config/config/moveit.rviz diff --git a/src/iisy_config_2/config/moveit_controllers.yaml b/src/iisy_config/config/moveit_controllers.yaml similarity index 100% rename from src/iisy_config_2/config/moveit_controllers.yaml rename to src/iisy_config/config/moveit_controllers.yaml diff --git a/src/iisy_config/config/ompl_planning.yml b/src/iisy_config/config/ompl_planning.yml deleted file mode 100644 index ff4e5b3..0000000 --- a/src/iisy_config/config/ompl_planning.yml +++ /dev/null @@ -1,157 +0,0 @@ -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 diff --git a/src/iisy_config_2/config/pilz_cartesian_limits.yaml b/src/iisy_config/config/pilz_cartesian_limits.yaml similarity index 100% rename from src/iisy_config_2/config/pilz_cartesian_limits.yaml rename to src/iisy_config/config/pilz_cartesian_limits.yaml diff --git a/src/iisy_config_2/config/ros2_controllers.yaml b/src/iisy_config/config/ros2_controllers.yaml similarity index 100% rename from src/iisy_config_2/config/ros2_controllers.yaml rename to src/iisy_config/config/ros2_controllers.yaml diff --git a/src/iisy_config/config/sensors_3d.yml b/src/iisy_config/config/sensors_3d.yml deleted file mode 100644 index a8343dd..0000000 --- a/src/iisy_config/config/sensors_3d.yml +++ /dev/null @@ -1,9 +0,0 @@ -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 \ No newline at end of file diff --git a/src/iisy_config/launch/debug.launch.py b/src/iisy_config/launch/debug.launch.py deleted file mode 100644 index 5274ccf..0000000 --- a/src/iisy_config/launch/debug.launch.py +++ /dev/null @@ -1,57 +0,0 @@ -import os -from launch.launch_description import LaunchDescription -from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, SetEnvironmentVariable, UnsetEnvironmentVariable -from launch.substitutions import PathJoinSubstitution, LaunchConfiguration -from launch_ros.substitutions import FindPackageShare -from launch_ros.actions import Node -from launch.launch_description_sources import PythonLaunchDescriptionSource - - -def generate_launch_description(): - package_name = "gaz_simulation" - pkg_gazebo_ros = FindPackageShare('gaz_simulation').find('gaz_simulation') - path = FindPackageShare(package=package_name).find(package_name) - world_path = os.path.join(path, "world/test2.xml") - - # Note: Environment variable GAZEBO_MODEL_PATH is extended as in - # ROS2 control demos via environment hook https://github.com/ros-controls/ros2_control_demos/tree/master/ros2_control_demo_description/rrbot_description - # Also see https://colcon.readthedocs.io/en/released/developer/environment.html#dsv-files - # Gazebo launch scripts append GAZEBO_MODEL_PATH with known paths, see https://github.com/ros-simulation/gazebo_ros_pkgs/blob/ab1ae5c05eda62674b36df74eb3be8c93cdc8761/gazebo_ros/launch/gzclient.launch.py#L26 - #spawn_entity = Node( - # package="gazebo_ros", - # executable="spawn_entity.py", - # arguments=[ - # "-topic", "robot_description", - # "-entity", "iisy" - # ], - # output="screen" - #) - - bringup = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution([ - FindPackageShare("iisy_config"), - "launch", - "lbr_bringup.launch.py" - ]) - ), - ) - - return LaunchDescription([ - SetEnvironmentVariable(name='LIBGL_ALWAYS_SOFTWARE', value='true'), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')), - launch_arguments={'world': world_path}.items() - ), - - UnsetEnvironmentVariable(name='LIBGL_ALWAYS_SOFTWARE'), - - # Start Gazebo client - IncludeLaunchDescription( - PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')) - ), - - #spawn_entity, - bringup, - ]) \ No newline at end of file diff --git a/src/iisy_config_2/launch/demo.launch.py b/src/iisy_config/launch/demo.launch.py similarity index 88% rename from src/iisy_config_2/launch/demo.launch.py rename to src/iisy_config/launch/demo.launch.py index ef97431..7f76614 100644 --- a/src/iisy_config_2/launch/demo.launch.py +++ b/src/iisy_config/launch/demo.launch.py @@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_demo_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config_2").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs() return generate_demo_launch(moveit_config) diff --git a/src/iisy_config/launch/lbr_bringup.launch.py b/src/iisy_config/launch/lbr_bringup.launch.py deleted file mode 100644 index 41b3846..0000000 --- a/src/iisy_config/launch/lbr_bringup.launch.py +++ /dev/null @@ -1,78 +0,0 @@ -from launch.actions.declare_launch_argument import DeclareLaunchArgument -from launch.launch_description import LaunchDescription -from launch.actions import IncludeLaunchDescription, OpaqueFunction -from launch.conditions import IfCondition -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution -from launch.substitutions.launch_configuration import LaunchConfiguration -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare -from launch.launch_description_sources import PythonLaunchDescriptionSource - - -def launch_setup(context, *args, **kwargs): - - # Load robot description - robot_description_content = Command( - [ - FindExecutable(name="xacro"), " ", - PathJoinSubstitution( - [FindPackageShare("iisy_config"), "urdf/iisy.urdf"] - ), " ", - "robot_name:=", "iisy", " ", - "sim:=", "true" - ] - ) - - # Load controls - control = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution([ - FindPackageShare("iisy_config"), - "launch", - "lbr_control.launch.py" - ]) - ), launch_arguments=[ - ("robot_description", robot_description_content) - ] - ) - - # Gazebo simulation - #simulation = IncludeLaunchDescription( - # PythonLaunchDescriptionSource( - # PathJoinSubstitution([ - # FindPackageShare("iisy_config"), - # "launch", - # "lbr_simulation.launch.py" - # ]) - # ), - #) - - # Move group - move_group = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution([ - FindPackageShare("iisy_config"), - "launch", - "lbr_move_group.launch.py" - ]) - ), - launch_arguments=[ - ("robot_description", robot_description_content) - ] - ) - - return [ - #simulation, - control, - move_group - ] - - -def generate_launch_description(): - - # Launch arguments - launch_args = [] - - return LaunchDescription([ - OpaqueFunction(function=launch_setup) - ]) diff --git a/src/iisy_config/launch/lbr_control.launch.py b/src/iisy_config/launch/lbr_control.launch.py deleted file mode 100644 index 9733c6d..0000000 --- a/src/iisy_config/launch/lbr_control.launch.py +++ /dev/null @@ -1,50 +0,0 @@ -from launch.launch_description import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.conditions import UnlessCondition -from launch.substitutions import PathJoinSubstitution, LaunchConfiguration -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - # Launch arguments - launch_args = [DeclareLaunchArgument( - name="robot_description", - description="Robot description XML file." - )] - - # Configure robot_description - robot_description = {"robot_description": LaunchConfiguration("robot_description")} - - # Load controllers from YAML configuration file - controller_configurations = PathJoinSubstitution([ - FindPackageShare("iisy_config"), - "config/iisy_controllers.yml" - ]) - - robot_state_publisher = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - output="screen", - parameters=[robot_description] - ) - - joint_state_broadcaster = Node( - package="controller_manager", - executable="spawner", - arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"], - ) - - controller = Node( - package="controller_manager", - executable="spawner", - arguments=["position_trajectory_controller", "--controller-manager", "/controller_manager"], - ) - - return LaunchDescription( - launch_args + [ - robot_state_publisher, - joint_state_broadcaster, - controller - ] - ) diff --git a/src/iisy_config/launch/lbr_move_group.launch.py b/src/iisy_config/launch/lbr_move_group.launch.py deleted file mode 100644 index c083042..0000000 --- a/src/iisy_config/launch/lbr_move_group.launch.py +++ /dev/null @@ -1,183 +0,0 @@ -import os -import yaml - -import traceback - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, OpaqueFunction, TimerAction -from launch.substitutions import LaunchConfiguration, PathJoinSubstitution -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - -from ament_index_python import get_package_share_directory - - -def load_yaml(package_name: str, file_path: str): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - with open(absolute_file_path, "r") as f: - return yaml.safe_load(f) - except EnvironmentError as error: - print("Error loading yaml "+package_name+" | "+file_path) - traceback.print_exc() - return None - - -def load_file(package_name: str, file_path: str) -> str: - package_path = get_package_share_directory(package_name) - absolut_file_path = os.path.join(package_path, file_path) - - try: - with open(absolut_file_path, "r") as f: - return f.read() - except EnvironmentError: - print("Error loading file "+package_name+" | "+file_path) - traceback.print_exc() - return None - - -def launch_setup(context, *args, **kwargs): - - # Configure robot_description - robot_description = {"robot_description": LaunchConfiguration("robot_description")} - - # Robot semantics SRDF - robot_description_semantic = { - "robot_description_semantic": load_file("iisy_config", "srdf/iisy.srdf") - } - - # Kinematics - kinematics_yaml = load_yaml("iisy_config", "config/kinematics.yml") - - # Update group name - #kinematics_yaml["{}_arm".format(model)] = kinematics_yaml["group_name"] - #del kinematics_yaml["group_name"] - - # Joint limits - robot_description_planning = { - "robot_description_planning": PathJoinSubstitution( - [ - FindPackageShare("iisy_config"), - "config/joint_limits.yml" - ] - ) - } - - # Planning - ompl_yaml = load_yaml("iisy_config", "config/ompl_planning.yml") - - planning = { - "move_group": { - "planning_plugin": "ompl_interface/OMPLPlanner", - "request_adapters": "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", - "start_state_max_bounds_error": 0.1 - } - } - - # Trajectory execution - trajectory_execution = {"allow_trajectory_execution": True, - "moveit_manage_controllers": True} - - # Controllers - controllers_yaml = load_yaml( - "iisy_config", - "config/iisy_moveit_controllers.yml" - ) - - moveit_controllers = {"moveit_simple_controller_manager": controllers_yaml, - "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"} - - # Planning scene - planning_scene_monitor_parameters = {"publish_planning_scene": True, - "publish_geometry_updates": True, - "publish_state_updates": True, - "publish_transforms_updates": True} - - # Time configuration - 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( - package="moveit_ros_move_group", - executable="move_group", - output="screen", - arguments=["--ros-args"], - parameters=[ - robot_description, - robot_description_semantic, - kinematics_yaml, - robot_description_planning, - ompl_yaml, - planning, - trajectory_execution, - moveit_controllers, - planning_scene_monitor_parameters, - use_sim_time, - perception_pipeline - ] - ) - - # RViz - rviz_config = PathJoinSubstitution([FindPackageShare("iisy_config"), "config/config.rviz"]) - - rviz = Node( - package="rviz2", - executable="rviz2", - parameters=[ - robot_description, - robot_description_semantic, - kinematics_yaml, - planning, - use_sim_time - ], - arguments=[ - '-d', rviz_config - ] - ) - - # MoveGroupInterface demo executable - move_group_demo = Node( - name="btree_nodes", - package="btree_nodes", - executable="tree", - output="screen", - parameters=[ - robot_description, - robot_description_semantic, - kinematics_yaml, - planning, - use_sim_time - ], - ) - - return [ - move_group_node, - rviz, - TimerAction( - period=10.0, - actions=[ - move_group_demo - ] - ) - ] - -def generate_launch_description(): - - # Launch arguments - launch_args = [] - - launch_args.append( - DeclareLaunchArgument( - name="robot_description", - description="Robot description XML file." - ) - ) - - return LaunchDescription( - launch_args + [ - OpaqueFunction(function=launch_setup) - ]) diff --git a/src/iisy_config/launch/lbr_simulation.launch.py b/src/iisy_config/launch/lbr_simulation.launch.py deleted file mode 100644 index bbb1a6e..0000000 --- a/src/iisy_config/launch/lbr_simulation.launch.py +++ /dev/null @@ -1,39 +0,0 @@ -from launch.launch_description import LaunchDescription -from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument -from launch.substitutions import PathJoinSubstitution, LaunchConfiguration -from launch_ros.substitutions import FindPackageShare -from launch_ros.actions import Node -from launch.launch_description_sources import PythonLaunchDescriptionSource - - -def generate_launch_description(): - # Launch Gazebo - gazebo = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - PathJoinSubstitution([ - FindPackageShare("gazebo_ros"), - "launch", - "gazebo.launch.py" - ]) - ) - ) - - # Note: Environment variable GAZEBO_MODEL_PATH is extended as in - # ROS2 control demos via environment hook https://github.com/ros-controls/ros2_control_demos/tree/master/ros2_control_demo_description/rrbot_description - # Also see https://colcon.readthedocs.io/en/released/developer/environment.html#dsv-files - # Gazebo launch scripts append GAZEBO_MODEL_PATH with known paths, see https://github.com/ros-simulation/gazebo_ros_pkgs/blob/ab1ae5c05eda62674b36df74eb3be8c93cdc8761/gazebo_ros/launch/gzclient.launch.py#L26 - - #spawn_entity = Node( - # package="gazebo_ros", - # executable="spawn_entity.py", - # arguments=[ - # "-topic", "robot_description", - # "-entity", "iisy" - # ], - # output="screen" - #) - - return LaunchDescription([ - gazebo, - #spawn_entity - ]) diff --git a/src/iisy_config_2/launch/move_group.launch.py b/src/iisy_config/launch/move_group.launch.py similarity index 88% rename from src/iisy_config_2/launch/move_group.launch.py rename to src/iisy_config/launch/move_group.launch.py index 6b257c5..c687844 100644 --- a/src/iisy_config_2/launch/move_group.launch.py +++ b/src/iisy_config/launch/move_group.launch.py @@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_move_group_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config_2").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs() return generate_move_group_launch(moveit_config) diff --git a/src/iisy_config/launch/moveit.rviz b/src/iisy_config/launch/moveit.rviz deleted file mode 100644 index 6d87444..0000000 --- a/src/iisy_config/launch/moveit.rviz +++ /dev/null @@ -1,131 +0,0 @@ -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: - 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 diff --git a/src/iisy_config_2/launch/moveit_rviz.launch.py b/src/iisy_config/launch/moveit_rviz.launch.py similarity index 88% rename from src/iisy_config_2/launch/moveit_rviz.launch.py rename to src/iisy_config/launch/moveit_rviz.launch.py index 872ed17..cc581b5 100644 --- a/src/iisy_config_2/launch/moveit_rviz.launch.py +++ b/src/iisy_config/launch/moveit_rviz.launch.py @@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_moveit_rviz_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config_2").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs() return generate_moveit_rviz_launch(moveit_config) diff --git a/src/iisy_config_2/launch/rsp.launch.py b/src/iisy_config/launch/rsp.launch.py similarity index 88% rename from src/iisy_config_2/launch/rsp.launch.py rename to src/iisy_config/launch/rsp.launch.py index 9f63bae..76ea0fa 100644 --- a/src/iisy_config_2/launch/rsp.launch.py +++ b/src/iisy_config/launch/rsp.launch.py @@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_rsp_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config_2").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs() return generate_rsp_launch(moveit_config) diff --git a/src/iisy_config_2/launch/setup_assistant.launch.py b/src/iisy_config/launch/setup_assistant.launch.py similarity index 89% rename from src/iisy_config_2/launch/setup_assistant.launch.py rename to src/iisy_config/launch/setup_assistant.launch.py index 25bac44..b0a0b76 100644 --- a/src/iisy_config_2/launch/setup_assistant.launch.py +++ b/src/iisy_config/launch/setup_assistant.launch.py @@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_setup_assistant_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config_2").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs() return generate_setup_assistant_launch(moveit_config) diff --git a/src/iisy_config_2/launch/spawn_controllers.launch.py b/src/iisy_config/launch/spawn_controllers.launch.py similarity index 89% rename from src/iisy_config_2/launch/spawn_controllers.launch.py rename to src/iisy_config/launch/spawn_controllers.launch.py index 613edbc..4fdd985 100644 --- a/src/iisy_config_2/launch/spawn_controllers.launch.py +++ b/src/iisy_config/launch/spawn_controllers.launch.py @@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_spawn_controllers_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config_2").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs() return generate_spawn_controllers_launch(moveit_config) diff --git a/src/iisy_config_2/launch/static_virtual_joint_tfs.launch.py b/src/iisy_config/launch/static_virtual_joint_tfs.launch.py similarity index 89% rename from src/iisy_config_2/launch/static_virtual_joint_tfs.launch.py rename to src/iisy_config/launch/static_virtual_joint_tfs.launch.py index b7198de..46a7666 100644 --- a/src/iisy_config_2/launch/static_virtual_joint_tfs.launch.py +++ b/src/iisy_config/launch/static_virtual_joint_tfs.launch.py @@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_laun def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config_2").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs() return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/src/iisy_config/launch/view_robot.launch.py b/src/iisy_config/launch/view_robot.launch.py deleted file mode 100644 index c9e6c42..0000000 --- a/src/iisy_config/launch/view_robot.launch.py +++ /dev/null @@ -1,93 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration - -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -# for reference see -# https://github.com/ros-controls/ros2_control_demos/tree/master/ros2_control_demo_description/rrbot_description -def generate_launch_description(): - - # Launch arguments - launch_args = [] - - launch_args.append(DeclareLaunchArgument( - name='description_package', - default_value='iisy_config', - description='Description package.' - )) - - launch_args.append(DeclareLaunchArgument( - name='description_file', - default_value='urdf/iisy.urdf', - description='Path to URDF file, relative to description_package.' - )) - - launch_args.append(DeclareLaunchArgument( - name='rviz_config', - default_value='config/config.rviz', - description='Rviz configuration relative to description_package.' - )) - - launch_args.append(DeclareLaunchArgument( - name='robot_name', - default_value='iisy', - description='Set robot name.' - )) - - launch_args.append(DeclareLaunchArgument( - name='origin_xyz', - default_value="'0 0 0'", - description='Set position origin of robot.' - )) - - launch_args.append(DeclareLaunchArgument( - name='origin_rpy', - default_value="'0 0 0'", - description='Set orientation origin of robot.' - )) - - # Load robot description - robot_description_content = Command( - [ - FindExecutable(name="xacro"), " ", - PathJoinSubstitution( - [FindPackageShare(LaunchConfiguration('description_package')), LaunchConfiguration('description_file')] - ), " ", - "origin_xyz:=", LaunchConfiguration('origin_xyz'), " ", - "origin_rpy:=", LaunchConfiguration('origin_rpy'), " ", - "robot_name:=", LaunchConfiguration('robot_name') - ] - ) - - robot_description = {'robot_description': robot_description_content} - - # Create required nodes - joint_state_publisher_node = Node( - package="joint_state_publisher_gui", - executable="joint_state_publisher_gui", - ) - robot_state_publisher_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - output="both", - parameters=[robot_description], - ) - rviz = Node( - package='rviz2', - executable='rviz2', - parameters=[{'config': PathJoinSubstitution( - [FindPackageShare(LaunchConfiguration('description_package')), LaunchConfiguration('rviz_config')] - )}] - ) - - return LaunchDescription( - launch_args + - [ - joint_state_publisher_node, - robot_state_publisher_node, - rviz - ] - ) diff --git a/src/iisy_config_2/launch/warehouse_db.launch.py b/src/iisy_config/launch/warehouse_db.launch.py similarity index 88% rename from src/iisy_config_2/launch/warehouse_db.launch.py rename to src/iisy_config/launch/warehouse_db.launch.py index 9189152..22f4d24 100644 --- a/src/iisy_config_2/launch/warehouse_db.launch.py +++ b/src/iisy_config/launch/warehouse_db.launch.py @@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_warehouse_db_launch def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config_2").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs() return generate_warehouse_db_launch(moveit_config) diff --git a/src/iisy_config/package.xml b/src/iisy_config/package.xml index c29adac..b660729 100644 --- a/src/iisy_config/package.xml +++ b/src/iisy_config/package.xml @@ -6,41 +6,46 @@ An automatically generated package with all the configuration and launch files for using the iisy with the MoveIt Motion Planning Framework - bastian - bastian + Bastian Hofmann BSD http://moveit.ros.org/ - https://github.com/ros-planning/moveit/issues - https://github.com/ros-planning/moveit + https://github.com/ros-planning/moveit2/issues + https://github.com/ros-planning/moveit2 + + Bastian Hofmann ament_cmake - rclcpp - moveit_ros_move_group - - moveit_kinematics - moveit_planners_ompl - moveit_ros_visualization - moveit_setup_assistant - moveit_simple_controller_manager - joint_state_publisher - joint_state_publisher_gui - robot_state_publisher - rviz2 - tf2_ros - xacro + moveit_ros_move_group + moveit_kinematics + moveit_planners + moveit_simple_controller_manager + joint_state_publisher + joint_state_publisher_gui + tf2_ros + xacro - - - - - gaz_simulation - - - ament_cmake - + + + controller_manager + moveit_configs_utils + moveit_ros_move_group + moveit_ros_visualization + moveit_ros_warehouse + moveit_setup_assistant + robot_state_publisher + rviz2 + rviz_common + rviz_default_plugins + tf2_ros + warehouse_ros_mongo + xacro + + + ament_cmake + diff --git a/src/iisy_config/srdf/iisy.srdf b/src/iisy_config/srdf/iisy.srdf deleted file mode 100644 index 620e842..0000000 --- a/src/iisy_config/srdf/iisy.srdf +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/iisy_config/urdf/iisy.urdf b/src/iisy_config/urdf/iisy.urdf deleted file mode 100644 index 4f1ea1d..0000000 --- a/src/iisy_config/urdf/iisy.urdf +++ /dev/null @@ -1,378 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - - - ign_ros2_control/IgnitionSystem - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - $(find iisy_config)/config/iisy_controllers.yml - - - - lsl - 0.2 - 0.2 - Gazebo/Orange - - - - 0.2 - 0.2 - Gazebo/Orange - - - - 0.2 - 0.2 - Gazebo/Orange - - - - 0.2 - 0.2 - Gazebo/Orange - - - - 0.2 - 0.2 - Gazebo/Orange - - - - 0.2 - 0.2 - Gazebo/Orange - - - - 0.2 - 0.2 - Gazebo/Grey - - - \ No newline at end of file diff --git a/src/iisy_config/urdf/iisy_xacro.urdf b/src/iisy_config/urdf/iisy_xacro.urdf deleted file mode 100644 index 64b5809..0000000 --- a/src/iisy_config/urdf/iisy_xacro.urdf +++ /dev/null @@ -1,397 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - hardware_interface/EffortJointInterface - 1 - - - - - ign_ros2_control/IgnitionSystem - - - - - - - - - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - - /home/ros/workspace/install/iisy_config/share/iisy_config/config/iisy_controllers.yml - - - - 0.2 - 0.2 - Gazebo/Orange - - - 0.2 - 0.2 - Gazebo/Orange - - - 0.2 - 0.2 - Gazebo/Orange - - - 0.2 - 0.2 - Gazebo/Orange - - - 0.2 - 0.2 - Gazebo/Orange - - - 0.2 - 0.2 - Gazebo/Orange - - - 0.2 - 0.2 - Gazebo/Grey - - diff --git a/src/iisy_config_2/.setup_assistant b/src/iisy_config_2/.setup_assistant deleted file mode 100644 index b3e2a02..0000000 --- a/src/iisy_config_2/.setup_assistant +++ /dev/null @@ -1,25 +0,0 @@ -moveit_setup_assistant_config: - urdf: - package: iisy_config_2 - relative_path: config/iisy.urdf - srdf: - relative_path: config/iisy.srdf - package_settings: - author_name: Bastian Hofmann - author_email: bhogm4@gmail.com - generated_timestamp: 1677166762 - control_xacro: - command: - - position - state: - - position - - velocity - modified_urdf: - xacros: - - control_xacro - control_xacro: - command: - - position - state: - - position - - velocity \ No newline at end of file diff --git a/src/iisy_config_2/CMakeLists.txt b/src/iisy_config_2/CMakeLists.txt deleted file mode 100644 index 733207e..0000000 --- a/src/iisy_config_2/CMakeLists.txt +++ /dev/null @@ -1,11 +0,0 @@ -cmake_minimum_required(VERSION 3.22) -project(iisy_config_2) - -find_package(ament_cmake REQUIRED) - -ament_package() - -install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} - PATTERN "setup_assistant.launch" EXCLUDE) -install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) -install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) diff --git a/src/iisy_config_2/package.xml b/src/iisy_config_2/package.xml deleted file mode 100644 index 84e7ffd..0000000 --- a/src/iisy_config_2/package.xml +++ /dev/null @@ -1,52 +0,0 @@ - - - - iisy_config_2 - 0.3.0 - - An automatically generated package with all the configuration and launch files for using the iisy with the MoveIt Motion Planning Framework - - Bastian Hofmann - - BSD - - http://moveit.ros.org/ - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 - - Bastian Hofmann - - ament_cmake - - moveit_ros_move_group - moveit_kinematics - moveit_planners - moveit_simple_controller_manager - joint_state_publisher - joint_state_publisher_gui - tf2_ros - xacro - - - - controller_manager - iisy_config - moveit_configs_utils - moveit_ros_move_group - moveit_ros_visualization - moveit_ros_warehouse - moveit_setup_assistant - robot_state_publisher - rviz2 - rviz_common - rviz_default_plugins - tf2_ros - warehouse_ros_mongo - xacro - - - - ament_cmake - -