Migration to official movit parser
This commit is contained in:
Bastian Hofmann
parent
2d4d55b065
commit
df9512a2b2
@ -1,384 +0,0 @@
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Panels:
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- Class: rviz_common/Displays
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Help Height: 0
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5
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Tree Height: 212
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz_common/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz_default_plugins/RobotModel
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Collision Enabled: false
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Description File: ""
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Description Source: Topic
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Description Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: robot_description
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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lbr_link_0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_ee:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Name: RobotModel
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Acceleration_Scaling_Factor: 0.1
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Class: moveit_rviz_plugin/MotionPlanning
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Enabled: true
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Move Group Namespace: ""
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MoveIt_Allow_Approximate_IK: false
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MoveIt_Allow_External_Program: false
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MoveIt_Allow_Replanning: false
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MoveIt_Allow_Sensor_Positioning: false
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MoveIt_Planning_Attempts: 10
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MoveIt_Planning_Time: 5
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MoveIt_Use_Cartesian_Path: false
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MoveIt_Use_Constraint_Aware_IK: false
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MoveIt_Warehouse_Host: 127.0.0.1
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MoveIt_Warehouse_Port: 33829
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MoveIt_Workspace:
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Center:
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X: 0
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Y: 0
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Z: 0
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Size:
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X: 2
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Y: 2
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Z: 2
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Name: MotionPlanning
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Planned Path:
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Color Enabled: false
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Interrupt Display: false
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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lbr_link_0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_ee:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Loop Animation: false
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Robot Alpha: 0.5
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Robot Color: 150; 50; 150
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Show Robot Collision: false
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Show Robot Visual: true
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Show Trail: false
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State Display Time: 0.05 s
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Trail Step Size: 1
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Trajectory Topic: /display_planned_path
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Planning Metrics:
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Payload: 1
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Show Joint Torques: false
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Show Manipulability: false
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Show Manipulability Index: false
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Show Weight Limit: false
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TextHeight: 0.07999999821186066
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Planning Request:
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Colliding Link Color: 255; 0; 0
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Goal State Alpha: 1
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Goal State Color: 250; 128; 0
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Interactive Marker Size: 0
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Joint Violation Color: 255; 0; 255
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Planning Group: med7_arm
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Query Goal State: true
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Query Start State: false
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Show Workspace: false
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Start State Alpha: 1
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Start State Color: 0; 255; 0
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Planning Scene Topic: /monitored_planning_scene
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Robot Description: robot_description
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Scene Geometry:
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Scene Alpha: 0.8999999761581421
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Scene Color: 50; 230; 50
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Scene Display Time: 0.009999999776482582
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Show Scene Geometry: true
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Voxel Coloring: Z-Axis
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Voxel Rendering: Occupied Voxels
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Scene Robot:
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Attached Body Color: 150; 50; 150
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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lbr_link_0:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_7:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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lbr_link_ee:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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world:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Robot Alpha: 1
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Show Robot Collision: false
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Show Robot Visual: true
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Value: true
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Velocity_Scaling_Factor: 0.01
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: world
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_pose
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 2.398728847503662
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.056836556643247604
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Y: -0.0032705869525671005
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Z: 0.7173376083374023
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.5103980898857117
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 5.248579978942871
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1016
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Hide Left Dock: false
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Hide Right Dock: true
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MotionPlanning:
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collapsed: false
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MotionPlanning - Trajectory Slider:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001f30000032afc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000111000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000154000002130000017d00ffffff000000010000010000000280fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000280000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000006efc0100000002fb0000000800540069006d00650100000000000007380000005800fffffffb0000000800540069006d006501000000000000045000000000000000000000053f0000032a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: true
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Width: 1848
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X: 0
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Y: 27
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@ -1,42 +0,0 @@
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# see controllers: http://control.ros.org/ros2_controllers/doc/controllers_index.html
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controller_manager:
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ros__parameters:
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update_rate: 500 # Hz
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joint_state_broadcaster:
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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
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position_trajectory_controller:
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# find declaration here https://github.com/ros-controls/ros2_controllers/blob/b9afbcd74a5263fafa77181187b8ffa8f0696ea8/joint_trajectory_controller/joint_trajectory_plugin.xml#L2
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type: joint_trajectory_controller/JointTrajectoryController
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|
||||||
forward_position_controller:
|
|
||||||
type: position_controllers/JointGroupPositionController
|
|
||||||
|
|
||||||
position_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
|
|
||||||
state_publish_rate: 50.0
|
|
||||||
action_monitor_rate: 20.0
|
|
||||||
|
|
||||||
forward_position_controller:
|
|
||||||
ros__parameters:
|
|
||||||
joints:
|
|
||||||
- base_rot
|
|
||||||
- base_link1_joint
|
|
||||||
- link1_link2_joint
|
|
||||||
- link2_rot
|
|
||||||
- link2_link3_joint
|
|
||||||
- link3_rot
|
|
||||||
interface_name: "position"
|
|
||||||
@ -1,15 +0,0 @@
|
|||||||
controller_names:
|
|
||||||
- position_trajectory_controller
|
|
||||||
|
|
||||||
# http://control.ros.org/ros2_controllers/joint_trajectory_controller/doc/userdoc.html#ros2-interface-of-the-controller
|
|
||||||
position_trajectory_controller:
|
|
||||||
action_ns: follow_joint_trajectory
|
|
||||||
type: FollowJointTrajectory
|
|
||||||
default: true
|
|
||||||
joints:
|
|
||||||
- base_rot
|
|
||||||
- base_link1_joint
|
|
||||||
- link1_link2_joint
|
|
||||||
- link2_rot
|
|
||||||
- link2_link3_joint
|
|
||||||
- link3_rot
|
|
||||||
@ -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
|
|
||||||
@ -1,181 +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_robot",
|
|
||||||
package="btree_robot",
|
|
||||||
executable="robot_test",
|
|
||||||
output="screen",
|
|
||||||
parameters=[
|
|
||||||
robot_description,
|
|
||||||
robot_description_semantic,
|
|
||||||
kinematics_yaml,
|
|
||||||
],
|
|
||||||
)
|
|
||||||
|
|
||||||
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)
|
|
||||||
])
|
|
||||||
@ -1,5 +1,5 @@
|
|||||||
cmake_minimum_required(VERSION 3.8)
|
cmake_minimum_required(VERSION 3.8)
|
||||||
project(iisy_config)
|
project(iisy_moveit_config)
|
||||||
|
|
||||||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
add_compile_options(-Wall -Wextra -Wpedantic)
|
||||||
5
src/iisy_moveit_config/config/cartesian_limits.yaml
Normal file
5
src/iisy_moveit_config/config/cartesian_limits.yaml
Normal file
@ -0,0 +1,5 @@
|
|||||||
|
cartesian_limits:
|
||||||
|
max_trans_vel: 1
|
||||||
|
max_trans_acc: 2.25
|
||||||
|
max_trans_dec: -5
|
||||||
|
max_rot_vel: 1.57
|
||||||
18
src/iisy_moveit_config/config/chomp_planning.yaml
Normal file
18
src/iisy_moveit_config/config/chomp_planning.yaml
Normal file
@ -0,0 +1,18 @@
|
|||||||
|
planning_time_limit: 10.0
|
||||||
|
max_iterations: 200
|
||||||
|
max_iterations_after_collision_free: 5
|
||||||
|
smoothness_cost_weight: 0.1
|
||||||
|
obstacle_cost_weight: 1.0
|
||||||
|
learning_rate: 0.01
|
||||||
|
smoothness_cost_velocity: 0.0
|
||||||
|
smoothness_cost_acceleration: 1.0
|
||||||
|
smoothness_cost_jerk: 0.0
|
||||||
|
ridge_factor: 0.0
|
||||||
|
use_pseudo_inverse: false
|
||||||
|
pseudo_inverse_ridge_factor: 1e-4
|
||||||
|
joint_update_limit: 0.1
|
||||||
|
collision_clearance: 0.2
|
||||||
|
collision_threshold: 0.07
|
||||||
|
use_stochastic_descent: true
|
||||||
|
enable_failure_recovery: false
|
||||||
|
max_recovery_attempts: 5
|
||||||
13
src/iisy_moveit_config/config/fake_controllers.yaml
Normal file
13
src/iisy_moveit_config/config/fake_controllers.yaml
Normal file
@ -0,0 +1,13 @@
|
|||||||
|
controller_list:
|
||||||
|
- name: fake_iisy_controller
|
||||||
|
type: $(arg fake_execution_type)
|
||||||
|
joints:
|
||||||
|
- base_rot
|
||||||
|
- base_link1_joint
|
||||||
|
- link1_link2_joint
|
||||||
|
- link2_rot
|
||||||
|
- link2_link3_joint
|
||||||
|
- link3_rot
|
||||||
|
initial: # Define initial robot poses per group
|
||||||
|
- group: iisy
|
||||||
|
pose: home
|
||||||
4
src/iisy_moveit_config/config/gazebo_controllers.yaml
Normal file
4
src/iisy_moveit_config/config/gazebo_controllers.yaml
Normal file
@ -0,0 +1,4 @@
|
|||||||
|
# Publish joint_states
|
||||||
|
joint_state_controller:
|
||||||
|
type: joint_state_controller/JointStateController
|
||||||
|
publish_rate: 50
|
||||||
39
src/iisy_moveit_config/config/iisy.srdf
Normal file
39
src/iisy_moveit_config/config/iisy.srdf
Normal file
@ -0,0 +1,39 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<!--This does not replace URDF, and is not an extension of URDF.
|
||||||
|
This is a format for representing semantic information about the robot structure.
|
||||||
|
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
|
||||||
|
-->
|
||||||
|
<robot name="iisy">
|
||||||
|
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
|
||||||
|
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
|
||||||
|
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
|
||||||
|
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
|
||||||
|
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
|
||||||
|
<group name="iisy">
|
||||||
|
<joint name="base_rot"/>
|
||||||
|
<joint name="base_link1_joint"/>
|
||||||
|
<joint name="link1_link2_joint"/>
|
||||||
|
<joint name="link2_rot"/>
|
||||||
|
<joint name="link2_link3_joint"/>
|
||||||
|
<joint name="link3_rot"/>
|
||||||
|
</group>
|
||||||
|
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
|
||||||
|
<group_state name="home" group="iisy">
|
||||||
|
<joint name="base_link1_joint" value="0"/>
|
||||||
|
<joint name="base_rot" value="0"/>
|
||||||
|
<joint name="link1_link2_joint" value="0"/>
|
||||||
|
<joint name="link2_link3_joint" value="0"/>
|
||||||
|
<joint name="link2_rot" value="0"/>
|
||||||
|
<joint name="link3_rot" value="0"/>
|
||||||
|
</group_state>
|
||||||
|
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
|
||||||
|
<disable_collisions link1="base" link2="base_top" reason="Adjacent"/>
|
||||||
|
<disable_collisions link1="base_top" link2="link1_full" reason="Adjacent"/>
|
||||||
|
<disable_collisions link1="base_top" link2="link2_bottom" reason="Never"/>
|
||||||
|
<disable_collisions link1="link1_full" link2="link2_bottom" reason="Adjacent"/>
|
||||||
|
<disable_collisions link1="link1_full" link2="link3_bottom" reason="Never"/>
|
||||||
|
<disable_collisions link1="link2_bottom" link2="link2_top" reason="Adjacent"/>
|
||||||
|
<disable_collisions link1="link2_bottom" link2="link3_bottom" reason="Never"/>
|
||||||
|
<disable_collisions link1="link2_top" link2="link3_bottom" reason="Adjacent"/>
|
||||||
|
<disable_collisions link1="link3_bottom" link2="link3_top" reason="Adjacent"/>
|
||||||
|
</robot>
|
||||||
40
src/iisy_moveit_config/config/joint_limits.yaml
Normal file
40
src/iisy_moveit_config/config/joint_limits.yaml
Normal file
@ -0,0 +1,40 @@
|
|||||||
|
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
|
||||||
|
|
||||||
|
# For beginners, we downscale velocity and acceleration limits.
|
||||||
|
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
|
||||||
|
default_velocity_scaling_factor: 0.1
|
||||||
|
default_acceleration_scaling_factor: 0.1
|
||||||
|
|
||||||
|
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
|
||||||
|
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
|
||||||
|
joint_limits:
|
||||||
|
base_link1_joint:
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_velocity: 1.7453292519943
|
||||||
|
has_acceleration_limits: false
|
||||||
|
max_acceleration: 0
|
||||||
|
base_rot:
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_velocity: 1.7453292519943
|
||||||
|
has_acceleration_limits: false
|
||||||
|
max_acceleration: 0
|
||||||
|
link1_link2_joint:
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_velocity: 1.7453292519943
|
||||||
|
has_acceleration_limits: false
|
||||||
|
max_acceleration: 0
|
||||||
|
link2_link3_joint:
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_velocity: 1.7453292519943
|
||||||
|
has_acceleration_limits: false
|
||||||
|
max_acceleration: 0
|
||||||
|
link2_rot:
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_velocity: 1.7453292519943
|
||||||
|
has_acceleration_limits: false
|
||||||
|
max_acceleration: 0
|
||||||
|
link3_rot:
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_velocity: 1.7453292519943
|
||||||
|
has_acceleration_limits: false
|
||||||
|
max_acceleration: 0
|
||||||
40
src/iisy_moveit_config/config/ros_controllers.yaml
Normal file
40
src/iisy_moveit_config/config/ros_controllers.yaml
Normal file
@ -0,0 +1,40 @@
|
|||||||
|
iisy_controller:
|
||||||
|
type: effort_controllers/JointTrajectoryController
|
||||||
|
joints:
|
||||||
|
- base_rot
|
||||||
|
- base_link1_joint
|
||||||
|
- link1_link2_joint
|
||||||
|
- link2_rot
|
||||||
|
- link2_link3_joint
|
||||||
|
- link3_rot
|
||||||
|
gains:
|
||||||
|
base_rot:
|
||||||
|
p: 100
|
||||||
|
d: 1
|
||||||
|
i: 1
|
||||||
|
i_clamp: 1
|
||||||
|
base_link1_joint:
|
||||||
|
p: 100
|
||||||
|
d: 1
|
||||||
|
i: 1
|
||||||
|
i_clamp: 1
|
||||||
|
link1_link2_joint:
|
||||||
|
p: 100
|
||||||
|
d: 1
|
||||||
|
i: 1
|
||||||
|
i_clamp: 1
|
||||||
|
link2_rot:
|
||||||
|
p: 100
|
||||||
|
d: 1
|
||||||
|
i: 1
|
||||||
|
i_clamp: 1
|
||||||
|
link2_link3_joint:
|
||||||
|
p: 100
|
||||||
|
d: 1
|
||||||
|
i: 1
|
||||||
|
i_clamp: 1
|
||||||
|
link3_rot:
|
||||||
|
p: 100
|
||||||
|
d: 1
|
||||||
|
i: 1
|
||||||
|
i_clamp: 1
|
||||||
2
src/iisy_moveit_config/config/sensors_3d.yaml
Normal file
2
src/iisy_moveit_config/config/sensors_3d.yaml
Normal file
@ -0,0 +1,2 @@
|
|||||||
|
sensors:
|
||||||
|
[]
|
||||||
12
src/iisy_moveit_config/config/simple_moveit_controllers.yaml
Normal file
12
src/iisy_moveit_config/config/simple_moveit_controllers.yaml
Normal file
@ -0,0 +1,12 @@
|
|||||||
|
controller_list:
|
||||||
|
- name: iisy_controller
|
||||||
|
action_ns: follow_joint_trajectory
|
||||||
|
type: FollowJointTrajectory
|
||||||
|
default: True
|
||||||
|
joints:
|
||||||
|
- base_rot
|
||||||
|
- base_link1_joint
|
||||||
|
- link1_link2_joint
|
||||||
|
- link2_rot
|
||||||
|
- link2_link3_joint
|
||||||
|
- link3_rot
|
||||||
39
src/iisy_moveit_config/config/stomp_planning.yaml
Normal file
39
src/iisy_moveit_config/config/stomp_planning.yaml
Normal file
@ -0,0 +1,39 @@
|
|||||||
|
stomp/iisy:
|
||||||
|
group_name: iisy
|
||||||
|
optimization:
|
||||||
|
num_timesteps: 60
|
||||||
|
num_iterations: 40
|
||||||
|
num_iterations_after_valid: 0
|
||||||
|
num_rollouts: 30
|
||||||
|
max_rollouts: 30
|
||||||
|
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
|
||||||
|
control_cost_weight: 0.0
|
||||||
|
task:
|
||||||
|
noise_generator:
|
||||||
|
- class: stomp_moveit/NormalDistributionSampling
|
||||||
|
stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
|
||||||
|
cost_functions:
|
||||||
|
- class: stomp_moveit/CollisionCheck
|
||||||
|
collision_penalty: 1.0
|
||||||
|
cost_weight: 1.0
|
||||||
|
kernel_window_percentage: 0.2
|
||||||
|
longest_valid_joint_move: 0.05
|
||||||
|
noisy_filters:
|
||||||
|
- class: stomp_moveit/JointLimits
|
||||||
|
lock_start: True
|
||||||
|
lock_goal: True
|
||||||
|
- class: stomp_moveit/MultiTrajectoryVisualization
|
||||||
|
line_width: 0.02
|
||||||
|
rgb: [255, 255, 0]
|
||||||
|
marker_array_topic: stomp_trajectories
|
||||||
|
marker_namespace: noisy
|
||||||
|
update_filters:
|
||||||
|
- class: stomp_moveit/PolynomialSmoother
|
||||||
|
poly_order: 6
|
||||||
|
- class: stomp_moveit/TrajectoryVisualization
|
||||||
|
line_width: 0.05
|
||||||
|
rgb: [0, 191, 255]
|
||||||
|
error_rgb: [255, 0, 0]
|
||||||
|
publish_intermediate: True
|
||||||
|
marker_topic: stomp_trajectory
|
||||||
|
marker_namespace: optimized
|
||||||
@ -1,10 +1,7 @@
|
|||||||
from launch.actions.declare_launch_argument import DeclareLaunchArgument
|
|
||||||
from launch.launch_description import LaunchDescription
|
from launch.launch_description import LaunchDescription
|
||||||
from launch.actions import IncludeLaunchDescription, OpaqueFunction
|
from launch.actions import IncludeLaunchDescription, OpaqueFunction
|
||||||
from launch.conditions import IfCondition
|
|
||||||
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
|
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_ros.substitutions import FindPackageShare
|
||||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
|
||||||
@ -36,17 +33,6 @@ def launch_setup(context, *args, **kwargs):
|
|||||||
]
|
]
|
||||||
)
|
)
|
||||||
|
|
||||||
# Gazebo simulation
|
|
||||||
#simulation = IncludeLaunchDescription(
|
|
||||||
# PythonLaunchDescriptionSource(
|
|
||||||
# PathJoinSubstitution([
|
|
||||||
# FindPackageShare("iisy_config"),
|
|
||||||
# "launch",
|
|
||||||
# "lbr_simulation.launch.py"
|
|
||||||
# ])
|
|
||||||
# ),
|
|
||||||
#)
|
|
||||||
|
|
||||||
# Move group
|
# Move group
|
||||||
move_group = IncludeLaunchDescription(
|
move_group = IncludeLaunchDescription(
|
||||||
PythonLaunchDescriptionSource(
|
PythonLaunchDescriptionSource(
|
||||||
@ -1,38 +1,22 @@
|
|||||||
from launch.launch_description import LaunchDescription
|
from launch.launch_description import LaunchDescription
|
||||||
from launch.actions import DeclareLaunchArgument
|
from launch.actions import DeclareLaunchArgument
|
||||||
from launch.conditions import UnlessCondition
|
|
||||||
from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
|
from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
|
||||||
from launch_ros.actions import Node
|
from launch_ros.actions import Node
|
||||||
from launch_ros.substitutions import FindPackageShare
|
from launch_ros.substitutions import FindPackageShare
|
||||||
|
from moveit_configs_utils import MoveItConfigsBuilder
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
|
moveit_config = MoveItConfigsBuilder("iisy").to_moveit_configs()
|
||||||
# Launch arguments
|
|
||||||
launch_args = []
|
|
||||||
|
|
||||||
launch_args.append(
|
|
||||||
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(
|
robot_state_publisher = Node(
|
||||||
package="robot_state_publisher",
|
package="robot_state_publisher",
|
||||||
executable="robot_state_publisher",
|
executable="robot_state_publisher",
|
||||||
output="screen",
|
output="screen",
|
||||||
parameters=[robot_description]
|
parameters=[
|
||||||
|
moveit_config.robot_description,
|
||||||
|
]
|
||||||
)
|
)
|
||||||
|
|
||||||
joint_state_broadcaster = Node(
|
joint_state_broadcaster = Node(
|
||||||
@ -47,9 +31,9 @@ def generate_launch_description():
|
|||||||
arguments=["position_trajectory_controller", "--controller-manager", "/controller_manager"],
|
arguments=["position_trajectory_controller", "--controller-manager", "/controller_manager"],
|
||||||
)
|
)
|
||||||
|
|
||||||
return LaunchDescription(
|
return LaunchDescription([
|
||||||
launch_args + [
|
|
||||||
robot_state_publisher,
|
robot_state_publisher,
|
||||||
joint_state_broadcaster,
|
joint_state_broadcaster,
|
||||||
controller
|
controller,
|
||||||
])
|
]
|
||||||
|
)
|
||||||
90
src/iisy_moveit_config/launch/lbr_move_group.launch.py
Normal file
90
src/iisy_moveit_config/launch/lbr_move_group.launch.py
Normal file
@ -0,0 +1,90 @@
|
|||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import DeclareLaunchArgument, OpaqueFunction, TimerAction
|
||||||
|
from launch.substitutions import PathJoinSubstitution
|
||||||
|
from launch_ros.actions import Node
|
||||||
|
from launch_ros.substitutions import FindPackageShare
|
||||||
|
from moveit_configs_utils import MoveItConfigsBuilder
|
||||||
|
|
||||||
|
def launch_setup(context, *args, **kwargs):
|
||||||
|
|
||||||
|
moveit_config = MoveItConfigsBuilder("iisy").to_moveit_configs()
|
||||||
|
|
||||||
|
# Time configuration
|
||||||
|
use_sim_time = {"use_sim_time": True}
|
||||||
|
|
||||||
|
# Prepare move group node
|
||||||
|
move_group_node = Node(
|
||||||
|
package="moveit_ros_move_group",
|
||||||
|
executable="move_group",
|
||||||
|
output="screen",
|
||||||
|
arguments=["--ros-args"],
|
||||||
|
parameters=[
|
||||||
|
moveit_config.robot_description,
|
||||||
|
moveit_config.robot_description_semantic,
|
||||||
|
moveit_config.robot_description_kinematics,
|
||||||
|
moveit_config.planning_pipelines,
|
||||||
|
moveit_config.planning_scene_monitor,
|
||||||
|
moveit_config.trajectory_execution,
|
||||||
|
use_sim_time,
|
||||||
|
]
|
||||||
|
)
|
||||||
|
|
||||||
|
# RViz
|
||||||
|
rviz_config = PathJoinSubstitution([FindPackageShare("iisy_moveit_config"), "config/config.rviz"])
|
||||||
|
|
||||||
|
rviz = Node(
|
||||||
|
package="rviz2",
|
||||||
|
executable="rviz2",
|
||||||
|
parameters=[
|
||||||
|
moveit_config.robot_description,
|
||||||
|
moveit_config.robot_description_semantic,
|
||||||
|
moveit_config.robot_description_kinematics,
|
||||||
|
moveit_config.planning_pipelines,
|
||||||
|
moveit_config.planning_scene_monitor,
|
||||||
|
use_sim_time,
|
||||||
|
],
|
||||||
|
arguments=[
|
||||||
|
'-d', rviz_config
|
||||||
|
]
|
||||||
|
)
|
||||||
|
|
||||||
|
# MoveGroupInterface demo executable
|
||||||
|
move_group_demo = Node(
|
||||||
|
name="btree_robot",
|
||||||
|
package="btree_robot",
|
||||||
|
executable="robot_test",
|
||||||
|
output="screen",
|
||||||
|
parameters=[
|
||||||
|
moveit_config.robot_description,
|
||||||
|
moveit_config.robot_description_semantic,
|
||||||
|
moveit_config.robot_description_kinematics,
|
||||||
|
],
|
||||||
|
)
|
||||||
|
|
||||||
|
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)
|
||||||
|
])
|
||||||
@ -1,7 +1,7 @@
|
|||||||
<?xml version="1.0"?>
|
<?xml version="1.0"?>
|
||||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||||
<package format="3">
|
<package format="3">
|
||||||
<name>iisy_config</name>
|
<name>iisy_moveit_config</name>
|
||||||
<version>0.3.0</version>
|
<version>0.3.0</version>
|
||||||
<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
|
||||||
Loading…
x
Reference in New Issue
Block a user