Removed old project files
This commit is contained in:
Bastian Hofmann
parent
62dc1236f8
commit
b682211369
@ -1,28 +0,0 @@
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cmake_minimum_required(VERSION 3.8)
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project(gaz_simulation)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY world DESTINATION share/${PROJECT_NAME})
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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@ -1,16 +0,0 @@
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#!/usr/bin/lua
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io.write("Radius: ")
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local radius=io.read("*line")
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io.write("Height: ")
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local height=io.read("*line")
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io.write("Weight: ")
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local weight=io.read("*line")
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local ix_and_y=(1/12)*weight*(3*radius*radius+height*height)
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local iz=(1/2)*weight*radius*radius
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print([[<inertial>
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<mass value="]]..tostring(weight)..[["/>
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<inertia ixx="]]..tostring(ix_and_y)..[[" ixy="0.0" ixz="0.0" iyy="]]..tostring(ix_and_y)..[[" iyz="0.0" izz="]]..tostring(iz)..[["/>
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</inertial>]])
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@ -1,188 +0,0 @@
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import os
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import yaml
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, UnsetEnvironmentVariable
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from launch_ros.substitutions import FindPackageShare
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from launch.substitutions import Command, LaunchConfiguration
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python.packages import get_package_share_directory
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def load_file(package_name, file_path):
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package_path = get_package_share_directory(package_name)
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absolute_file_path = os.path.join(package_path, file_path)
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try:
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with open(absolute_file_path, 'r') as file:
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print("Opened file")
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return file.read()
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except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
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print("ERROR: load_file " + package_name + " | " + file_path + " -> " + absolute_file_path)
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return None
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def load_yaml(package_name, file_path):
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package_path = get_package_share_directory(package_name)
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absolute_file_path = os.path.join(package_path, file_path)
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try:
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with open(absolute_file_path, 'r') as file:
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print("Opened file")
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return yaml.safe_load(file)
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except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
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print("ERROR: load_yaml " + package_name + " | " + file_path + " -> " + absolute_file_path)
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return None
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def generate_launch_description():
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robot_name = "iisy"
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# pkg_gazebo_ros = FindPackageShare(package='gazebo_ros').find('gazebo_ros')
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world_path = os.path.join(FindPackageShare(package="gaz_simulation").find("gaz_simulation"), "world/test2.xml")
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urdf_path = os.path.join(FindPackageShare(package="iisy_config").find("iisy_config"), "urdf/iisy.urdf")
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robot_description_config = load_file('iisy_config', 'urdf/iisy.urdf')
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robot_description = {'robot_description': robot_description_config}
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robot_description_semantic_config = load_file('iisy_config', 'srdf/iisy.srdf')
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robot_description_semantic = {'robot_description_semantic': robot_description_semantic_config}
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kinematics_yaml = load_yaml('iisy_config', 'config/kinematics.yml')
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robot_description_kinematics = {'robot_description_kinematics': kinematics_yaml}
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ompl_planning_pipeline_config = {'move_group': {
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'planning_plugin': 'ompl_interface/OMPLPlanner',
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'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""",
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'start_state_max_bounds_error': 0.1}}
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ompl_planning_yaml = load_yaml('iisy_config', 'config/ompl_planning.yml')
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ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
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controllers_yaml = load_yaml('iisy_config', 'config/iisy_controllers.yml')
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moveit_controllers = {'moveit_simple_controller_manager': controllers_yaml,
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'moveit_controller_manager': 'moveit_simple_controller_manager/MoveItSimpleControllerManager'}
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trajectory_execution = {'moveit_manage_controllers': True,
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'trajectory_execution.allowed_execution_duration_scaling': 1.2,
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'trajectory_execution.allowed_goal_duration_margin': 0.5,
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'trajectory_execution.allowed_start_tolerance': 0.01}
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planning_scene_monitor_parameters = {"publish_planning_scene": True,
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"publish_geometry_updates": True,
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"publish_state_updates": True,
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"publish_transforms_updates": True}
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# octomap_config = {'octomap_frame': 'camera_rgb_optical_frame',
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# 'octomap_resolution': 0.05,
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# 'max_range': 5.0}
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# octomap_updater_config = load_yaml('moveit_tutorials', 'config/sensors_3d.yaml')
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return LaunchDescription([
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# SetEnvironmentVariable(name='LIBGL_ALWAYS_SOFTWARE', value='true'),
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# IncludeLaunchDescription(
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# PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
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# launch_arguments={'world': world_path}.items()
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# ),
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# UnsetEnvironmentVariable(name='LIBGL_ALWAYS_SOFTWARE'),
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# Start Gazebo client
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# IncludeLaunchDescription(
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# PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py'))
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# ),
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Node(
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package='tf2_ros',
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namespace='gaz_simulation',
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executable='static_transform_publisher',
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name='lidar_1_broadcaster',
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arguments=["1", "-1.9", "1", "1.5707963267949", "0", "0", "map", "lidar_1_link"]
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),
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Node(
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package='tf2_ros',
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namespace='gaz_simulation',
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executable='static_transform_publisher',
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name='lidar_2_broadcaster',
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arguments=["-1.9", "1", "1", "0", "0", "0", "map", "lidar_2_link"]
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),
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#Node(
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# package='gazebo_ros',
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# executable='spawn_entity.py',
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# arguments=['-entity', robot_name,
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# '-topic', 'robot_description',
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# '-x', '-1',
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# '-y', '-1',
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# '-z', '1',
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# '-Y', '0'], # Yaw
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# output='screen'
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#),
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# Node(
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# package="gazebo_ros",
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# executable="spawn_entity.py",
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# arguments=[
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# "-topic", "robot_description",
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# "-entity", LaunchConfiguration("iisy")
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# ],
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# output="screen"
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# ),
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# Node(
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# package='robot_state_publisher',
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# executable='robot_state_publisher',
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# name='robot_state_publisher',
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# output='both',
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# parameters=[robot_description]
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# ),
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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parameters=[{'robot_description': Command(['xacro ', urdf_path])}]
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),
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='joint_state_publisher'
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),
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# ,
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# Node(
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# namespace='turtlesim1',
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# executable='gazebo',
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# name='gazebo',
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# arguments=["test.xml"]
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# )
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Node(
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package='controller_manager',
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name='gazebo_controller_spawner',
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executable='spawner',
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output='screen',
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parameters=[
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controllers_yaml,
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]
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),
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Node(package='moveit_ros_move_group',
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executable='move_group',
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# prefix='xterm -fs 10 -e gdb --ex run --args',
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output='screen',
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parameters=[
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robot_description,
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robot_description_semantic,
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kinematics_yaml,
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ompl_planning_pipeline_config,
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trajectory_execution,
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moveit_controllers,
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planning_scene_monitor_parameters,
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# octomap_config,
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# octomap_updater_config
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]
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),
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])
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@ -1,77 +0,0 @@
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import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable, UnsetEnvironmentVariable
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from launch_ros.substitutions import FindPackageShare
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from launch.substitutions import Command
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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def generate_launch_description():
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robot_name = "iisy"
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package_name = "gaz_simulation"
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pkg_gazebo_ros = FindPackageShare(package='gazebo_ros').find('gazebo_ros')
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path = FindPackageShare(package=package_name).find(package_name)
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world_path = os.path.join(path, "world/test2.xml")
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urdf_path = os.path.join(path, "urdf/iisy.urdf")
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return LaunchDescription([
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SetEnvironmentVariable(name='LIBGL_ALWAYS_SOFTWARE', value='true'),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
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launch_arguments={'world': world_path}.items()
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),
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UnsetEnvironmentVariable(name='LIBGL_ALWAYS_SOFTWARE'),
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# Start Gazebo client
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py'))
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),
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Node(
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package='tf2_ros',
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namespace='gaz_simulation',
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executable='static_transform_publisher',
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name='lidar_1_broadcaster',
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arguments=["1", "-1.9", "1", "1.5707963267949", "0", "0", "map", "lidar_1_link"]
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),
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Node(
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package='tf2_ros',
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namespace='gaz_simulation',
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executable='static_transform_publisher',
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name='lidar_2_broadcaster',
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arguments=["-1.9", "1", "1", "0", "0", "0", "map", "lidar_2_link"]
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),
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#Node(
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# package='gazebo_ros',
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# executable='spawn_entity.py',
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# arguments=['-entity', robot_name,
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# '-topic', 'robot_description',
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# '-x', '-1',
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# '-y', '-1',
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# '-z', '1',
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# '-Y', '0'], # Yaw
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# output='screen'
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#),
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# Subscribe to the joint states of the robot, and publish the 3D pose of each link.
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#Node(
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# package='robot_state_publisher',
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# executable='robot_state_publisher',
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# parameters=[{'robot_description': Command(['xacro ', urdf_path])}]
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#),
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# Publish the joint states of the robot
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#Node(
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# package='joint_state_publisher',
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# executable='joint_state_publisher',
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# name='joint_state_publisher'
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#)
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# ,
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# Node(
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# namespace='turtlesim1',
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# executable='gazebo',
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# name='gazebo',
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# arguments=["test.xml"]
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# )
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])
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@ -1,28 +0,0 @@
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<package format="3">
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<name>gaz_simulation</name>
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<version>0.244.1</version>
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<description>Launch file for simulation of pick and place</description>
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<license>Apache 2.0</license>
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<maintainer email="bastian.hofmann@xitaso.com">Bastian Hofmann</maintainer>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>gazebo</exec_depend>
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<exec_depend>image_transport_plugins</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>ros_ign_bridge</exec_depend>
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<exec_depend>ros_ign_gazebo</exec_depend>
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<exec_depend>ros_ign_image</exec_depend>
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<!-- See https://github.com/osrf/ros_ign/issues/40 -->
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<!--exec_depend>ros_ign_point_cloud</exec_depend-->
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<exec_depend>rqt_image_view</exec_depend>
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<exec_depend>rqt_plot</exec_depend>
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<exec_depend>rqt_topic</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<exec_depend>xacro</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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@ -1,328 +0,0 @@
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<?xml version="1.0" ?>
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<sdf version='1.7'>
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<world name='default'>
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<physics name="1ms" type="ignored">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin
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filename="ignition-gazebo-physics-system"
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name="ignition::gazebo::systems::Physics">
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</plugin>
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<plugin
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filename="ignition-gazebo-sensors-system"
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name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin
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filename="ignition-gazebo-scene-broadcaster-system"
|
|
||||||
name="ignition::gazebo::systems::SceneBroadcaster">
|
|
||||||
</plugin>
|
|
||||||
|
|
||||||
<light type="directional" name="sun">
|
|
||||||
<cast_shadows>true</cast_shadows>
|
|
||||||
<pose>0 0 10 0 0 0</pose>
|
|
||||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
|
||||||
<specular>0.2 0.2 0.2 1</specular>
|
|
||||||
<attenuation>
|
|
||||||
<range>1000</range>
|
|
||||||
<constant>0.9</constant>
|
|
||||||
<linear>0.01</linear>
|
|
||||||
<quadratic>0.001</quadratic>
|
|
||||||
</attenuation>
|
|
||||||
<direction>-0.5 0.1 -0.9</direction>
|
|
||||||
</light>
|
|
||||||
|
|
||||||
<model name='walls'>
|
|
||||||
<static>1</static>
|
|
||||||
<link name='walls_1'>
|
|
||||||
<self_collide>0</self_collide>
|
|
||||||
<pose>3 8 1.2 0 0 0</pose>
|
|
||||||
<collision name='collision'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>10.1 .1 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual name='visual'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>10.1 .1 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
<material>
|
|
||||||
<ambient>0.8 0.8 0.8 1</ambient>
|
|
||||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
|
||||||
<specular>0.8 0.8 0.8 1</specular>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name='walls_2'>
|
|
||||||
<self_collide>0</self_collide>
|
|
||||||
<pose>3 -2 1.2 0 0 0</pose>
|
|
||||||
<collision name='collision'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>10.1 .1 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual name='visual'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>10.1 .1 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
<material>
|
|
||||||
<ambient>0.8 0.8 0.8 1</ambient>
|
|
||||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
|
||||||
<specular>0.8 0.8 0.8 1</specular>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name='walls_3'>
|
|
||||||
<self_collide>0</self_collide>
|
|
||||||
<pose>8 3 1.2 0 0 0</pose>
|
|
||||||
<collision name='collision'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>.1 9.9 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual name='visual'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>.1 9.9 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
<material>
|
|
||||||
<ambient>0.8 0.8 0.8 1</ambient>
|
|
||||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
|
||||||
<specular>0.8 0.8 0.8 1</specular>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name='walls_4'>
|
|
||||||
<self_collide>0</self_collide>
|
|
||||||
<pose>-2 3 1.2 0 0 0</pose>
|
|
||||||
<collision name='collision'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>.1 9.9 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual name='visual'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>.1 9.9 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
<material>
|
|
||||||
<ambient>0.8 0.8 0.8 1</ambient>
|
|
||||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
|
||||||
<specular>0.8 0.8 0.8 1</specular>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
</model>
|
|
||||||
<model name="lidar_1">
|
|
||||||
<static>1</static>
|
|
||||||
<link name="lidar_1_link">
|
|
||||||
<pose>1 -1.85 1 0 0 1.5707963267949</pose>
|
|
||||||
<sensor name='laser_1' type='gpu_lidar'>
|
|
||||||
<topic>laser_1</topic>
|
|
||||||
<update_rate>10</update_rate>
|
|
||||||
<lidar>
|
|
||||||
<scan>
|
|
||||||
<horizontal>
|
|
||||||
<samples>270</samples>
|
|
||||||
<resolution>1</resolution>
|
|
||||||
<min_angle>-2.3561944901923</min_angle>
|
|
||||||
<max_angle>2.3561944901923</max_angle>
|
|
||||||
</horizontal>
|
|
||||||
<vertical>
|
|
||||||
<samples>1</samples>
|
|
||||||
<resolution>1</resolution>
|
|
||||||
<min_angle>0</min_angle>
|
|
||||||
<max_angle>0</max_angle>
|
|
||||||
</vertical>
|
|
||||||
</scan>
|
|
||||||
<range>
|
|
||||||
<min>0.05</min>
|
|
||||||
<max>10.0</max>
|
|
||||||
<resolution>0.05</resolution>
|
|
||||||
</range>
|
|
||||||
</lidar>
|
|
||||||
<alwaysOn>1</alwaysOn>
|
|
||||||
<visualize>true</visualize>
|
|
||||||
</sensor>
|
|
||||||
</link>
|
|
||||||
</model>
|
|
||||||
<model name="lidar_2">
|
|
||||||
<static>1</static>
|
|
||||||
<link name="lidar_2_link">
|
|
||||||
<pose>-1.85 1 1 0 0 0</pose>
|
|
||||||
<sensor name='laser_2' type='gpu_lidar'>
|
|
||||||
<topic>laser_2</topic>
|
|
||||||
<update_rate>10</update_rate>
|
|
||||||
<lidar>
|
|
||||||
<scan>
|
|
||||||
<horizontal>
|
|
||||||
<samples>270</samples>
|
|
||||||
<resolution>1</resolution>
|
|
||||||
<min_angle>-2.3561944901923</min_angle>
|
|
||||||
<max_angle>2.3561944901923</max_angle>
|
|
||||||
</horizontal>
|
|
||||||
<vertical>
|
|
||||||
<samples>1</samples>
|
|
||||||
<resolution>1</resolution>
|
|
||||||
<min_angle>0</min_angle>
|
|
||||||
<max_angle>0</max_angle>
|
|
||||||
</vertical>
|
|
||||||
</scan>
|
|
||||||
<range>
|
|
||||||
<min>0.05</min>
|
|
||||||
<max>10.0</max>
|
|
||||||
<resolution>0.05</resolution>
|
|
||||||
</range>
|
|
||||||
</lidar>
|
|
||||||
<alwaysOn>1</alwaysOn>
|
|
||||||
<visualize>true</visualize>
|
|
||||||
</sensor>
|
|
||||||
</link>
|
|
||||||
</model>
|
|
||||||
<model name='ground_plane'>
|
|
||||||
<static>1</static>
|
|
||||||
<link name='link'>
|
|
||||||
<collision name='collision'>
|
|
||||||
<geometry>
|
|
||||||
<plane>
|
|
||||||
<normal>0 0 1</normal>
|
|
||||||
<size>100 100</size>
|
|
||||||
</plane>
|
|
||||||
</geometry>
|
|
||||||
<surface>
|
|
||||||
<contact>
|
|
||||||
<collide_bitmask>65535</collide_bitmask>
|
|
||||||
<ode/>
|
|
||||||
</contact>
|
|
||||||
<friction>
|
|
||||||
<ode>
|
|
||||||
<mu>100</mu>
|
|
||||||
<mu2>50</mu2>
|
|
||||||
</ode>
|
|
||||||
<torsional>
|
|
||||||
<ode/>
|
|
||||||
</torsional>
|
|
||||||
</friction>
|
|
||||||
<bounce/>
|
|
||||||
</surface>
|
|
||||||
<max_contacts>10</max_contacts>
|
|
||||||
</collision>
|
|
||||||
<visual name='visual'>
|
|
||||||
<cast_shadows>0</cast_shadows>
|
|
||||||
<geometry>
|
|
||||||
<plane>
|
|
||||||
<normal>0 0 1</normal>
|
|
||||||
<size>100 100</size>
|
|
||||||
</plane>
|
|
||||||
</geometry>
|
|
||||||
<material>
|
|
||||||
<ambient>0.8 0.8 0.8 1</ambient>
|
|
||||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
|
||||||
<specular>0.8 0.8 0.8 1</specular>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<self_collide>0</self_collide>
|
|
||||||
<enable_wind>0</enable_wind>
|
|
||||||
<kinematic>0</kinematic>
|
|
||||||
</link>
|
|
||||||
</model>
|
|
||||||
|
|
||||||
<actor name="actor_walking">
|
|
||||||
<pose>0 2 1.25 0 0 0</pose>
|
|
||||||
<skin>
|
|
||||||
<filename>https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
|
|
||||||
<scale>1.0</scale>
|
|
||||||
</skin>
|
|
||||||
<animation name="walk">
|
|
||||||
<filename>https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
|
|
||||||
<interpolate_x>true</interpolate_x>
|
|
||||||
</animation>
|
|
||||||
</actor>
|
|
||||||
|
|
||||||
<actor name="actor1">
|
|
||||||
<pose>0 1 1.25 0 0 0</pose>
|
|
||||||
|
|
||||||
<skin>
|
|
||||||
<filename>/home/ros/go.dae</filename>
|
|
||||||
<scale>1.0</scale>
|
|
||||||
</skin>
|
|
||||||
<animation name="walking">
|
|
||||||
<filename>/home/ros/go.dae</filename>
|
|
||||||
<scale>1.000000</scale>
|
|
||||||
<interpolate_x>true</interpolate_x>
|
|
||||||
</animation>
|
|
||||||
<plugin name="ActorSystem" filename="/home/ros/workspace/build/ign_actor_plugin/libActorPlugin.so">
|
|
||||||
<target>2 2 1</target>
|
|
||||||
<target_weight>1.15</target_weight>
|
|
||||||
<obstacle_weight>1.8</obstacle_weight>
|
|
||||||
<animation_factor>5.1</animation_factor>
|
|
||||||
<ignore_obstacles>
|
|
||||||
<model>ground_plane</model>
|
|
||||||
</ignore_obstacles>
|
|
||||||
</plugin>
|
|
||||||
</actor>
|
|
||||||
<gravity>0 0 -9.8</gravity>
|
|
||||||
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
|
|
||||||
<atmosphere type='adiabatic'/>
|
|
||||||
<physics type='ode'>
|
|
||||||
<max_step_size>0.001</max_step_size>
|
|
||||||
<real_time_factor>1</real_time_factor>
|
|
||||||
<real_time_update_rate>1000</real_time_update_rate>
|
|
||||||
</physics>
|
|
||||||
<scene>
|
|
||||||
<ambient>0.4 0.4 0.4 1</ambient>
|
|
||||||
<background>0.7 0.7 0.7 1</background>
|
|
||||||
<shadows>1</shadows>
|
|
||||||
</scene>
|
|
||||||
<wind/>
|
|
||||||
<spherical_coordinates>
|
|
||||||
<surface_model>EARTH_WGS84</surface_model>
|
|
||||||
<latitude_deg>0</latitude_deg>
|
|
||||||
<longitude_deg>0</longitude_deg>
|
|
||||||
<elevation>0</elevation>
|
|
||||||
<heading_deg>0</heading_deg>
|
|
||||||
</spherical_coordinates>
|
|
||||||
<state world_name='default'>
|
|
||||||
<sim_time>21 655000000</sim_time>
|
|
||||||
<real_time>21 863005214</real_time>
|
|
||||||
<wall_time>1644846646 70909467</wall_time>
|
|
||||||
<iterations>21655</iterations>
|
|
||||||
<model name='ground_plane'>
|
|
||||||
<pose>0 0 0 0 -0 0</pose>
|
|
||||||
<scale>1 1 1</scale>
|
|
||||||
<link name='link'>
|
|
||||||
<pose>0 0 0 0 -0 0</pose>
|
|
||||||
<velocity>0 0 0 0 -0 0</velocity>
|
|
||||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
||||||
<wrench>0 0 0 0 -0 0</wrench>
|
|
||||||
</link>
|
|
||||||
</model>
|
|
||||||
<light name='sun'>
|
|
||||||
<pose>0 0 10 0 -0 0</pose>
|
|
||||||
</light>
|
|
||||||
</state>
|
|
||||||
<gui fullscreen='0'>
|
|
||||||
<camera name='user_camera'>
|
|
||||||
<pose>5 -5 2 0 0.275643 2.35619</pose>
|
|
||||||
<view_controller>orbit</view_controller>
|
|
||||||
<projection_type>perspective</projection_type>
|
|
||||||
</camera>
|
|
||||||
</gui>
|
|
||||||
</world>
|
|
||||||
</sdf>
|
|
||||||
@ -1,319 +0,0 @@
|
|||||||
<sdf version='1.7'>
|
|
||||||
<world name='default'>
|
|
||||||
<light name='sun' type='directional'>
|
|
||||||
<cast_shadows>1</cast_shadows>
|
|
||||||
<pose>0 0 10 0 -0 0</pose>
|
|
||||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
|
||||||
<specular>0.2 0.2 0.2 1</specular>
|
|
||||||
<attenuation>
|
|
||||||
<range>1000</range>
|
|
||||||
<constant>0.9</constant>
|
|
||||||
<linear>0.01</linear>
|
|
||||||
<quadratic>0.001</quadratic>
|
|
||||||
</attenuation>
|
|
||||||
<direction>-0.5 0.1 -0.9</direction>
|
|
||||||
<spot>
|
|
||||||
<inner_angle>0</inner_angle>
|
|
||||||
<outer_angle>0</outer_angle>
|
|
||||||
<falloff>0</falloff>
|
|
||||||
</spot>
|
|
||||||
</light>
|
|
||||||
<model name='walls'>
|
|
||||||
<static>1</static>
|
|
||||||
<link name='walls_1'>
|
|
||||||
<self_collide>0</self_collide>
|
|
||||||
<pose>3 8 1.2</pose>
|
|
||||||
<collision name='collision'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>10.1 .1 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual name='visual'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>10.1 .1 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name='walls_2'>
|
|
||||||
<self_collide>0</self_collide>
|
|
||||||
<pose>3 -2 1.2</pose>
|
|
||||||
<collision name='collision'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>10.1 .1 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual name='visual'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>10.1 .1 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name='walls_3'>
|
|
||||||
<self_collide>0</self_collide>
|
|
||||||
<pose>8 3 1.2</pose>
|
|
||||||
<collision name='collision'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>.1 9.9 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual name='visual'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>.1 9.9 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name='walls_4'>
|
|
||||||
<self_collide>0</self_collide>
|
|
||||||
<pose>-2 3 1.2</pose>
|
|
||||||
<collision name='collision'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>.1 9.9 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual name='visual'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>.1 9.9 2.4</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
</model>
|
|
||||||
<model name="lidar_1">
|
|
||||||
<static>1</static>
|
|
||||||
<link name="lidar_1_link">
|
|
||||||
<pose>1 -2 1 0 0 1.5707963267949</pose>
|
|
||||||
<!--<collision name='collision'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>.1 .1 .1</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual name='visual'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>.1 .1 .1</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</visual>-->
|
|
||||||
<sensor name="laser_1" type="gpu_ray">
|
|
||||||
<pose>0.1 0 0 0 0 0</pose>
|
|
||||||
<ray>
|
|
||||||
<scan>
|
|
||||||
<horizontal>
|
|
||||||
<samples>270</samples>
|
|
||||||
<resolution>1</resolution>
|
|
||||||
<min_angle>-2.3561944901923</min_angle>
|
|
||||||
<max_angle>2.3561944901923</max_angle>
|
|
||||||
</horizontal>
|
|
||||||
</scan>
|
|
||||||
<range>
|
|
||||||
<min>0.05</min>
|
|
||||||
<max>10</max>
|
|
||||||
<resolution>0.05</resolution>
|
|
||||||
</range>
|
|
||||||
</ray>
|
|
||||||
<always_on>1</always_on>
|
|
||||||
<update_rate>10</update_rate>
|
|
||||||
<visualize>true</visualize>
|
|
||||||
|
|
||||||
<plugin name='laser_1_plugin' filename='libgazebo_ros_ray_sensor.so'>
|
|
||||||
<ros>
|
|
||||||
<namespace>/lidar_1</namespace>
|
|
||||||
<argument>--ros-args --remap ~/out:=scan</argument>
|
|
||||||
</ros>
|
|
||||||
<output_type>sensor_msgs/PointCloud2</output_type>
|
|
||||||
</plugin>
|
|
||||||
</sensor>
|
|
||||||
</link>
|
|
||||||
</model>
|
|
||||||
<model name="lidar_2">
|
|
||||||
<static>1</static>
|
|
||||||
<link name="lidar_2_link">
|
|
||||||
<pose>-1.9 1 1 0 0 </pose>
|
|
||||||
<!--<collision name='collision'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>.1 .1 .1</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual name='visual'>
|
|
||||||
<geometry>
|
|
||||||
<box>
|
|
||||||
<size>.1 .1 .1</size>
|
|
||||||
</box>
|
|
||||||
</geometry>
|
|
||||||
</visual>-->
|
|
||||||
<sensor name="laser_2" type="gpu_ray">
|
|
||||||
<ray>
|
|
||||||
<scan>
|
|
||||||
<horizontal>
|
|
||||||
<samples>270</samples>
|
|
||||||
<resolution>1</resolution>
|
|
||||||
<min_angle>-2.3561944901923</min_angle>
|
|
||||||
<max_angle>2.3561944901923</max_angle>
|
|
||||||
</horizontal>
|
|
||||||
</scan>
|
|
||||||
<range>
|
|
||||||
<min>0.05</min>
|
|
||||||
<max>10</max>
|
|
||||||
<resolution>0.05</resolution>
|
|
||||||
</range>
|
|
||||||
</ray>
|
|
||||||
<always_on>1</always_on>
|
|
||||||
<update_rate>10</update_rate>
|
|
||||||
<visualize>true</visualize>
|
|
||||||
|
|
||||||
<plugin name='laser_2_plugin' filename='libgazebo_ros_ray_sensor.so'>
|
|
||||||
<ros>
|
|
||||||
<namespace>/lidar_2</namespace>
|
|
||||||
<frameName>/lidar_2_link</frameName>
|
|
||||||
<argument>--ros-args --remap ~/out:=scan</argument>
|
|
||||||
</ros>
|
|
||||||
<output_type>sensor_msgs/PointCloud2</output_type>
|
|
||||||
</plugin>
|
|
||||||
</sensor>
|
|
||||||
</link>
|
|
||||||
</model>
|
|
||||||
<model name='ground_plane'>
|
|
||||||
<static>1</static>
|
|
||||||
<link name='link'>
|
|
||||||
<collision name='collision'>
|
|
||||||
<geometry>
|
|
||||||
<plane>
|
|
||||||
<normal>0 0 1</normal>
|
|
||||||
<size>100 100</size>
|
|
||||||
</plane>
|
|
||||||
</geometry>
|
|
||||||
<surface>
|
|
||||||
<contact>
|
|
||||||
<collide_bitmask>65535</collide_bitmask>
|
|
||||||
<ode/>
|
|
||||||
</contact>
|
|
||||||
<friction>
|
|
||||||
<ode>
|
|
||||||
<mu>100</mu>
|
|
||||||
<mu2>50</mu2>
|
|
||||||
</ode>
|
|
||||||
<torsional>
|
|
||||||
<ode/>
|
|
||||||
</torsional>
|
|
||||||
</friction>
|
|
||||||
<bounce/>
|
|
||||||
</surface>
|
|
||||||
<max_contacts>10</max_contacts>
|
|
||||||
</collision>
|
|
||||||
<visual name='visual'>
|
|
||||||
<cast_shadows>0</cast_shadows>
|
|
||||||
<geometry>
|
|
||||||
<plane>
|
|
||||||
<normal>0 0 1</normal>
|
|
||||||
<size>100 100</size>
|
|
||||||
</plane>
|
|
||||||
</geometry>
|
|
||||||
<material>
|
|
||||||
<script>
|
|
||||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
||||||
<name>Gazebo/Grey</name>
|
|
||||||
</script>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<self_collide>0</self_collide>
|
|
||||||
<enable_wind>0</enable_wind>
|
|
||||||
<kinematic>0</kinematic>
|
|
||||||
</link>
|
|
||||||
</model>
|
|
||||||
<actor name="actor1">
|
|
||||||
<pose>0 1 1.25 0 0 0</pose>
|
|
||||||
|
|
||||||
<skin>
|
|
||||||
<filename>walk.dae</filename>
|
|
||||||
<scale>1.0</scale>
|
|
||||||
</skin>
|
|
||||||
<animation name="walking">
|
|
||||||
<filename>walk.dae</filename>
|
|
||||||
<scale>1.000000</scale>
|
|
||||||
<interpolate_x>true</interpolate_x>
|
|
||||||
</animation>
|
|
||||||
<plugin name="actor1_plugin" filename="/home/bastian/dev_ws/build/gazebo_ros_actor/libRosActorPlugin.so">
|
|
||||||
<target>2 2 1</target>
|
|
||||||
<target_weight>1.15</target_weight>
|
|
||||||
<obstacle_weight>1.8</obstacle_weight>
|
|
||||||
<animation_factor>5.1</animation_factor>
|
|
||||||
<ignore_obstacles>
|
|
||||||
<model>ground_plane</model>
|
|
||||||
</ignore_obstacles>
|
|
||||||
</plugin>
|
|
||||||
</actor>
|
|
||||||
<gravity>0 0 -9.8</gravity>
|
|
||||||
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
|
|
||||||
<atmosphere type='adiabatic'/>
|
|
||||||
<physics type='ode'>
|
|
||||||
<max_step_size>0.001</max_step_size>
|
|
||||||
<real_time_factor>1</real_time_factor>
|
|
||||||
<real_time_update_rate>1000</real_time_update_rate>
|
|
||||||
</physics>
|
|
||||||
<scene>
|
|
||||||
<ambient>0.4 0.4 0.4 1</ambient>
|
|
||||||
<background>0.7 0.7 0.7 1</background>
|
|
||||||
<shadows>1</shadows>
|
|
||||||
</scene>
|
|
||||||
<wind/>
|
|
||||||
<spherical_coordinates>
|
|
||||||
<surface_model>EARTH_WGS84</surface_model>
|
|
||||||
<latitude_deg>0</latitude_deg>
|
|
||||||
<longitude_deg>0</longitude_deg>
|
|
||||||
<elevation>0</elevation>
|
|
||||||
<heading_deg>0</heading_deg>
|
|
||||||
</spherical_coordinates>
|
|
||||||
<state world_name='default'>
|
|
||||||
<sim_time>21 655000000</sim_time>
|
|
||||||
<real_time>21 863005214</real_time>
|
|
||||||
<wall_time>1644846646 70909467</wall_time>
|
|
||||||
<iterations>21655</iterations>
|
|
||||||
<model name='ground_plane'>
|
|
||||||
<pose>0 0 0 0 -0 0</pose>
|
|
||||||
<scale>1 1 1</scale>
|
|
||||||
<link name='link'>
|
|
||||||
<pose>0 0 0 0 -0 0</pose>
|
|
||||||
<velocity>0 0 0 0 -0 0</velocity>
|
|
||||||
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
||||||
<wrench>0 0 0 0 -0 0</wrench>
|
|
||||||
</link>
|
|
||||||
</model>
|
|
||||||
<light name='sun'>
|
|
||||||
<pose>0 0 10 0 -0 0</pose>
|
|
||||||
</light>
|
|
||||||
</state>
|
|
||||||
<gui fullscreen='0'>
|
|
||||||
<camera name='user_camera'>
|
|
||||||
<pose>5 -5 2 0 0.275643 2.35619</pose>
|
|
||||||
<view_controller>orbit</view_controller>
|
|
||||||
<projection_type>perspective</projection_type>
|
|
||||||
</camera>
|
|
||||||
</gui>
|
|
||||||
<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
|
|
||||||
<ros>
|
|
||||||
<namespace>/demo</namespace>
|
|
||||||
<argument>model_states:=model_states_demo</argument>
|
|
||||||
</ros>
|
|
||||||
<update_rate>1.0</update_rate>
|
|
||||||
</plugin>
|
|
||||||
</world>
|
|
||||||
</sdf>
|
|
||||||
@ -9,7 +9,7 @@ from moveit_configs_utils import MoveItConfigsBuilder
|
|||||||
import xacro
|
import xacro
|
||||||
|
|
||||||
def generate_launch_description():
|
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(
|
load_joint_state_broadcaster = ExecuteProcess(
|
||||||
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'joint_state_broadcaster'],
|
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'joint_state_broadcaster'],
|
||||||
@ -27,7 +27,7 @@ def generate_launch_description():
|
|||||||
arguments=[
|
arguments=[
|
||||||
'-name', 'iisy',
|
'-name', 'iisy',
|
||||||
'-allow_renaming', 'true',
|
'-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'
|
output='screen'
|
||||||
)
|
)
|
||||||
|
|||||||
@ -8,7 +8,7 @@ from moveit_configs_utils import MoveItConfigsBuilder
|
|||||||
from xacro import process as xacro_process
|
from xacro import process as xacro_process
|
||||||
|
|
||||||
def generate_launch_description():
|
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([
|
return LaunchDescription([
|
||||||
SetParameter(name="use_sim_time", value=True),
|
SetParameter(name="use_sim_time", value=True),
|
||||||
@ -43,7 +43,7 @@ def generate_launch_description():
|
|||||||
#Node(
|
#Node(
|
||||||
# package='ros_gz_sim',
|
# package='ros_gz_sim',
|
||||||
# executable='create',
|
# 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'
|
# output='screen'
|
||||||
#),
|
#),
|
||||||
|
|
||||||
|
|||||||
@ -1,11 +1,25 @@
|
|||||||
moveit_setup_assistant_config:
|
moveit_setup_assistant_config:
|
||||||
URDF:
|
urdf:
|
||||||
package: gaz_simulation
|
package: iisy_config
|
||||||
relative_path: urdf/iisy.urdf
|
relative_path: config/iisy.urdf
|
||||||
xacro_args: ""
|
srdf:
|
||||||
SRDF:
|
|
||||||
relative_path: config/iisy.srdf
|
relative_path: config/iisy.srdf
|
||||||
CONFIG:
|
package_settings:
|
||||||
author_name: bastian
|
author_name: Bastian Hofmann
|
||||||
author_email: bastian.hofmann@xitaso.com
|
author_email: bhogm4@gmail.com
|
||||||
generated_timestamp: 1647313439
|
generated_timestamp: 1677166762
|
||||||
|
control_xacro:
|
||||||
|
command:
|
||||||
|
- position
|
||||||
|
state:
|
||||||
|
- position
|
||||||
|
- velocity
|
||||||
|
modified_urdf:
|
||||||
|
xacros:
|
||||||
|
- control_xacro
|
||||||
|
control_xacro:
|
||||||
|
command:
|
||||||
|
- position
|
||||||
|
state:
|
||||||
|
- position
|
||||||
|
- velocity
|
||||||
@ -1,30 +1,12 @@
|
|||||||
cmake_minimum_required(VERSION 3.8)
|
cmake_minimum_required(VERSION 3.22)
|
||||||
project(iisy_config)
|
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)
|
find_package(ament_cmake REQUIRED)
|
||||||
# uncomment the following section in order to fill in
|
|
||||||
# further dependencies manually.
|
|
||||||
# find_package(<dependency> REQUIRED)
|
|
||||||
|
|
||||||
install(
|
|
||||||
DIRECTORY config launch srdf stl urdf
|
|
||||||
DESTINATION share/${PROJECT_NAME}
|
|
||||||
)
|
|
||||||
|
|
||||||
if(BUILD_TESTING)
|
|
||||||
find_package(ament_lint_auto REQUIRED)
|
|
||||||
# the following line skips the linter which checks for copyrights
|
|
||||||
# uncomment the line when a copyright and license is not present in all source files
|
|
||||||
#set(ament_cmake_copyright_FOUND TRUE)
|
|
||||||
# the following line skips cpplint (only works in a git repo)
|
|
||||||
# uncomment the line when this package is not in a git repo
|
|
||||||
#set(ament_cmake_cpplint_FOUND TRUE)
|
|
||||||
ament_lint_auto_find_test_dependencies()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
ament_package()
|
ament_package()
|
||||||
|
|
||||||
|
install(DIRECTORY launch DESTINATION share/${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})
|
||||||
|
|||||||
@ -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: <Fixed 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: <Fixed 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
|
|
||||||
@ -5,7 +5,7 @@
|
|||||||
|
|
||||||
<gazebo>
|
<gazebo>
|
||||||
<plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
|
<plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
|
||||||
<parameters>$(find iisy_config_2)/config/ros2_controllers.yaml</parameters>
|
<parameters>$(find iisy_config)/config/ros2_controllers.yaml</parameters>
|
||||||
</plugin>
|
</plugin>
|
||||||
</gazebo>
|
</gazebo>
|
||||||
|
|
||||||
@ -3,7 +3,7 @@
|
|||||||
<xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
|
<xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
|
||||||
|
|
||||||
<!-- Import iisy urdf file -->
|
<!-- Import iisy urdf file -->
|
||||||
<xacro:include filename="$(find iisy_config_2)/config/iisy.urdf" />
|
<xacro:include filename="$(find iisy_config)/config/iisy.urdf" />
|
||||||
|
|
||||||
<!-- Import control_xacro -->
|
<!-- Import control_xacro -->
|
||||||
<xacro:include filename="iisy.ros2_control.xacro" />
|
<xacro:include filename="iisy.ros2_control.xacro" />
|
||||||
@ -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
|
|
||||||
@ -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
|
|
||||||
@ -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
|
|
||||||
@ -1,4 +0,0 @@
|
|||||||
iisy:
|
|
||||||
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
|
|
||||||
kinematics_solver_search_resolution: 0.005
|
|
||||||
kinematics_solver_timeout: 0.005
|
|
||||||
@ -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
|
|
||||||
@ -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
|
|
||||||
@ -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,
|
|
||||||
])
|
|
||||||
@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_demo_launch
|
|||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
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)
|
return generate_demo_launch(moveit_config)
|
||||||
@ -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)
|
|
||||||
])
|
|
||||||
@ -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
|
|
||||||
]
|
|
||||||
)
|
|
||||||
@ -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)
|
|
||||||
])
|
|
||||||
@ -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
|
|
||||||
])
|
|
||||||
@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_move_group_launch
|
|||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
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)
|
return generate_move_group_launch(moveit_config)
|
||||||
@ -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: <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
|
|
||||||
@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_moveit_rviz_launch
|
|||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
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)
|
return generate_moveit_rviz_launch(moveit_config)
|
||||||
@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_rsp_launch
|
|||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
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)
|
return generate_rsp_launch(moveit_config)
|
||||||
@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_setup_assistant_launch
|
|||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
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)
|
return generate_setup_assistant_launch(moveit_config)
|
||||||
@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_spawn_controllers_launch
|
|||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
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)
|
return generate_spawn_controllers_launch(moveit_config)
|
||||||
@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_laun
|
|||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
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)
|
return generate_static_virtual_joint_tfs_launch(moveit_config)
|
||||||
@ -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
|
|
||||||
]
|
|
||||||
)
|
|
||||||
@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_warehouse_db_launch
|
|||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
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)
|
return generate_warehouse_db_launch(moveit_config)
|
||||||
@ -6,41 +6,46 @@
|
|||||||
<description>
|
<description>
|
||||||
An automatically generated package with all the configuration and launch files for using the iisy with the MoveIt Motion Planning Framework
|
An automatically generated package with all the configuration and launch files for using the iisy with the MoveIt Motion Planning Framework
|
||||||
</description>
|
</description>
|
||||||
<author email="bastian.hofmann@xitaso.com">bastian</author>
|
<maintainer email="bhogm4@gmail.com">Bastian Hofmann</maintainer>
|
||||||
<maintainer email="bastian.hofmann@xitaso.com">bastian</maintainer>
|
|
||||||
|
|
||||||
<license>BSD</license>
|
<license>BSD</license>
|
||||||
|
|
||||||
<url type="website">http://moveit.ros.org/</url>
|
<url type="website">http://moveit.ros.org/</url>
|
||||||
<url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
|
<url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
|
||||||
<url type="repository">https://github.com/ros-planning/moveit</url>
|
<url type="repository">https://github.com/ros-planning/moveit2</url>
|
||||||
|
|
||||||
|
<author email="bhogm4@gmail.com">Bastian Hofmann</author>
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||||
|
|
||||||
<depend>rclcpp</depend>
|
<exec_depend>moveit_ros_move_group</exec_depend>
|
||||||
<depend>moveit_ros_move_group</depend>
|
<exec_depend>moveit_kinematics</exec_depend>
|
||||||
<!--<depend>moveit_fake_controller_manager</depend>-->
|
<exec_depend>moveit_planners</exec_depend>
|
||||||
<depend>moveit_kinematics</depend>
|
<exec_depend>moveit_simple_controller_manager</exec_depend>
|
||||||
<depend>moveit_planners_ompl</depend>
|
<exec_depend>joint_state_publisher</exec_depend>
|
||||||
<depend>moveit_ros_visualization</depend>
|
<exec_depend>joint_state_publisher_gui</exec_depend>
|
||||||
<depend>moveit_setup_assistant</depend>
|
<exec_depend>tf2_ros</exec_depend>
|
||||||
<depend>moveit_simple_controller_manager</depend>
|
<exec_depend>xacro</exec_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.
|
<!-- 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. -->
|
We don't include them by default to prevent installing gazebo and all its dependencies. -->
|
||||||
<!-- <depend>joint_trajectory_controller</depend> -->
|
<!-- <exec_depend>joint_trajectory_controller</exec_depend> -->
|
||||||
<!-- <depend>gazebo_ros_control</depend> -->
|
<!-- <exec_depend>gazebo_ros_control</exec_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. -->
|
<exec_depend>controller_manager</exec_depend>
|
||||||
<!-- <depend>warehouse_ros_mongo</depend> -->
|
<exec_depend>moveit_configs_utils</exec_depend>
|
||||||
<depend>gaz_simulation</depend>
|
<exec_depend>moveit_ros_move_group</exec_depend>
|
||||||
|
<exec_depend>moveit_ros_visualization</exec_depend>
|
||||||
|
<exec_depend>moveit_ros_warehouse</exec_depend>
|
||||||
|
<exec_depend>moveit_setup_assistant</exec_depend>
|
||||||
|
<exec_depend>robot_state_publisher</exec_depend>
|
||||||
|
<exec_depend>rviz2</exec_depend>
|
||||||
|
<exec_depend>rviz_common</exec_depend>
|
||||||
|
<exec_depend>rviz_default_plugins</exec_depend>
|
||||||
|
<exec_depend>tf2_ros</exec_depend>
|
||||||
|
<exec_depend>warehouse_ros_mongo</exec_depend>
|
||||||
|
<exec_depend>xacro</exec_depend>
|
||||||
|
|
||||||
|
|
||||||
<export>
|
<export>
|
||||||
<build_type>ament_cmake</build_type>
|
<build_type>ament_cmake</build_type>
|
||||||
</export>
|
</export>
|
||||||
|
|
||||||
</package>
|
</package>
|
||||||
|
|||||||
@ -1,40 +0,0 @@
|
|||||||
<?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="table" link2="base_bottom" reason="Adjacent"/>
|
|
||||||
<disable_collisions link1="base_bottom" 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>
|
|
||||||
@ -1,378 +0,0 @@
|
|||||||
<?xml version="1.0" ?>
|
|
||||||
<robot name="iisy" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
|
||||||
<xacro:property name="joint_damping" value="10.0"/>
|
|
||||||
<xacro:property name="joint_friction" value="0.1"/>
|
|
||||||
|
|
||||||
<link name="world"/>
|
|
||||||
<link name="base_link"/>
|
|
||||||
<link name="table">
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/table.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/table.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name="base_bottom">
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/base_bottom_coll.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/base_bottom_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.043517 0.000000 0.054914" rpy="0 0 0"/>
|
|
||||||
<mass value="6"/>
|
|
||||||
<inertia ixx="1.277905" ixy="0.0" ixz="0.138279" iyy="3.070705" iyz="0.0" izz="3.284356"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<link name="base_top">
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 -0.005 0.08"/>
|
|
||||||
<geometry>
|
|
||||||
<box size="0.14 0.15 0.16"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/base_top_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 -0.005 0.08" rpy="0 0 0"/>
|
|
||||||
<mass value="2"/>
|
|
||||||
<inertia ixx="0.32666666666667" ixy="0.0" ixz="0.0" iyy="0.32666666666667" iyz="0.0" izz="0.25"/>
|
|
||||||
</inertial>
|
|
||||||
|
|
||||||
</link>
|
|
||||||
<link name="link1_full">
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/link_1_full_coll.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/link_1_full_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 -0.050000 0.150000" rpy="0 0 0"/>
|
|
||||||
<mass value="4"/>
|
|
||||||
<inertia ixx="8.266347" ixy="0.0" ixz="0.0" iyy="8.647519" iyz="0.0" izz="8.647519"/>
|
|
||||||
</inertial>
|
|
||||||
|
|
||||||
</link>
|
|
||||||
<link name="link2_bottom">
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0.07 0.025"/>
|
|
||||||
<geometry>
|
|
||||||
<box size="0.14 0.14 0.19"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/link_2_bottom_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0.07 0.025" rpy="0 0 0"/>
|
|
||||||
<mass value="2"/>
|
|
||||||
<inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="0.25"/>
|
|
||||||
</inertial>
|
|
||||||
|
|
||||||
</link>
|
|
||||||
<link name="link2_top">
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/link_2_top_coll.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/link_2_top_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0.037363 0.086674" rpy="0 0 0"/>
|
|
||||||
<mass value="2"/>
|
|
||||||
<inertia ixx="1.431738" ixy="0.0" ixz="0.0" iyy="1.131426" iyz="-0.342192" izz="0.807202"/>
|
|
||||||
</inertial>
|
|
||||||
|
|
||||||
</link>
|
|
||||||
<link name="link3_bottom">
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/link_3_bottom_coll.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/link_3_bottom_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 -0.055000 0.021413" rpy="0 0 0"/>
|
|
||||||
<mass value="2"/>
|
|
||||||
<inertia ixx="0.362124" ixy="0.0" ixz="0.0" iyy="0.343531" iyz="0.0" izz="0.283368"/>
|
|
||||||
</inertial>
|
|
||||||
|
|
||||||
</link>
|
|
||||||
<link name="link3_top">
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/link_3_top_coll.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://$(find iisy_config)/stl/link_3_top_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 -0.015462 0.040000" rpy="0 0 0"/>
|
|
||||||
<mass value="0.8"/>
|
|
||||||
<inertia ixx="0.228470" ixy="0.0" ixz="0.0" iyy="0.137641" iyz="0.0" izz="0.252003"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint type="fixed" name="world_base_link_fixed">
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<parent link="world"/>
|
|
||||||
<child link="base_link"/>
|
|
||||||
</joint>
|
|
||||||
<joint type="fixed" name="base_base_link_fixed">
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<parent link="base_link"/>
|
|
||||||
<child link="table"/>
|
|
||||||
</joint>
|
|
||||||
<joint type="fixed" name="table_link_fixed">
|
|
||||||
<origin xyz="0 0 1" rpy="0 0 0"/>
|
|
||||||
<parent link="table"/>
|
|
||||||
<child link="base_bottom"/>
|
|
||||||
</joint>
|
|
||||||
<joint type="continuous" name="base_rot">
|
|
||||||
<origin xyz="0 0 0.1205" rpy="0 0 0"/>
|
|
||||||
<parent link="base_bottom"/>
|
|
||||||
<child link="base_top"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit effort="30" velocity="1.7453292519943"/>
|
|
||||||
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
|
|
||||||
</joint>
|
|
||||||
<joint type="revolute" name="base_link1_joint">
|
|
||||||
<origin xyz="0 -0.080499 0.092997" rpy="0 0 0"/>
|
|
||||||
<parent link="base_top"/>
|
|
||||||
<child link="link1_full"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit effort="30" velocity="1.7453292519943" lower="-2.2689280275926" upper="2.4434609527921"/>
|
|
||||||
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
|
|
||||||
</joint>
|
|
||||||
<joint type="revolute" name="link1_link2_joint">
|
|
||||||
<origin xyz="0 0 0.3" rpy="0 0 0"/>
|
|
||||||
<parent link="link1_full"/>
|
|
||||||
<child link="link2_bottom"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit effort="30" velocity="1.7453292519943" lower="-2.6179938779915" upper="2.6179938779915"/>
|
|
||||||
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
|
|
||||||
</joint>
|
|
||||||
<joint type="continuous" name="link2_rot">
|
|
||||||
<origin xyz="0 0.080501 0.120502" rpy="0 0 0"/>
|
|
||||||
<parent link="link2_bottom"/>
|
|
||||||
<child link="link2_top"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit effort="30" velocity="1.7453292519943"/>
|
|
||||||
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
|
|
||||||
</joint>
|
|
||||||
<joint type="continuous" name="link2_link3_joint">
|
|
||||||
<origin xyz="0 0.0565 0.178003" rpy="0 0 0"/>
|
|
||||||
<parent link="link2_top"/>
|
|
||||||
<child link="link3_bottom"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit effort="30" velocity="1.7453292519943"/>
|
|
||||||
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
|
|
||||||
</joint>
|
|
||||||
<joint type="continuous" name="link3_rot">
|
|
||||||
<origin xyz="0 -0.055001 0.085501" rpy="0 0 0"/>
|
|
||||||
<parent link="link3_bottom"/>
|
|
||||||
<child link="link3_top"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit effort="30" velocity="1.7453292519943"/>
|
|
||||||
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<transmission name="trans_base_rot">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="base_rot">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="base_rot_motor">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>1</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="trans_base_link1_joint">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="base_link1_joint">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="base_link1_joint_motor">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>1</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="trans_link1_link2_joint">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="link1_link2_joint">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="link1_link2_joint_motor">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>1</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="trans_link2_rot">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="link2_rot">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="link2_rot_motor">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>1</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="trans_link2_link3_joint">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="link2_link3_joint">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="link2_link3_joint_motor">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>1</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="trans_link3_rot">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="link3_rot">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="link3_rot_motor">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>1</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
|
|
||||||
<ros2_control name="IgnitionSystem" type="system">
|
|
||||||
<hardware>
|
|
||||||
<plugin>ign_ros2_control/IgnitionSystem</plugin>
|
|
||||||
</hardware>
|
|
||||||
|
|
||||||
<!-- define lbr specific state interfaces as sensor, see https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md -->
|
|
||||||
<sensor name="iisy_state">
|
|
||||||
<!-- see KUKA::FRI::LBRState -->
|
|
||||||
<state_interface name="sample_time"/>
|
|
||||||
<state_interface name="time_stamp_sec"/>
|
|
||||||
<state_interface name="time_stamp_nano_sec"/>
|
|
||||||
</sensor>
|
|
||||||
<!-- define joints and command/state interfaces for each joint -->
|
|
||||||
<joint name="base_rot">
|
|
||||||
<command_interface name="position"/>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="velocity"/>
|
|
||||||
<state_interface name="effort"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="base_link1_joint">
|
|
||||||
<command_interface name="position"/>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="velocity"/>
|
|
||||||
<state_interface name="effort"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="link1_link2_joint">
|
|
||||||
<command_interface name="position"/>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="velocity"/>
|
|
||||||
<state_interface name="effort"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="link2_rot">
|
|
||||||
<command_interface name="position"/>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="velocity"/>
|
|
||||||
<state_interface name="effort"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="link2_link3_joint">
|
|
||||||
<command_interface name="position"/>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="velocity"/>
|
|
||||||
<state_interface name="effort"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="link3_rot">
|
|
||||||
<command_interface name="position"/>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="velocity"/>
|
|
||||||
<state_interface name="effort"/>
|
|
||||||
</joint>
|
|
||||||
</ros2_control>
|
|
||||||
|
|
||||||
<gazebo>
|
|
||||||
<plugin filename="$(find ign_ros2_control)/../../lib/libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
|
|
||||||
<parameters>$(find iisy_config)/config/iisy_controllers.yml</parameters>
|
|
||||||
</plugin>
|
|
||||||
</gazebo>
|
|
||||||
|
|
||||||
<gazebo reference="base_bottom">lsl
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Orange</material>
|
|
||||||
</gazebo>
|
|
||||||
|
|
||||||
<gazebo reference="base_top">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Orange</material>
|
|
||||||
</gazebo>
|
|
||||||
|
|
||||||
<gazebo reference="link1_full">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Orange</material>
|
|
||||||
</gazebo>
|
|
||||||
|
|
||||||
<gazebo reference="link2_bottom">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Orange</material>
|
|
||||||
</gazebo>
|
|
||||||
|
|
||||||
<gazebo reference="link2_top">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Orange</material>
|
|
||||||
</gazebo>
|
|
||||||
|
|
||||||
<gazebo reference="link3_bottom">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Orange</material>
|
|
||||||
</gazebo>
|
|
||||||
|
|
||||||
<gazebo reference="link3_top">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Grey</material>
|
|
||||||
</gazebo>
|
|
||||||
|
|
||||||
</robot>
|
|
||||||
@ -1,397 +0,0 @@
|
|||||||
<?xml version="1.0" ?>
|
|
||||||
<!-- =================================================================================== -->
|
|
||||||
<!-- | This document was autogenerated by xacro from src/iisy_config/urdf/iisy.urdf | -->
|
|
||||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
|
||||||
<!-- =================================================================================== -->
|
|
||||||
<robot name="iisy">
|
|
||||||
<link name="world"/>
|
|
||||||
<link name="base_link"/>
|
|
||||||
<link name="table">
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/table.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/table.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name="base_bottom">
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/base_bottom_coll.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/base_bottom_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="-0.043517 0.000000 0.054914"/>
|
|
||||||
<mass value="6"/>
|
|
||||||
<inertia ixx="1.277905" ixy="0.0" ixz="0.138279" iyy="3.070705" iyz="0.0" izz="3.284356"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<link name="base_top">
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 -0.005 0.08"/>
|
|
||||||
<geometry>
|
|
||||||
<box size="0.14 0.15 0.16"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/base_top_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0 -0.005 0.08"/>
|
|
||||||
<mass value="2"/>
|
|
||||||
<inertia ixx="0.32666666666667" ixy="0.0" ixz="0.0" iyy="0.32666666666667" iyz="0.0" izz="0.25"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<link name="link1_full">
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_1_full_coll.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_1_full_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0 -0.050000 0.150000"/>
|
|
||||||
<mass value="4"/>
|
|
||||||
<inertia ixx="8.266347" ixy="0.0" ixz="0.0" iyy="8.647519" iyz="0.0" izz="8.647519"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<link name="link2_bottom">
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0.07 0.025"/>
|
|
||||||
<geometry>
|
|
||||||
<box size="0.14 0.14 0.19"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_2_bottom_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0.07 0.025"/>
|
|
||||||
<mass value="2"/>
|
|
||||||
<inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="0.25"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<link name="link2_top">
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_2_top_coll.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_2_top_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0.037363 0.086674"/>
|
|
||||||
<mass value="2"/>
|
|
||||||
<inertia ixx="1.431738" ixy="0.0" ixz="0.0" iyy="1.131426" iyz="-0.342192" izz="0.807202"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<link name="link3_bottom">
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_bottom_coll.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_bottom_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0 -0.055000 0.021413"/>
|
|
||||||
<mass value="2"/>
|
|
||||||
<inertia ixx="0.362124" ixy="0.0" ixz="0.0" iyy="0.343531" iyz="0.0" izz="0.283368"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<link name="link3_top">
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_top_coll.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_top_low.stl"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0 -0.015462 0.040000"/>
|
|
||||||
<mass value="0.8"/>
|
|
||||||
<inertia ixx="0.228470" ixy="0.0" ixz="0.0" iyy="0.137641" iyz="0.0" izz="0.252003"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<joint name="world_base_link_fixed" type="fixed">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<parent link="world"/>
|
|
||||||
<child link="base_link"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="base_base_link_fixed" type="fixed">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<parent link="base_link"/>
|
|
||||||
<child link="table"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="table_link_fixed" type="fixed">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 1"/>
|
|
||||||
<parent link="table"/>
|
|
||||||
<child link="base_bottom"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="base_rot" type="continuous">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0.1205"/>
|
|
||||||
<parent link="base_bottom"/>
|
|
||||||
<child link="base_top"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit effort="30" velocity="1.7453292519943"/>
|
|
||||||
<dynamics damping="10.0" friction="0.1"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="base_link1_joint" type="revolute">
|
|
||||||
<origin rpy="0 0 0" xyz="0 -0.080499 0.092997"/>
|
|
||||||
<parent link="base_top"/>
|
|
||||||
<child link="link1_full"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit effort="30" lower="-2.2689280275926" upper="2.4434609527921" velocity="1.7453292519943"/>
|
|
||||||
<dynamics damping="10.0" friction="0.1"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="link1_link2_joint" type="revolute">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0.3"/>
|
|
||||||
<parent link="link1_full"/>
|
|
||||||
<child link="link2_bottom"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit effort="30" lower="-2.6179938779915" upper="2.6179938779915" velocity="1.7453292519943"/>
|
|
||||||
<dynamics damping="10.0" friction="0.1"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="link2_rot" type="continuous">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0.080501 0.120502"/>
|
|
||||||
<parent link="link2_bottom"/>
|
|
||||||
<child link="link2_top"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit effort="30" velocity="1.7453292519943"/>
|
|
||||||
<dynamics damping="10.0" friction="0.1"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="link2_link3_joint" type="continuous">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0.0565 0.178003"/>
|
|
||||||
<parent link="link2_top"/>
|
|
||||||
<child link="link3_bottom"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit effort="30" velocity="1.7453292519943"/>
|
|
||||||
<dynamics damping="10.0" friction="0.1"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="link3_rot" type="continuous">
|
|
||||||
<origin rpy="0 0 0" xyz="0 -0.055001 0.085501"/>
|
|
||||||
<parent link="link3_bottom"/>
|
|
||||||
<child link="link3_top"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit effort="30" velocity="1.7453292519943"/>
|
|
||||||
<dynamics damping="10.0" friction="0.1"/>
|
|
||||||
</joint>
|
|
||||||
<transmission name="trans_base_rot">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="base_rot">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="base_rot_motor">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>1</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="trans_base_link1_joint">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="base_link1_joint">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="base_link1_joint_motor">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>1</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="trans_link1_link2_joint">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="link1_link2_joint">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="link1_link2_joint_motor">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>1</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="trans_link2_rot">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="link2_rot">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="link2_rot_motor">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>1</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="trans_link2_link3_joint">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="link2_link3_joint">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="link2_link3_joint_motor">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>1</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="trans_link3_rot">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="link3_rot">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="link3_rot_motor">
|
|
||||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>1</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<ros2_control name="IgnitionSystem" type="system">
|
|
||||||
<hardware>
|
|
||||||
<plugin>ign_ros2_control/IgnitionSystem</plugin>
|
|
||||||
</hardware>
|
|
||||||
<!-- define lbr specific state interfaces as sensor, see https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md -->
|
|
||||||
<sensor name="iisy_state">
|
|
||||||
<!-- see KUKA::FRI::LBRState -->
|
|
||||||
<state_interface name="sample_time"/>
|
|
||||||
<state_interface name="time_stamp_sec"/>
|
|
||||||
<state_interface name="time_stamp_nano_sec"/>
|
|
||||||
</sensor>
|
|
||||||
<!-- define joints and command/state interfaces for each joint -->
|
|
||||||
<joint name="base_rot">
|
|
||||||
<command_interface name="position">
|
|
||||||
<!-- better to use radians as min max first -->
|
|
||||||
<param name="min">-1</param>
|
|
||||||
<param name="max"> 1</param>
|
|
||||||
</command_interface>
|
|
||||||
<command_interface name="effort">
|
|
||||||
<param name="min">-1</param>
|
|
||||||
<param name="max"> 1</param>
|
|
||||||
</command_interface>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="effort"/>
|
|
||||||
<state_interface name="external_torque"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="base_link1_joint">
|
|
||||||
<command_interface name="position">
|
|
||||||
<param name="min">-1</param>
|
|
||||||
<param name="max"> 1</param>
|
|
||||||
</command_interface>
|
|
||||||
<command_interface name="effort">
|
|
||||||
<param name="min">-1</param>
|
|
||||||
<param name="max"> 1</param>
|
|
||||||
</command_interface>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="effort"/>
|
|
||||||
<state_interface name="external_torque"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="link1_link2_joint">
|
|
||||||
<command_interface name="position">
|
|
||||||
<param name="min">-1</param>
|
|
||||||
<param name="max"> 1</param>
|
|
||||||
</command_interface>
|
|
||||||
<command_interface name="effort">
|
|
||||||
<param name="min">-1</param>
|
|
||||||
<param name="max"> 1</param>
|
|
||||||
</command_interface>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="effort"/>
|
|
||||||
<state_interface name="external_torque"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="link2_rot">
|
|
||||||
<command_interface name="position">
|
|
||||||
<param name="min">-1</param>
|
|
||||||
<param name="max"> 1</param>
|
|
||||||
</command_interface>
|
|
||||||
<command_interface name="effort">
|
|
||||||
<param name="min">-1</param>
|
|
||||||
<param name="max"> 1</param>
|
|
||||||
</command_interface>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="effort"/>
|
|
||||||
<state_interface name="external_torque"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="link2_link3_joint">
|
|
||||||
<command_interface name="position">
|
|
||||||
<param name="min">-1</param>
|
|
||||||
<param name="max"> 1</param>
|
|
||||||
</command_interface>
|
|
||||||
<command_interface name="effort">
|
|
||||||
<param name="min">-1</param>
|
|
||||||
<param name="max"> 1</param>
|
|
||||||
</command_interface>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="effort"/>
|
|
||||||
<state_interface name="external_torque"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="link3_rot">
|
|
||||||
<command_interface name="position">
|
|
||||||
<param name="min">-1</param>
|
|
||||||
<param name="max"> 1</param>
|
|
||||||
</command_interface>
|
|
||||||
<command_interface name="effort">
|
|
||||||
<param name="min">-1</param>
|
|
||||||
<param name="max"> 1</param>
|
|
||||||
</command_interface>
|
|
||||||
<state_interface name="position"/>
|
|
||||||
<state_interface name="effort"/>
|
|
||||||
<state_interface name="external_torque"/>
|
|
||||||
</joint>
|
|
||||||
</ros2_control>
|
|
||||||
<gazebo>
|
|
||||||
<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
|
|
||||||
<parameters>/home/ros/workspace/install/iisy_config/share/iisy_config/config/iisy_controllers.yml</parameters>
|
|
||||||
</plugin>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="base_bottom">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Orange</material>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="base_top">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Orange</material>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="link1_full">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Orange</material>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="link2_bottom">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Orange</material>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="link2_top">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Orange</material>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="link3_bottom">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Orange</material>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="link3_top">
|
|
||||||
<mu1>0.2</mu1>
|
|
||||||
<mu2>0.2</mu2>
|
|
||||||
<material>Gazebo/Grey</material>
|
|
||||||
</gazebo>
|
|
||||||
</robot>
|
|
||||||
@ -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
|
|
||||||
@ -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})
|
|
||||||
@ -1,52 +0,0 @@
|
|||||||
<?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_2</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>
|
|
||||||
<maintainer email="bhogm4@gmail.com">Bastian Hofmann</maintainer>
|
|
||||||
|
|
||||||
<license>BSD</license>
|
|
||||||
|
|
||||||
<url type="website">http://moveit.ros.org/</url>
|
|
||||||
<url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
|
|
||||||
<url type="repository">https://github.com/ros-planning/moveit2</url>
|
|
||||||
|
|
||||||
<author email="bhogm4@gmail.com">Bastian Hofmann</author>
|
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
|
||||||
|
|
||||||
<exec_depend>moveit_ros_move_group</exec_depend>
|
|
||||||
<exec_depend>moveit_kinematics</exec_depend>
|
|
||||||
<exec_depend>moveit_planners</exec_depend>
|
|
||||||
<exec_depend>moveit_simple_controller_manager</exec_depend>
|
|
||||||
<exec_depend>joint_state_publisher</exec_depend>
|
|
||||||
<exec_depend>joint_state_publisher_gui</exec_depend>
|
|
||||||
<exec_depend>tf2_ros</exec_depend>
|
|
||||||
<exec_depend>xacro</exec_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. -->
|
|
||||||
<!-- <exec_depend>joint_trajectory_controller</exec_depend> -->
|
|
||||||
<!-- <exec_depend>gazebo_ros_control</exec_depend> -->
|
|
||||||
<exec_depend>controller_manager</exec_depend>
|
|
||||||
<exec_depend>iisy_config</exec_depend>
|
|
||||||
<exec_depend>moveit_configs_utils</exec_depend>
|
|
||||||
<exec_depend>moveit_ros_move_group</exec_depend>
|
|
||||||
<exec_depend>moveit_ros_visualization</exec_depend>
|
|
||||||
<exec_depend>moveit_ros_warehouse</exec_depend>
|
|
||||||
<exec_depend>moveit_setup_assistant</exec_depend>
|
|
||||||
<exec_depend>robot_state_publisher</exec_depend>
|
|
||||||
<exec_depend>rviz2</exec_depend>
|
|
||||||
<exec_depend>rviz_common</exec_depend>
|
|
||||||
<exec_depend>rviz_default_plugins</exec_depend>
|
|
||||||
<exec_depend>tf2_ros</exec_depend>
|
|
||||||
<exec_depend>warehouse_ros_mongo</exec_depend>
|
|
||||||
<exec_depend>xacro</exec_depend>
|
|
||||||
|
|
||||||
|
|
||||||
<export>
|
|
||||||
<build_type>ament_cmake</build_type>
|
|
||||||
</export>
|
|
||||||
</package>
|
|
||||||
Loading…
x
Reference in New Issue
Block a user