diff --git a/.travis.yml b/.travis.yml index 13da30625..cd55a0275 100644 --- a/.travis.yml +++ b/.travis.yml @@ -2,24 +2,32 @@ language: generic services: - docker -notifications: - email: - on_success: always - on_failure: always +cache: + directories: + - $HOME/.ccache + +git: + quiet: true + env: + global: + - CCACHE_DIR=$HOME/.ccache matrix: - - ROS_DISTRO="kinetic" ROS_REPO=ros - - ROS_DISTRO="kinetic" ROS_REPO=ros-shadow-fixed - - ROS_DISTRO="kinetic" PRERELEASE=true - - ROS_DISTRO="melodic" ROS_REPO=ros - - ROS_DISTRO="melodic" ROS_REPO=ros-shadow-fixed - - ROS_DISTRO="melodic" PRERELEASE=true + - ROS_DISTRO="kinetic" ROS_REPO=main + - ROS_DISTRO="kinetic" ROS_REPO=testing + - ROS_DISTRO="kinetic" PRERELEASE=true + - ROS_DISTRO="melodic" ROS_REPO=main UPSTREAM_WORKSPACE='github:ros-industrial/ur_msgs#1.3.1' + - ROS_DISTRO="melodic" ROS_REPO=testing + - ROS_DISTRO="melodic" PRERELEASE=true UPSTREAM_WORKSPACE='github:ros-industrial/ur_msgs#1.3.1' + matrix: allow_failures: - - env: ROS_DISTRO="melodic" ROS_REPO=ros - - env: ROS_DISTRO="melodic" ROS_REPO=ros-shadow-fixed - - env: ROS_DISTRO="melodic" PRERELEASE=true + - env: ROS_DISTRO="kinetic" ROS_REPO=main + - env: ROS_DISTRO="kinetic" ROS_REPO=testing + - env: ROS_DISTRO="kinetic" PRERELEASE=true + install: - - git clone --quiet --depth=1 https://github.com/ros-industrial/industrial_ci.git .ci_config + - git clone --quiet --depth=1 -b master https://github.com/ros-industrial/industrial_ci.git .industrial_ci + script: - - source .ci_config/travis.sh + - .industrial_ci/travis.sh diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 000000000..1acf82db5 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,21 @@ +ROS-Industrial is a community project. We welcome contributions from any source, from those who are extremely active to casual users. The following sections outline the steps on how to contribute to ROS-Industrial. It assumes there is an existing repository to which one would like to contribute (item 1 in the figure above) and one is familiar with the Git "Fork and Branch" workflow, detailed [here](http://blog.scottlowe.org/2015/01/27/using-fork-branch-git-workflow/). + +1. Before any development is undertaken, a contributor would communicate a need and/or issue to the ROS-Industrial community. This can be done by submitting an issue on the appropriate GitHub repo, the [issues repo](https://github.com/ros-industrial/ros_industrial_issues), or by posting a message in the [ROS-Industrial category on ROS Discourse](//swri-ros-pkg-dev@googlegroups.com). . Doing so may save you time if similar development is underway and ensure that whatever approach you take is acceptable to the community of reviewers once it is submitted. +2. The second step (item 2) is to implement your change. If you are working on a code contribution, we highly recommend you utilize the [ROS Qt-Creator Plug-in](http://rosindustrial.org/news/2016/6/9/ros-qt-ide-plugin). Verify that your change successfully builds and passes all tests. +3. Next, push your changes to a "feature" branch in your personal fork of the repo and issue a pull request (PR)(item 3). The PR allows maintainers to review the submitted code. Before the PR can be accepted, the maintainer and contributor must agree that the contribution is implemented appropriately. This process can take several back-and-forth steps (see [example](https://github.com/ros-industrial/motoman/pull/89)). Contributors should expect to spend as much time reviewing/changing the code as on the initial implementation. This time can be minimized by communicating with the ROS-Industrial community before any contribution is made. +4. Issuing a Pull Request (PR) triggers the [Travis Continuous Integrations (CI)](https://github.com/ros-industrial/industrial_ci) step (item 4) which happens automatically in the background. The Travis CI performs several operations, and if any of the steps below fail, then the PR is marked accordingly for the maintainer. + * Travis Workflow: + * Installs a barebones ROS distribution on a fresh Ubuntu virtual machine. + * Creates a catkin workspace and puts the repository in it. + * Uses wstool to check out any from-source dependencies (i.e. other repositories). + * Resolves package dependencies using rosdep (i.e. install packages using apt-get). + * Compiles the catkin workspace. + * Runs all available unit tests. +5. If the PR passes Travis CI and one of the maintainers is satisfied with the changes, they post a +1 as a comment on the PR (item 5). The +1 signifies that the PR is ready to be merged. All PRs require at least one +1 and pass Travis CI before it can be merged. +6. The next step (item 6) is for the PR to be merged into the main branch. This is done through the GitHub web interface by selecting the “Merge pull request” button. After the PR is merged, all status badges are updated automatically. +7. Periodically, the maintainer will release the package (item 7), which then gets sent to the [ROS Build Farm](http://wiki.ros.org/build.ros.org) for Debian creation. +8. The publishing of the released packages (item 8) is managed by OSRF and is not on a set schedule. This usually happens when all packages for a given distro are built successfully and stable. The current status for the distro kinetic can be found [here](http://repositories.ros.org/status_page/ros_kinetic_default.html) . Navigating to other distros can be done by changing the distro name in the link. +9. Once the package has been published, it is available to be installed by the developer (item 9). +10. After the install of a new version, the developer may have questions, experience issues or it may not have the necessary functionality which should all be reported on the packages GitHub repository as an issue (item 10). If an issue is identified or there is missing functionality that the developer requires, the cycle starts back at (item 2). + +For more details, please refer to the [ROS-I wiki](http://wiki.ros.org/Industrial/DevProcess). diff --git a/universal_robot/CHANGELOG.rst b/universal_robot/CHANGELOG.rst deleted file mode 100644 index dde0d9998..000000000 --- a/universal_robot/CHANGELOG.rst +++ /dev/null @@ -1,48 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package universal_robot -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Update maintainer listing: add Miguel (`#410 `_) -* Add new metapackage, first step to rename the repo (`#409 `_) -* UR-E Series (`#380 `_) -* Update maintainer and author information. -* Contributors: Dave Niewinski, Nadia Hammoudeh García, gavanderhoorn - -1.2.1 (2018-01-06) ------------------- - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* No changes. - -1.1.6 (2016-04-01) ------------------- -* add moveit_config for ur3 -* Contributors: ipa-fxm - -1.0.2 (2014-03-31) ------------------- -* Merge branch 'hydro-devel' of github.com:ros-industrial/universal_robot into hydro -* added missing dependency -* Contributors: Florian Weisshardt, ipa-fxm - -1.0.1 (2014-03-31) ------------------- - -* Added all packages in dependency list of metapackage. -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* Contributors: IPR-SR2, Kelsey diff --git a/universal_robot/CMakeLists.txt b/universal_robot/CMakeLists.txt deleted file mode 100644 index 550252489..000000000 --- a/universal_robot/CMakeLists.txt +++ /dev/null @@ -1,4 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(universal_robot) -find_package(catkin REQUIRED) -catkin_metapackage() diff --git a/universal_robot/package.xml b/universal_robot/package.xml deleted file mode 100644 index fb67a0fc5..000000000 --- a/universal_robot/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - universal_robot - 1.2.5 - - Drivers, description, and utilities for Universal Robot Arms. - - - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - http://ros.org/wiki/universal_robot - - Shaun Edwards - Stuart Glaser - Kelsey Hawkins - Wim Meeussen - Felix Messmer - - catkin - universal_robots - - - - - diff --git a/universal_robots/package.xml b/universal_robots/package.xml index 9a6a18900..02be64f71 100644 --- a/universal_robots/package.xml +++ b/universal_robots/package.xml @@ -20,20 +20,16 @@ catkin - ur10_e_moveit_config + ur10e_moveit_config ur10_moveit_config - ur3_e_moveit_config + ur16e_moveit_config + ur3e_moveit_config ur3_moveit_config - ur5_e_moveit_config + ur5e_moveit_config ur5_moveit_config - ur_bringup ur_description - ur_driver - ur_e_description - ur_e_gazebo ur_gazebo ur_kinematics - ur_msgs diff --git a/ur10_e_moveit_config/.setup_assistant b/ur10_e_moveit_config/.setup_assistant deleted file mode 100644 index fb157102a..000000000 --- a/ur10_e_moveit_config/.setup_assistant +++ /dev/null @@ -1,8 +0,0 @@ -moveit_setup_assistant_config: - URDF: - package: ur_e_description - relative_path: urdf/ur10e_robot.urdf.xacro - SRDF: - relative_path: config/ur10e.srdf - CONFIG: - generated_timestamp: 1413893323 diff --git a/ur10_e_moveit_config/CHANGELOG.rst b/ur10_e_moveit_config/CHANGELOG.rst deleted file mode 100644 index c8a9469fa..000000000 --- a/ur10_e_moveit_config/CHANGELOG.rst +++ /dev/null @@ -1,10 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur10_e_moveit_config -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* First release (of this package) -* Update maintainer listing: add Miguel (`#410 `_) -* UR-E Series (`#380 `_) -* Contributors: Dave Niewinski, gavanderhoorn diff --git a/ur10_e_moveit_config/config/controllers.yaml b/ur10_e_moveit_config/config/controllers.yaml deleted file mode 100644 index bf2252cb2..000000000 --- a/ur10_e_moveit_config/config/controllers.yaml +++ /dev/null @@ -1,11 +0,0 @@ -controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur10_e_moveit_config/config/ompl_planning.yaml b/ur10_e_moveit_config/config/ompl_planning.yaml deleted file mode 100644 index 191879b4e..000000000 --- a/ur10_e_moveit_config/config/ompl_planning.yaml +++ /dev/null @@ -1,84 +0,0 @@ -planner_configs: - SBLkConfigDefault: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: - 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 - LBKPIECEkConfigDefault: - 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 - BKPIECEkConfigDefault: - 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 - KPIECEkConfigDefault: - 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 - RRTkConfigDefault: - 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 - RRTConnectkConfigDefault: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: - 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 - TRRTkConfigDefault: - 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() - PRMkConfigDefault: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: - type: geometric::PRMstar -manipulator: - default_planner_config: RRTConnectkConfigDefault - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) - longest_valid_segment_fraction: 0.01 -endeffector: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault diff --git a/ur10_e_moveit_config/launch/default_warehouse_db.launch b/ur10_e_moveit_config/launch/default_warehouse_db.launch deleted file mode 100644 index 8a207a25a..000000000 --- a/ur10_e_moveit_config/launch/default_warehouse_db.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/ur10_e_moveit_config/launch/demo.launch b/ur10_e_moveit_config/launch/demo.launch deleted file mode 100644 index f05986790..000000000 --- a/ur10_e_moveit_config/launch/demo.launch +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - [/move_group/fake_controller_joint_states] - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur10_e_moveit_config/launch/moveit.rviz b/ur10_e_moveit_config/launch/moveit.rviz deleted file mode 100644 index c7540069f..000000000 --- a/ur10_e_moveit_config/launch/moveit.rviz +++ /dev/null @@ -1,290 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 75 - Name: Displays - Property Tree Widget: - Expanded: - - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: moveit_rviz_plugin/MotionPlanning - Enabled: true - Move Group Namespace: "" - MoveIt_Goal_Tolerance: 0 - MoveIt_Planning_Attempts: 10 - MoveIt_Planning_Time: 5 - MoveIt_Use_Constraint_Aware_IK: true - 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 - base: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ee_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - forearm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - shoulder_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - upper_arm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - wrist_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - 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 - 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 - TextHeight: 0.08 - Planning Request: - Colliding Link Color: 255; 0; 0 - Goal State Alpha: 1 - Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 - Joint Violation Color: 255; 0; 255 - Planning Group: manipulator - 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: 0.9 - Scene Color: 50; 230; 50 - Scene Display Time: 0.2 - 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 - base: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ee_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - forearm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - shoulder_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - upper_arm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - wrist_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 2.82854 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 997 - Hide Left Dock: false - Hide Right Dock: true - Motion Planning: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 diff --git a/ur10_e_moveit_config/launch/moveit_rviz.launch b/ur10_e_moveit_config/launch/moveit_rviz.launch deleted file mode 100644 index 4859a41f4..000000000 --- a/ur10_e_moveit_config/launch/moveit_rviz.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch b/ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch deleted file mode 100644 index b701ce754..000000000 --- a/ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/ur10_e_moveit_config/tests/moveit_planning_execution.xml b/ur10_e_moveit_config/tests/moveit_planning_execution.xml deleted file mode 100644 index 20e58cb05..000000000 --- a/ur10_e_moveit_config/tests/moveit_planning_execution.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/ur10_moveit_config/.setup_assistant b/ur10_moveit_config/.setup_assistant index 9129e624c..a613a4fcc 100644 --- a/ur10_moveit_config/.setup_assistant +++ b/ur10_moveit_config/.setup_assistant @@ -1,8 +1,11 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur10_robot.urdf.xacro + relative_path: urdf/ur10.xacro + xacro_args: "" SRDF: relative_path: config/ur10.srdf CONFIG: - generated_timestamp: 1413893323 \ No newline at end of file + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur10_moveit_config/config/chomp_planning.yaml b/ur10_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur10_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur10_moveit_config/config/controllers.yaml b/ur10_moveit_config/config/controllers.yaml deleted file mode 100644 index bf2252cb2..000000000 --- a/ur10_moveit_config/config/controllers.yaml +++ /dev/null @@ -1,11 +0,0 @@ -controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur10_moveit_config/config/fake_controllers.yaml b/ur10_moveit_config/config/fake_controllers.yaml index 5e24f9451..e328e94d4 100644 --- a/ur10_moveit_config/config/fake_controllers.yaml +++ b/ur10_moveit_config/config/fake_controllers.yaml @@ -9,4 +9,7 @@ controller_list: - wrist_3_joint - name: fake_endeffector_controller joints: - [] \ No newline at end of file + [] +initial: # Define initial robot poses. + - group: manipulator + pose: home \ No newline at end of file diff --git a/ur10_moveit_config/config/joint_limits.yaml b/ur10_moveit_config/config/joint_limits.yaml index 51ce612f8..633b7bbce 100644 --- a/ur10_moveit_config/config/joint_limits.yaml +++ b/ur10_moveit_config/config/joint_limits.yaml @@ -2,33 +2,33 @@ # 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: - shoulder_pan_joint: + elbow_joint: has_velocity_limits: true - max_velocity: 2.16 - has_acceleration_limits: true - max_acceleration: 2.16 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 2.16 - has_acceleration_limits: true - max_acceleration: 2.16 - elbow_joint: + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 \ No newline at end of file + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/ur10_moveit_config/config/ompl_planning.yaml b/ur10_moveit_config/config/ompl_planning.yaml index b58b2d655..acbf6bd9b 100644 --- a/ur10_moveit_config/config/ompl_planning.yaml +++ b/ur10_moveit_config/config/ompl_planning.yaml @@ -1,42 +1,42 @@ planner_configs: - SBLkConfigDefault: + SBL: type: geometric::SBL range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: + 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 - LBKPIECEkConfigDefault: + 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 - BKPIECEkConfigDefault: + 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 - KPIECEkConfigDefault: + 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 + 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 - RRTkConfigDefault: + 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 - RRTConnectkConfigDefault: + RRTConnect: type: geometric::RRTConnect range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: + 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 - TRRTkConfigDefault: + 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 @@ -44,40 +44,129 @@ planner_configs: 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() + 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() - PRMkConfigDefault: + PRM: type: geometric::PRM max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: + 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 manipulator: planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) - longest_valid_segment_fraction: 0.01 + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo endeffector: planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur10_moveit_config/config/ros_controllers.yaml b/ur10_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..0ecf90959 --- /dev/null +++ b/ur10_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,34 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: manipulator + joint_model_group_pose: home +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur10_moveit_config/config/ur10.srdf b/ur10_moveit_config/config/ur10.srdf index dc3b1b817..48ae543d2 100644 --- a/ur10_moveit_config/config/ur10.srdf +++ b/ur10_moveit_config/config/ur10.srdf @@ -3,17 +3,17 @@ 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 --> - + - + - + @@ -33,16 +33,13 @@ - + - - - - - - + + + diff --git a/ur10_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur10_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..c8b77639a --- /dev/null +++ b/ur10_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur10_moveit_config/launch/default_warehouse_db.launch b/ur10_moveit_config/launch/default_warehouse_db.launch index 23cc824b6..b9fb81cb9 100644 --- a/ur10_moveit_config/launch/default_warehouse_db.launch +++ b/ur10_moveit_config/launch/default_warehouse_db.launch @@ -1,10 +1,12 @@ + + - + - + diff --git a/ur10_moveit_config/launch/demo.launch b/ur10_moveit_config/launch/demo.launch index c3c21e50b..6fe0ed6df 100644 --- a/ur10_moveit_config/launch/demo.launch +++ b/ur10_moveit_config/launch/demo.launch @@ -1,46 +1,63 @@ + + + + + - - - - - - - + + + + + + - + - - - [/move_group/fake_controller_joint_states] + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] - + - + - + + + - - + + - + + + diff --git a/ur10_moveit_config/launch/move_group.launch b/ur10_moveit_config/launch/move_group.launch index eb1ba0a6a..4b39f0815 100644 --- a/ur10_moveit_config/launch/move_group.launch +++ b/ur10_moveit_config/launch/move_group.launch @@ -1,14 +1,10 @@ - - - - - - + @@ -16,15 +12,40 @@ + + + + + + + + + + + + + + + - + @@ -36,7 +57,7 @@ - + @@ -47,19 +68,9 @@ + + - - diff --git a/ur10_moveit_config/launch/moveit.rviz b/ur10_moveit_config/launch/moveit.rviz index c7540069f..b431b2a03 100644 --- a/ur10_moveit_config/launch/moveit.rviz +++ b/ur10_moveit_config/launch/moveit.rviz @@ -1,31 +1,19 @@ Panels: - Class: rviz/Displays - Help Height: 75 + Help Height: 84 Name: Displays Property Tree Widget: Expanded: - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" Visualization Manager: Class: "" Displays: @@ -49,106 +37,314 @@ Visualization Manager: Value: true - Class: moveit_rviz_plugin/MotionPlanning Enabled: true - Move Group Namespace: "" MoveIt_Goal_Tolerance: 0 - MoveIt_Planning_Attempts: 10 MoveIt_Planning_Time: 5 MoveIt_Use_Constraint_Aware_IK: true 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 - base: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: Alpha: 1 Show Axes: false Show Trail: false + Value: true base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - ee_link: + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - forearm_link: + l_gripper_l_finger_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - shoulder_link: + l_gripper_l_finger_tip_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - tool0: + l_gripper_motor_accelerometer_link: Alpha: 1 Show Axes: false Show Trail: false - upper_arm_link: + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - world: + r_gripper_r_finger_link: Alpha: 1 Show Axes: false Show Trail: false - wrist_1_link: + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_2_link: + r_shoulder_pan_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_3_link: + r_upper_arm_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - Loop Animation: false + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true 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 - Trajectory Topic: /move_group/display_planned_path + 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 - TextHeight: 0.08 Planning Request: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 + Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 - Planning Group: manipulator + Planning Group: left_arm Query Goal State: true Query Start State: false Show Workspace: false @@ -157,7 +353,7 @@ Visualization Manager: Planning Scene Topic: move_group/monitored_planning_scene Robot Description: robot_description Scene Geometry: - Scene Alpha: 0.9 + Scene Alpha: 1 Scene Color: 50; 230; 50 Scene Display Time: 0.2 Show Scene Geometry: true @@ -166,125 +362,328 @@ Visualization Manager: 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 - base: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: Alpha: 1 Show Axes: false Show Trail: false + Value: true base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - ee_link: + bl_caster_l_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - forearm_link: + bl_caster_r_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - shoulder_link: + bl_caster_rotation_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - tool0: + br_caster_l_wheel_link: Alpha: 1 Show Axes: false Show Trail: false - upper_arm_link: + Value: true + br_caster_r_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - world: + br_caster_rotation_link: Alpha: 1 Show Axes: false Show Trail: false - wrist_1_link: + Value: true + double_stereo_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_2_link: + fl_caster_l_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_3_link: + fl_caster_r_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true Value: true Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 + Fixed Frame: base_link Name: root Tools: - Class: rviz/Interact Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point Value: true Views: Current: - Class: rviz/Orbit - Distance: 2.82854 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false + Class: rviz/XYOrbit + Distance: 2.9965 Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 Name: Current View Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 + Pitch: 0.509797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 5.65995 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 997 + Height: 1337 + Help: + collapsed: false Hide Left Dock: false - Hide Right Dock: true + Hide Right Dock: false Motion Planning: collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/ur10_moveit_config/launch/moveit_rviz.launch b/ur10_moveit_config/launch/moveit_rviz.launch index 8a9f8bd11..a4605c037 100644 --- a/ur10_moveit_config/launch/moveit_rviz.launch +++ b/ur10_moveit_config/launch/moveit_rviz.launch @@ -4,13 +4,12 @@ - - - - + + + + - + args="$(arg command_args)" output="screen"> diff --git a/ur10_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur10_moveit_config/launch/ompl_planning_pipeline.launch.xml index 5f139376b..8a7299643 100644 --- a/ur10_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur10_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - - - - - + - + @@ -23,6 +19,7 @@ + - + diff --git a/ur10_moveit_config/launch/planning_pipeline.launch.xml b/ur10_moveit_config/launch/planning_pipeline.launch.xml index 04c97c1ad..b77dec8c0 100644 --- a/ur10_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur10_moveit_config/launch/planning_pipeline.launch.xml @@ -1,7 +1,7 @@ - + diff --git a/ur10_moveit_config/launch/ros_controllers.launch b/ur10_moveit_config/launch/ros_controllers.launch new file mode 100644 index 000000000..5546211f8 --- /dev/null +++ b/ur10_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/ur10_moveit_config/launch/setup_assistant.launch b/ur10_moveit_config/launch/setup_assistant.launch index 2cf377c0c..b376032c7 100644 --- a/ur10_moveit_config/launch/setup_assistant.launch +++ b/ur10_moveit_config/launch/setup_assistant.launch @@ -1,4 +1,4 @@ - + @@ -7,9 +7,9 @@ - diff --git a/ur10_moveit_config/launch/ur10_moveit_controller_manager.launch.xml b/ur10_moveit_config/launch/ur10_moveit_controller_manager.launch.xml index 364b640ca..6ec589fab 100644 --- a/ur10_moveit_config/launch/ur10_moveit_controller_manager.launch.xml +++ b/ur10_moveit_config/launch/ur10_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch b/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch index 553e0775c..7ee715dd6 100644 --- a/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch +++ b/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch @@ -1,14 +1,12 @@ - - + - - + + - diff --git a/ur10_moveit_config/launch/ur10_robot_moveit_controller_manager.launch.xml b/ur10_moveit_config/launch/ur10_robot_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..252f650c3 --- /dev/null +++ b/ur10_moveit_config/launch/ur10_robot_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur10_e_moveit_config/launch/ur10_e_moveit_sensor_manager.launch.xml b/ur10_moveit_config/launch/ur10_robot_moveit_sensor_manager.launch.xml similarity index 100% rename from ur10_e_moveit_config/launch/ur10_e_moveit_sensor_manager.launch.xml rename to ur10_moveit_config/launch/ur10_robot_moveit_sensor_manager.launch.xml diff --git a/ur10_moveit_config/launch/warehouse.launch b/ur10_moveit_config/launch/warehouse.launch index 8e4efaa80..2644d1d66 100644 --- a/ur10_moveit_config/launch/warehouse.launch +++ b/ur10_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - + - + diff --git a/ur10_moveit_config/launch/warehouse_settings.launch.xml b/ur10_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur10_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur10_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +1,16 @@ - - + + - - + + + diff --git a/ur10_moveit_config/package.xml b/ur10_moveit_config/package.xml index 443544c14..cc1ab542a 100644 --- a/ur10_moveit_config/package.xml +++ b/ur10_moveit_config/package.xml @@ -24,6 +24,7 @@ moveit_simple_controller_manager joint_state_publisher robot_state_publisher + tf2_ros xacro ur_description diff --git a/ur10_moveit_config/tests/moveit_planning_execution.xml b/ur10_moveit_config/tests/moveit_planning_execution.xml index 57cf9ff80..843f2bece 100644 --- a/ur10_moveit_config/tests/moveit_planning_execution.xml +++ b/ur10_moveit_config/tests/moveit_planning_execution.xml @@ -2,14 +2,13 @@ - - + - - + + diff --git a/ur10e_moveit_config/.setup_assistant b/ur10e_moveit_config/.setup_assistant new file mode 100644 index 000000000..f2f266c98 --- /dev/null +++ b/ur10e_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: ur_description + relative_path: urdf/ur10e.xacro + xacro_args: "" + SRDF: + relative_path: config/ur10e.srdf + CONFIG: + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur10e_moveit_config/CHANGELOG.rst b/ur10e_moveit_config/CHANGELOG.rst new file mode 100644 index 000000000..86fac4e22 --- /dev/null +++ b/ur10e_moveit_config/CHANGELOG.rst @@ -0,0 +1,63 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ur10_moveit_config +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.5 (2019-04-05) +------------------ +* Update maintainer listing: add Miguel (`#410 `_) +* MoveGroupExecuteService is Deprecated by MoveIt! (`#391 `_) +* Update maintainer and author information. +* Add roslaunch tests (`#362 `_) +* Contributors: gavanderhoorn, Nadia Hammoudeh García, 薯片半价 + +1.2.1 (2018-01-06) +------------------ +* Reduce longest valid segment fraction to accomodate non-limited version of the UR5 (`#266 `_) +* Contributors: Scott Paulin + +1.2.0 (2017-08-04) +------------------ +* Fix Deprecated warning in MoveIt: parameter moved into namespace 'trajectory_execution' +* Contributors: Dave Coleman + +1.1.9 (2017-01-02) +------------------ +* use '--inorder' for jade+ xacro as well. +* make RViz load MoveIt display by default. +* Contributors: gavanderhoorn + +1.1.8 (2016-12-30) +------------------ +* all: update maintainers. +* Contributors: gavanderhoorn + +1.1.7 (2016-12-29) +------------------ +* Don't depend on moveit_plugins metapackage +* Fix xacro warnings in Jade +* Contributors: Dave Coleman, Jon Binney + +1.1.6 (2016-04-01) +------------------ +* add missing dependency for moveit_simple_controller_manager +* Merge branch 'indigo-devel' of github.com:ros-industrial/universal_robot into ur3_moveit_config +* apply latest setup assistant changes to ur5 and ur10 +* Adding comment explaining the choice of default planning algorithm +* Use RRTConnect by default for UR10 + Fixes bug `#193 `_ about slow planning on Indigo + LBKPIECE1 (the previous default) looks to be the wrong planning algorithm for the robot + See https://groups.google.com/forum/#!topic/moveit-users/M71T-GaUNgg +* crop ik solutions wrt joint_limits +* set planning time to 0 +* reduce planning attempts in moveit rviz plugin +* Contributors: Marco Esposito, ipa-fxm + +1.0.2 (2014-03-31) +------------------ + +1.0.1 (2014-03-31) +------------------ +* changes due to file renaming +* update moveit_configs: include ee_link and handle limited robot +* new moveit_configs for ur5 and ur10 +* Contributors: ipa-fxm diff --git a/ur5_e_moveit_config/CMakeLists.txt b/ur10e_moveit_config/CMakeLists.txt similarity index 92% rename from ur5_e_moveit_config/CMakeLists.txt rename to ur10e_moveit_config/CMakeLists.txt index 9bb160b82..b9f52c6fe 100644 --- a/ur5_e_moveit_config/CMakeLists.txt +++ b/ur10e_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(ur5_e_moveit_config) +project(ur10e_moveit_config) find_package(catkin REQUIRED) diff --git a/ur10e_moveit_config/config/chomp_planning.yaml b/ur10e_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur10e_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur3_e_moveit_config/config/fake_controllers.yaml b/ur10e_moveit_config/config/fake_controllers.yaml similarity index 75% rename from ur3_e_moveit_config/config/fake_controllers.yaml rename to ur10e_moveit_config/config/fake_controllers.yaml index 5e24f9451..e328e94d4 100644 --- a/ur3_e_moveit_config/config/fake_controllers.yaml +++ b/ur10e_moveit_config/config/fake_controllers.yaml @@ -9,4 +9,7 @@ controller_list: - wrist_3_joint - name: fake_endeffector_controller joints: - [] \ No newline at end of file + [] +initial: # Define initial robot poses. + - group: manipulator + pose: home \ No newline at end of file diff --git a/ur3_e_moveit_config/config/joint_limits.yaml b/ur10e_moveit_config/config/joint_limits.yaml similarity index 51% rename from ur3_e_moveit_config/config/joint_limits.yaml rename to ur10e_moveit_config/config/joint_limits.yaml index 991719a66..633b7bbce 100644 --- a/ur3_e_moveit_config/config/joint_limits.yaml +++ b/ur10e_moveit_config/config/joint_limits.yaml @@ -2,33 +2,33 @@ # 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: - shoulder_pan_joint: + elbow_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 - elbow_joint: + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/ur10_e_moveit_config/config/kinematics.yaml b/ur10e_moveit_config/config/kinematics.yaml similarity index 50% rename from ur10_e_moveit_config/config/kinematics.yaml rename to ur10e_moveit_config/config/kinematics.yaml index 5d492ac1f..e37d336c3 100644 --- a/ur10_e_moveit_config/config/kinematics.yaml +++ b/ur10e_moveit_config/config/kinematics.yaml @@ -1,3 +1,8 @@ +#manipulator: +# kinematics_solver: ur_kinematics/UR10KinematicsPlugin +# kinematics_solver_search_resolution: 0.005 +# kinematics_solver_timeout: 0.005 +# kinematics_solver_attempts: 3 manipulator: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver_search_resolution: 0.005 diff --git a/ur10e_moveit_config/config/ompl_planning.yaml b/ur10e_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..acbf6bd9b --- /dev/null +++ b/ur10e_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,172 @@ +planner_configs: + 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 +manipulator: + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo +endeffector: + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur10e_moveit_config/config/ros_controllers.yaml b/ur10e_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..0ecf90959 --- /dev/null +++ b/ur10e_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,34 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: manipulator + joint_model_group_pose: home +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur10_e_moveit_config/config/ur10e.srdf b/ur10e_moveit_config/config/ur10e.srdf similarity index 83% rename from ur10_e_moveit_config/config/ur10e.srdf rename to ur10e_moveit_config/config/ur10e.srdf index ad686256f..77bccf0d3 100644 --- a/ur10_e_moveit_config/config/ur10e.srdf +++ b/ur10e_moveit_config/config/ur10e.srdf @@ -3,17 +3,17 @@ 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 --> - + - + - + @@ -33,16 +33,13 @@ - + - - - - - - + + + diff --git a/ur10e_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur10e_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..600f8a7e9 --- /dev/null +++ b/ur10e_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur10e_moveit_config/launch/default_warehouse_db.launch b/ur10e_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 000000000..bc6736272 --- /dev/null +++ b/ur10e_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur10e_moveit_config/launch/demo.launch b/ur10e_moveit_config/launch/demo.launch new file mode 100644 index 000000000..32ba509f0 --- /dev/null +++ b/ur10e_moveit_config/launch/demo.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur10e_moveit_config/launch/fake_moveit_controller_manager.launch.xml similarity index 82% rename from ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml rename to ur10e_moveit_config/launch/fake_moveit_controller_manager.launch.xml index 8a8e020d7..ed8eb47d5 100644 --- a/ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml +++ b/ur10e_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -4,6 +4,6 @@ - + diff --git a/ur3_e_moveit_config/launch/move_group.launch b/ur10e_moveit_config/launch/move_group.launch similarity index 61% rename from ur3_e_moveit_config/launch/move_group.launch rename to ur10e_moveit_config/launch/move_group.launch index de6d39dd3..0dc118e8e 100644 --- a/ur3_e_moveit_config/launch/move_group.launch +++ b/ur10e_moveit_config/launch/move_group.launch @@ -1,15 +1,10 @@ - - - - - + value="gdb -x $(find ur10e_moveit_config)/launch/gdb_settings.gdb --ex run --args" /> @@ -17,27 +12,52 @@ + + + + + + + + + + + + + + + - - + + - + - + - - + + @@ -48,19 +68,9 @@ + + - - diff --git a/ur10e_moveit_config/launch/moveit.rviz b/ur10e_moveit_config/launch/moveit.rviz new file mode 100644 index 000000000..b431b2a03 --- /dev/null +++ b/ur10e_moveit_config/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 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 + Planning Group: left_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: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/ur10e_moveit_config/launch/moveit_rviz.launch b/ur10e_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 000000000..a4605c037 --- /dev/null +++ b/ur10e_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/ur3_e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur10e_moveit_config/launch/ompl_planning_pipeline.launch.xml similarity index 92% rename from ur3_e_moveit_config/launch/ompl_planning_pipeline.launch.xml rename to ur10e_moveit_config/launch/ompl_planning_pipeline.launch.xml index 71475878e..a52a7c101 100644 --- a/ur3_e_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur10e_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - + diff --git a/ur3_e_moveit_config/launch/planning_context.launch b/ur10e_moveit_config/launch/planning_context.launch similarity index 58% rename from ur3_e_moveit_config/launch/planning_context.launch rename to ur10e_moveit_config/launch/planning_context.launch index d1a1618ac..a0121a8de 100644 --- a/ur3_e_moveit_config/launch/planning_context.launch +++ b/ur10e_moveit_config/launch/planning_context.launch @@ -1,28 +1,25 @@ - - - - - + - - + + - + - + + - + diff --git a/ur5_e_moveit_config/launch/planning_pipeline.launch.xml b/ur10e_moveit_config/launch/planning_pipeline.launch.xml similarity index 68% rename from ur5_e_moveit_config/launch/planning_pipeline.launch.xml rename to ur10e_moveit_config/launch/planning_pipeline.launch.xml index 12211f9d8..277b80706 100644 --- a/ur5_e_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur10e_moveit_config/launch/planning_pipeline.launch.xml @@ -1,10 +1,10 @@ - + - + diff --git a/ur10e_moveit_config/launch/ros_controllers.launch b/ur10e_moveit_config/launch/ros_controllers.launch new file mode 100644 index 000000000..ec48b6bd6 --- /dev/null +++ b/ur10e_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/ur5_e_moveit_config/launch/run_benchmark_ompl.launch b/ur10e_moveit_config/launch/run_benchmark_ompl.launch similarity index 71% rename from ur5_e_moveit_config/launch/run_benchmark_ompl.launch rename to ur10e_moveit_config/launch/run_benchmark_ompl.launch index d37513d82..3553a913f 100644 --- a/ur5_e_moveit_config/launch/run_benchmark_ompl.launch +++ b/ur10e_moveit_config/launch/run_benchmark_ompl.launch @@ -4,19 +4,19 @@ - + - + - - + + diff --git a/ur3_e_moveit_config/launch/sensor_manager.launch.xml b/ur10e_moveit_config/launch/sensor_manager.launch.xml similarity index 81% rename from ur3_e_moveit_config/launch/sensor_manager.launch.xml rename to ur10e_moveit_config/launch/sensor_manager.launch.xml index 8f17c237b..7140a9f3f 100644 --- a/ur3_e_moveit_config/launch/sensor_manager.launch.xml +++ b/ur10e_moveit_config/launch/sensor_manager.launch.xml @@ -8,7 +8,7 @@ - - + + diff --git a/ur5_e_moveit_config/launch/setup_assistant.launch b/ur10e_moveit_config/launch/setup_assistant.launch similarity index 60% rename from ur5_e_moveit_config/launch/setup_assistant.launch rename to ur10e_moveit_config/launch/setup_assistant.launch index 3d712d563..6fc48197b 100644 --- a/ur5_e_moveit_config/launch/setup_assistant.launch +++ b/ur10e_moveit_config/launch/setup_assistant.launch @@ -1,4 +1,4 @@ - + @@ -7,9 +7,9 @@ - diff --git a/ur3_e_moveit_config/launch/trajectory_execution.launch.xml b/ur10e_moveit_config/launch/trajectory_execution.launch.xml similarity index 86% rename from ur3_e_moveit_config/launch/trajectory_execution.launch.xml rename to ur10e_moveit_config/launch/trajectory_execution.launch.xml index 6786cca12..3c25c0689 100644 --- a/ur3_e_moveit_config/launch/trajectory_execution.launch.xml +++ b/ur10e_moveit_config/launch/trajectory_execution.launch.xml @@ -1,6 +1,6 @@ - + @@ -10,9 +10,9 @@ - + - - - + + + diff --git a/ur3_e_moveit_config/launch/ur3_e_moveit_controller_manager.launch.xml b/ur10e_moveit_config/launch/ur10e_moveit_controller_manager.launch.xml similarity index 77% rename from ur3_e_moveit_config/launch/ur3_e_moveit_controller_manager.launch.xml rename to ur10e_moveit_config/launch/ur10e_moveit_controller_manager.launch.xml index f54839f4e..114ae0a28 100644 --- a/ur3_e_moveit_config/launch/ur3_e_moveit_controller_manager.launch.xml +++ b/ur10e_moveit_config/launch/ur10e_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch b/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch new file mode 100644 index 000000000..cb6f739b2 --- /dev/null +++ b/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ur3_e_moveit_config/launch/ur3_e_moveit_sensor_manager.launch.xml b/ur10e_moveit_config/launch/ur10e_moveit_sensor_manager.launch.xml similarity index 100% rename from ur3_e_moveit_config/launch/ur3_e_moveit_sensor_manager.launch.xml rename to ur10e_moveit_config/launch/ur10e_moveit_sensor_manager.launch.xml diff --git a/ur10e_moveit_config/launch/ur10e_robot_moveit_controller_manager.launch.xml b/ur10e_moveit_config/launch/ur10e_robot_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..b4b5dd22b --- /dev/null +++ b/ur10e_moveit_config/launch/ur10e_robot_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur5_e_moveit_config/launch/ur5_e_moveit_sensor_manager.launch.xml b/ur10e_moveit_config/launch/ur10e_robot_moveit_sensor_manager.launch.xml similarity index 100% rename from ur5_e_moveit_config/launch/ur5_e_moveit_sensor_manager.launch.xml rename to ur10e_moveit_config/launch/ur10e_robot_moveit_sensor_manager.launch.xml diff --git a/ur5_e_moveit_config/launch/warehouse.launch b/ur10e_moveit_config/launch/warehouse.launch similarity index 71% rename from ur5_e_moveit_config/launch/warehouse.launch rename to ur10e_moveit_config/launch/warehouse.launch index 3ac1ddf6a..c6548b5d4 100644 --- a/ur5_e_moveit_config/launch/warehouse.launch +++ b/ur10e_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - - + + - + diff --git a/ur10_e_moveit_config/launch/warehouse_settings.launch.xml b/ur10e_moveit_config/launch/warehouse_settings.launch.xml similarity index 64% rename from ur10_e_moveit_config/launch/warehouse_settings.launch.xml rename to ur10e_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur10_e_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur10e_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +1,16 @@ - - + + - - + + + diff --git a/ur10_e_moveit_config/package.xml b/ur10e_moveit_config/package.xml similarity index 94% rename from ur10_e_moveit_config/package.xml rename to ur10e_moveit_config/package.xml index bceb8039d..c1f63a751 100644 --- a/ur10_e_moveit_config/package.xml +++ b/ur10e_moveit_config/package.xml @@ -1,7 +1,7 @@ - ur10_e_moveit_config + ur10e_moveit_config 1.2.5 An automatically generated package with all the configuration and launch files for using the ur10e with the MoveIt Motion Planning Framework @@ -10,7 +10,7 @@ G.A. vd. Hoorn Miguel Prada Sarasola Nadia Hammoudeh Garcia - + BSD http://moveit.ros.org/ @@ -24,10 +24,11 @@ moveit_simple_controller_manager joint_state_publisher robot_state_publisher + tf2_ros xacro ur_description roslaunch catkin - + diff --git a/ur10e_moveit_config/tests/moveit_planning_execution.xml b/ur10e_moveit_config/tests/moveit_planning_execution.xml new file mode 100644 index 000000000..fe138e5f1 --- /dev/null +++ b/ur10e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/.setup_assistant b/ur16e_moveit_config/.setup_assistant new file mode 100644 index 000000000..aa8aaae2c --- /dev/null +++ b/ur16e_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: ur_description + relative_path: urdf/ur16e.xacro + xacro_args: "" + SRDF: + relative_path: config/ur16e.srdf + CONFIG: + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur3_e_moveit_config/CMakeLists.txt b/ur16e_moveit_config/CMakeLists.txt similarity index 92% rename from ur3_e_moveit_config/CMakeLists.txt rename to ur16e_moveit_config/CMakeLists.txt index 6787fcbfe..09769e2be 100644 --- a/ur3_e_moveit_config/CMakeLists.txt +++ b/ur16e_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(ur3_e_moveit_config) +project(ur16e_moveit_config) find_package(catkin REQUIRED) diff --git a/ur16e_moveit_config/config/chomp_planning.yaml b/ur16e_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur16e_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur10_e_moveit_config/config/fake_controllers.yaml b/ur16e_moveit_config/config/fake_controllers.yaml similarity index 75% rename from ur10_e_moveit_config/config/fake_controllers.yaml rename to ur16e_moveit_config/config/fake_controllers.yaml index 5e24f9451..e328e94d4 100644 --- a/ur10_e_moveit_config/config/fake_controllers.yaml +++ b/ur16e_moveit_config/config/fake_controllers.yaml @@ -9,4 +9,7 @@ controller_list: - wrist_3_joint - name: fake_endeffector_controller joints: - [] \ No newline at end of file + [] +initial: # Define initial robot poses. + - group: manipulator + pose: home \ No newline at end of file diff --git a/ur5_e_moveit_config/config/joint_limits.yaml b/ur16e_moveit_config/config/joint_limits.yaml similarity index 51% rename from ur5_e_moveit_config/config/joint_limits.yaml rename to ur16e_moveit_config/config/joint_limits.yaml index 991719a66..633b7bbce 100644 --- a/ur5_e_moveit_config/config/joint_limits.yaml +++ b/ur16e_moveit_config/config/joint_limits.yaml @@ -2,33 +2,33 @@ # 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: - shoulder_pan_joint: + elbow_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 - elbow_joint: + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/ur3_e_moveit_config/config/kinematics.yaml b/ur16e_moveit_config/config/kinematics.yaml similarity index 50% rename from ur3_e_moveit_config/config/kinematics.yaml rename to ur16e_moveit_config/config/kinematics.yaml index 5d492ac1f..e37d336c3 100644 --- a/ur3_e_moveit_config/config/kinematics.yaml +++ b/ur16e_moveit_config/config/kinematics.yaml @@ -1,3 +1,8 @@ +#manipulator: +# kinematics_solver: ur_kinematics/UR10KinematicsPlugin +# kinematics_solver_search_resolution: 0.005 +# kinematics_solver_timeout: 0.005 +# kinematics_solver_attempts: 3 manipulator: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver_search_resolution: 0.005 diff --git a/ur16e_moveit_config/config/ompl_planning.yaml b/ur16e_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..acbf6bd9b --- /dev/null +++ b/ur16e_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,172 @@ +planner_configs: + 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 +manipulator: + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo +endeffector: + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur16e_moveit_config/config/ros_controllers.yaml b/ur16e_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..0ecf90959 --- /dev/null +++ b/ur16e_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,34 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: manipulator + joint_model_group_pose: home +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur16e_moveit_config/config/ur16e.srdf b/ur16e_moveit_config/config/ur16e.srdf new file mode 100644 index 000000000..5dc0b2e00 --- /dev/null +++ b/ur16e_moveit_config/config/ur16e.srdf @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur16e_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..0a3093def --- /dev/null +++ b/ur16e_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/launch/default_warehouse_db.launch b/ur16e_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 000000000..659763848 --- /dev/null +++ b/ur16e_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/launch/demo.launch b/ur16e_moveit_config/launch/demo.launch new file mode 100644 index 000000000..6d8e7ab8c --- /dev/null +++ b/ur16e_moveit_config/launch/demo.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur3_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur16e_moveit_config/launch/fake_moveit_controller_manager.launch.xml similarity index 82% rename from ur3_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml rename to ur16e_moveit_config/launch/fake_moveit_controller_manager.launch.xml index 630203a59..031184d30 100644 --- a/ur3_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml +++ b/ur16e_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -4,6 +4,6 @@ - + diff --git a/ur5_e_moveit_config/launch/move_group.launch b/ur16e_moveit_config/launch/move_group.launch similarity index 60% rename from ur5_e_moveit_config/launch/move_group.launch rename to ur16e_moveit_config/launch/move_group.launch index d39c94716..9418b0939 100644 --- a/ur5_e_moveit_config/launch/move_group.launch +++ b/ur16e_moveit_config/launch/move_group.launch @@ -1,14 +1,10 @@ - - - - - - + @@ -16,27 +12,52 @@ + + + + + + + + + + + + + + + - - + + - + - + - - + + @@ -47,19 +68,9 @@ + + - - diff --git a/ur16e_moveit_config/launch/moveit.rviz b/ur16e_moveit_config/launch/moveit.rviz new file mode 100644 index 000000000..b431b2a03 --- /dev/null +++ b/ur16e_moveit_config/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 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 + Planning Group: left_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: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/ur16e_moveit_config/launch/moveit_rviz.launch b/ur16e_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 000000000..a4605c037 --- /dev/null +++ b/ur16e_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur16e_moveit_config/launch/ompl_planning_pipeline.launch.xml similarity index 92% rename from ur5_e_moveit_config/launch/ompl_planning_pipeline.launch.xml rename to ur16e_moveit_config/launch/ompl_planning_pipeline.launch.xml index eb0ef8926..0ac9828c4 100644 --- a/ur5_e_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur16e_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - + diff --git a/ur5_e_moveit_config/launch/planning_context.launch b/ur16e_moveit_config/launch/planning_context.launch similarity index 58% rename from ur5_e_moveit_config/launch/planning_context.launch rename to ur16e_moveit_config/launch/planning_context.launch index 63109be0a..2c61f888c 100644 --- a/ur5_e_moveit_config/launch/planning_context.launch +++ b/ur16e_moveit_config/launch/planning_context.launch @@ -1,28 +1,25 @@ - - - - - + - - + + - + - + + - + diff --git a/ur3_e_moveit_config/launch/planning_pipeline.launch.xml b/ur16e_moveit_config/launch/planning_pipeline.launch.xml similarity index 68% rename from ur3_e_moveit_config/launch/planning_pipeline.launch.xml rename to ur16e_moveit_config/launch/planning_pipeline.launch.xml index 40f9e8d96..fc6e0f94c 100644 --- a/ur3_e_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur16e_moveit_config/launch/planning_pipeline.launch.xml @@ -1,10 +1,10 @@ - + - + diff --git a/ur16e_moveit_config/launch/ros_controllers.launch b/ur16e_moveit_config/launch/ros_controllers.launch new file mode 100644 index 000000000..7789e42dd --- /dev/null +++ b/ur16e_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/ur3_e_moveit_config/launch/run_benchmark_ompl.launch b/ur16e_moveit_config/launch/run_benchmark_ompl.launch similarity index 71% rename from ur3_e_moveit_config/launch/run_benchmark_ompl.launch rename to ur16e_moveit_config/launch/run_benchmark_ompl.launch index e84b5312f..40e7444e6 100644 --- a/ur3_e_moveit_config/launch/run_benchmark_ompl.launch +++ b/ur16e_moveit_config/launch/run_benchmark_ompl.launch @@ -4,19 +4,19 @@ - + - + - - + + diff --git a/ur5_e_moveit_config/launch/sensor_manager.launch.xml b/ur16e_moveit_config/launch/sensor_manager.launch.xml similarity index 81% rename from ur5_e_moveit_config/launch/sensor_manager.launch.xml rename to ur16e_moveit_config/launch/sensor_manager.launch.xml index 172eb87be..a8db6fdb8 100644 --- a/ur5_e_moveit_config/launch/sensor_manager.launch.xml +++ b/ur16e_moveit_config/launch/sensor_manager.launch.xml @@ -8,7 +8,7 @@ - - + + diff --git a/ur16e_moveit_config/launch/setup_assistant.launch b/ur16e_moveit_config/launch/setup_assistant.launch new file mode 100644 index 000000000..385ea95aa --- /dev/null +++ b/ur16e_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/launch/trajectory_execution.launch.xml b/ur16e_moveit_config/launch/trajectory_execution.launch.xml similarity index 86% rename from ur5_e_moveit_config/launch/trajectory_execution.launch.xml rename to ur16e_moveit_config/launch/trajectory_execution.launch.xml index 3513753a6..099f3c9fe 100644 --- a/ur5_e_moveit_config/launch/trajectory_execution.launch.xml +++ b/ur16e_moveit_config/launch/trajectory_execution.launch.xml @@ -1,6 +1,6 @@ - + @@ -10,9 +10,9 @@ - + - - - + + + diff --git a/ur16e_moveit_config/launch/ur16e_moveit_controller_manager.launch.xml b/ur16e_moveit_config/launch/ur16e_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..0aab1122f --- /dev/null +++ b/ur16e_moveit_config/launch/ur16e_moveit_controller_manager.launch.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/ur16e_moveit_config/launch/ur16e_moveit_planning_execution.launch b/ur16e_moveit_config/launch/ur16e_moveit_planning_execution.launch new file mode 100644 index 000000000..e88ac0437 --- /dev/null +++ b/ur16e_moveit_config/launch/ur16e_moveit_planning_execution.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ur16e_moveit_config/launch/ur16e_moveit_sensor_manager.launch.xml b/ur16e_moveit_config/launch/ur16e_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur16e_moveit_config/launch/ur16e_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur16e_moveit_config/launch/ur16e_robot_moveit_controller_manager.launch.xml b/ur16e_moveit_config/launch/ur16e_robot_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..0a65168d1 --- /dev/null +++ b/ur16e_moveit_config/launch/ur16e_robot_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur16e_moveit_config/launch/ur16e_robot_moveit_sensor_manager.launch.xml b/ur16e_moveit_config/launch/ur16e_robot_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur16e_moveit_config/launch/ur16e_robot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur3_e_moveit_config/launch/warehouse.launch b/ur16e_moveit_config/launch/warehouse.launch similarity index 71% rename from ur3_e_moveit_config/launch/warehouse.launch rename to ur16e_moveit_config/launch/warehouse.launch index 918a58717..529d5e2a6 100644 --- a/ur3_e_moveit_config/launch/warehouse.launch +++ b/ur16e_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - - + + - + diff --git a/ur3_e_moveit_config/launch/warehouse_settings.launch.xml b/ur16e_moveit_config/launch/warehouse_settings.launch.xml similarity index 64% rename from ur3_e_moveit_config/launch/warehouse_settings.launch.xml rename to ur16e_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur3_e_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur16e_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +1,16 @@ - - + + - - + + + diff --git a/ur16e_moveit_config/package.xml b/ur16e_moveit_config/package.xml new file mode 100644 index 000000000..d0cdb1026 --- /dev/null +++ b/ur16e_moveit_config/package.xml @@ -0,0 +1,34 @@ + + + + ur16e_moveit_config + 1.2.5 + + An automatically generated package with all the configuration and launch files for using the ur16e with the MoveIt Motion Planning Framework + + Felix Messmer + G.A. vd. Hoorn + Miguel Prada Sarasola + Nadia Hammoudeh Garcia + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + moveit_ros_move_group + moveit_planners_ompl + moveit_ros_visualization + moveit_fake_controller_manager + moveit_simple_controller_manager + joint_state_publisher + robot_state_publisher + tf2_ros + xacro + ur_description + + roslaunch + catkin + + diff --git a/ur16e_moveit_config/tests/moveit_planning_execution.xml b/ur16e_moveit_config/tests/moveit_planning_execution.xml new file mode 100644 index 000000000..3ff79057b --- /dev/null +++ b/ur16e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur3_e_moveit_config/.setup_assistant b/ur3_e_moveit_config/.setup_assistant deleted file mode 100644 index 5d5242684..000000000 --- a/ur3_e_moveit_config/.setup_assistant +++ /dev/null @@ -1,8 +0,0 @@ -moveit_setup_assistant_config: - URDF: - package: ur_e_description - relative_path: urdf/ur3_e_robot.urdf.xacro - SRDF: - relative_path: config/ur3e.srdf - CONFIG: - generated_timestamp: 1438427891 diff --git a/ur3_e_moveit_config/CHANGELOG.rst b/ur3_e_moveit_config/CHANGELOG.rst deleted file mode 100644 index 6c0d15efe..000000000 --- a/ur3_e_moveit_config/CHANGELOG.rst +++ /dev/null @@ -1,10 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur3_e_moveit_config -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* First release (of this package) -* Update maintainer listing: add Miguel (`#410 `_) -* UR-E Series (`#380 `_) -* Contributors: Dave Niewinski, gavanderhoorn diff --git a/ur3_e_moveit_config/config/controllers.yaml b/ur3_e_moveit_config/config/controllers.yaml deleted file mode 100644 index bf2252cb2..000000000 --- a/ur3_e_moveit_config/config/controllers.yaml +++ /dev/null @@ -1,11 +0,0 @@ -controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur3_e_moveit_config/config/ompl_planning.yaml b/ur3_e_moveit_config/config/ompl_planning.yaml deleted file mode 100644 index 191879b4e..000000000 --- a/ur3_e_moveit_config/config/ompl_planning.yaml +++ /dev/null @@ -1,84 +0,0 @@ -planner_configs: - SBLkConfigDefault: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: - 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 - LBKPIECEkConfigDefault: - 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 - BKPIECEkConfigDefault: - 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 - KPIECEkConfigDefault: - 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 - RRTkConfigDefault: - 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 - RRTConnectkConfigDefault: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: - 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 - TRRTkConfigDefault: - 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() - PRMkConfigDefault: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: - type: geometric::PRMstar -manipulator: - default_planner_config: RRTConnectkConfigDefault - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) - longest_valid_segment_fraction: 0.01 -endeffector: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault diff --git a/ur3_e_moveit_config/launch/default_warehouse_db.launch b/ur3_e_moveit_config/launch/default_warehouse_db.launch deleted file mode 100644 index b4b5a0399..000000000 --- a/ur3_e_moveit_config/launch/default_warehouse_db.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/ur3_e_moveit_config/launch/demo.launch b/ur3_e_moveit_config/launch/demo.launch deleted file mode 100644 index 13086b9f7..000000000 --- a/ur3_e_moveit_config/launch/demo.launch +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - [/move_group/fake_controller_joint_states] - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur3_e_moveit_config/launch/joystick_control.launch b/ur3_e_moveit_config/launch/joystick_control.launch deleted file mode 100644 index f74173527..000000000 --- a/ur3_e_moveit_config/launch/joystick_control.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/ur3_e_moveit_config/launch/moveit.rviz b/ur3_e_moveit_config/launch/moveit.rviz deleted file mode 100644 index c7540069f..000000000 --- a/ur3_e_moveit_config/launch/moveit.rviz +++ /dev/null @@ -1,290 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 75 - Name: Displays - Property Tree Widget: - Expanded: - - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: moveit_rviz_plugin/MotionPlanning - Enabled: true - Move Group Namespace: "" - MoveIt_Goal_Tolerance: 0 - MoveIt_Planning_Attempts: 10 - MoveIt_Planning_Time: 5 - MoveIt_Use_Constraint_Aware_IK: true - 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 - base: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ee_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - forearm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - shoulder_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - upper_arm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - wrist_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - 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 - 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 - TextHeight: 0.08 - Planning Request: - Colliding Link Color: 255; 0; 0 - Goal State Alpha: 1 - Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 - Joint Violation Color: 255; 0; 255 - Planning Group: manipulator - 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: 0.9 - Scene Color: 50; 230; 50 - Scene Display Time: 0.2 - 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 - base: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ee_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - forearm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - shoulder_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - upper_arm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - wrist_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 2.82854 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 997 - Hide Left Dock: false - Hide Right Dock: true - Motion Planning: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 diff --git a/ur3_e_moveit_config/launch/moveit_rviz.launch b/ur3_e_moveit_config/launch/moveit_rviz.launch deleted file mode 100644 index af66a0fee..000000000 --- a/ur3_e_moveit_config/launch/moveit_rviz.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch b/ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch deleted file mode 100644 index 75b83fee8..000000000 --- a/ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/ur3_e_moveit_config/tests/moveit_planning_execution.xml b/ur3_e_moveit_config/tests/moveit_planning_execution.xml deleted file mode 100644 index 266c83231..000000000 --- a/ur3_e_moveit_config/tests/moveit_planning_execution.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur3_moveit_config/.setup_assistant b/ur3_moveit_config/.setup_assistant index c229d69bd..92ffcddc0 100644 --- a/ur3_moveit_config/.setup_assistant +++ b/ur3_moveit_config/.setup_assistant @@ -1,8 +1,11 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur3_robot.urdf.xacro + relative_path: urdf/ur3.xacro + xacro_args: "" SRDF: relative_path: config/ur3.srdf CONFIG: - generated_timestamp: 1438427891 \ No newline at end of file + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur3_moveit_config/config/chomp_planning.yaml b/ur3_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur3_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur3_moveit_config/config/controllers.yaml b/ur3_moveit_config/config/controllers.yaml deleted file mode 100644 index bf2252cb2..000000000 --- a/ur3_moveit_config/config/controllers.yaml +++ /dev/null @@ -1,11 +0,0 @@ -controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur3_moveit_config/config/fake_controllers.yaml b/ur3_moveit_config/config/fake_controllers.yaml index 5e24f9451..e328e94d4 100644 --- a/ur3_moveit_config/config/fake_controllers.yaml +++ b/ur3_moveit_config/config/fake_controllers.yaml @@ -9,4 +9,7 @@ controller_list: - wrist_3_joint - name: fake_endeffector_controller joints: - [] \ No newline at end of file + [] +initial: # Define initial robot poses. + - group: manipulator + pose: home \ No newline at end of file diff --git a/ur3_moveit_config/config/joint_limits.yaml b/ur3_moveit_config/config/joint_limits.yaml index 60797d513..45694aa56 100644 --- a/ur3_moveit_config/config/joint_limits.yaml +++ b/ur3_moveit_config/config/joint_limits.yaml @@ -2,33 +2,33 @@ # 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: - shoulder_pan_joint: + elbow_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 - elbow_joint: + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 + max_velocity: 6.283185307179586 + has_acceleration_limits: false + max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 + max_velocity: 6.283185307179586 + has_acceleration_limits: false + max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 \ No newline at end of file + max_velocity: 6.283185307179586 + has_acceleration_limits: false + max_acceleration: 0 diff --git a/ur3_moveit_config/config/kinematics.yaml b/ur3_moveit_config/config/kinematics.yaml index 7162d768c..e37d336c3 100644 --- a/ur3_moveit_config/config/kinematics.yaml +++ b/ur3_moveit_config/config/kinematics.yaml @@ -1,5 +1,5 @@ #manipulator: -# kinematics_solver: ur_kinematics/UR3KinematicsPlugin +# kinematics_solver: ur_kinematics/UR10KinematicsPlugin # kinematics_solver_search_resolution: 0.005 # kinematics_solver_timeout: 0.005 # kinematics_solver_attempts: 3 diff --git a/ur3_moveit_config/config/ompl_planning.yaml b/ur3_moveit_config/config/ompl_planning.yaml index b58b2d655..acbf6bd9b 100644 --- a/ur3_moveit_config/config/ompl_planning.yaml +++ b/ur3_moveit_config/config/ompl_planning.yaml @@ -1,42 +1,42 @@ planner_configs: - SBLkConfigDefault: + SBL: type: geometric::SBL range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: + 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 - LBKPIECEkConfigDefault: + 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 - BKPIECEkConfigDefault: + 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 - KPIECEkConfigDefault: + 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 + 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 - RRTkConfigDefault: + 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 - RRTConnectkConfigDefault: + RRTConnect: type: geometric::RRTConnect range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: + 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 - TRRTkConfigDefault: + 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 @@ -44,40 +44,129 @@ planner_configs: 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() + 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() - PRMkConfigDefault: + PRM: type: geometric::PRM max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: + 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 manipulator: planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) - longest_valid_segment_fraction: 0.01 + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo endeffector: planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur3_moveit_config/config/ros_controllers.yaml b/ur3_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..0ecf90959 --- /dev/null +++ b/ur3_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,34 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: manipulator + joint_model_group_pose: home +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur3_moveit_config/config/ur3.srdf b/ur3_moveit_config/config/ur3.srdf index d1f117c06..5447d2f0f 100644 --- a/ur3_moveit_config/config/ur3.srdf +++ b/ur3_moveit_config/config/ur3.srdf @@ -3,17 +3,17 @@ 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 --> - + - + - + @@ -33,17 +33,15 @@ - + - - - - + + + - diff --git a/ur3_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur3_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..f22ea99c2 --- /dev/null +++ b/ur3_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur3_moveit_config/launch/default_warehouse_db.launch b/ur3_moveit_config/launch/default_warehouse_db.launch index 7b39a3ddc..5291dfc32 100644 --- a/ur3_moveit_config/launch/default_warehouse_db.launch +++ b/ur3_moveit_config/launch/default_warehouse_db.launch @@ -1,10 +1,12 @@ + + - + - + diff --git a/ur3_moveit_config/launch/demo.launch b/ur3_moveit_config/launch/demo.launch index 4d0ebee58..26d9aa40f 100644 --- a/ur3_moveit_config/launch/demo.launch +++ b/ur3_moveit_config/launch/demo.launch @@ -1,46 +1,63 @@ + + + + + - - - - - - - + + + + + + - + - - - [/move_group/fake_controller_joint_states] + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] - + - + - + + + - - + + - + + + diff --git a/ur3_moveit_config/launch/joystick_control.launch b/ur3_moveit_config/launch/joystick_control.launch deleted file mode 100644 index f74173527..000000000 --- a/ur3_moveit_config/launch/joystick_control.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/ur3_moveit_config/launch/move_group.launch b/ur3_moveit_config/launch/move_group.launch index 625f436c8..c0229dbfd 100644 --- a/ur3_moveit_config/launch/move_group.launch +++ b/ur3_moveit_config/launch/move_group.launch @@ -1,15 +1,10 @@ - - - - - + value="gdb -x $(find ur3_moveit_config)/launch/gdb_settings.gdb --ex run --args" /> @@ -17,15 +12,40 @@ + + + + + + + + + + + + + + + - + @@ -48,19 +68,9 @@ + + - - diff --git a/ur3_moveit_config/launch/moveit.rviz b/ur3_moveit_config/launch/moveit.rviz index c7540069f..b431b2a03 100644 --- a/ur3_moveit_config/launch/moveit.rviz +++ b/ur3_moveit_config/launch/moveit.rviz @@ -1,31 +1,19 @@ Panels: - Class: rviz/Displays - Help Height: 75 + Help Height: 84 Name: Displays Property Tree Widget: Expanded: - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" Visualization Manager: Class: "" Displays: @@ -49,106 +37,314 @@ Visualization Manager: Value: true - Class: moveit_rviz_plugin/MotionPlanning Enabled: true - Move Group Namespace: "" MoveIt_Goal_Tolerance: 0 - MoveIt_Planning_Attempts: 10 MoveIt_Planning_Time: 5 MoveIt_Use_Constraint_Aware_IK: true 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 - base: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: Alpha: 1 Show Axes: false Show Trail: false + Value: true base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - ee_link: + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - forearm_link: + l_gripper_l_finger_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - shoulder_link: + l_gripper_l_finger_tip_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - tool0: + l_gripper_motor_accelerometer_link: Alpha: 1 Show Axes: false Show Trail: false - upper_arm_link: + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - world: + r_gripper_r_finger_link: Alpha: 1 Show Axes: false Show Trail: false - wrist_1_link: + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_2_link: + r_shoulder_pan_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_3_link: + r_upper_arm_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - Loop Animation: false + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true 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 - Trajectory Topic: /move_group/display_planned_path + 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 - TextHeight: 0.08 Planning Request: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 + Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 - Planning Group: manipulator + Planning Group: left_arm Query Goal State: true Query Start State: false Show Workspace: false @@ -157,7 +353,7 @@ Visualization Manager: Planning Scene Topic: move_group/monitored_planning_scene Robot Description: robot_description Scene Geometry: - Scene Alpha: 0.9 + Scene Alpha: 1 Scene Color: 50; 230; 50 Scene Display Time: 0.2 Show Scene Geometry: true @@ -166,125 +362,328 @@ Visualization Manager: 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 - base: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: Alpha: 1 Show Axes: false Show Trail: false + Value: true base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - ee_link: + bl_caster_l_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - forearm_link: + bl_caster_r_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - shoulder_link: + bl_caster_rotation_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - tool0: + br_caster_l_wheel_link: Alpha: 1 Show Axes: false Show Trail: false - upper_arm_link: + Value: true + br_caster_r_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - world: + br_caster_rotation_link: Alpha: 1 Show Axes: false Show Trail: false - wrist_1_link: + Value: true + double_stereo_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_2_link: + fl_caster_l_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_3_link: + fl_caster_r_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true Value: true Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 + Fixed Frame: base_link Name: root Tools: - Class: rviz/Interact Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point Value: true Views: Current: - Class: rviz/Orbit - Distance: 2.82854 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false + Class: rviz/XYOrbit + Distance: 2.9965 Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 Name: Current View Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 + Pitch: 0.509797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 5.65995 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 997 + Height: 1337 + Help: + collapsed: false Hide Left Dock: false - Hide Right Dock: true + Hide Right Dock: false Motion Planning: collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/ur3_moveit_config/launch/moveit_rviz.launch b/ur3_moveit_config/launch/moveit_rviz.launch index 8aa1b22d5..a4605c037 100644 --- a/ur3_moveit_config/launch/moveit_rviz.launch +++ b/ur3_moveit_config/launch/moveit_rviz.launch @@ -4,13 +4,12 @@ - - - - + + + + - + args="$(arg command_args)" output="screen"> diff --git a/ur3_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur3_moveit_config/launch/ompl_planning_pipeline.launch.xml index c67fdfc84..b41b24c01 100644 --- a/ur3_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur3_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - - - - - + - + @@ -23,6 +19,7 @@ + - + diff --git a/ur3_moveit_config/launch/planning_pipeline.launch.xml b/ur3_moveit_config/launch/planning_pipeline.launch.xml index ae6a311d1..527abc667 100644 --- a/ur3_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur3_moveit_config/launch/planning_pipeline.launch.xml @@ -1,7 +1,7 @@ - + diff --git a/ur3_moveit_config/launch/ros_controllers.launch b/ur3_moveit_config/launch/ros_controllers.launch new file mode 100644 index 000000000..c412631f6 --- /dev/null +++ b/ur3_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/ur3_moveit_config/launch/setup_assistant.launch b/ur3_moveit_config/launch/setup_assistant.launch index 1998a21be..ea44f51c1 100644 --- a/ur3_moveit_config/launch/setup_assistant.launch +++ b/ur3_moveit_config/launch/setup_assistant.launch @@ -1,4 +1,4 @@ - + @@ -7,9 +7,9 @@ - diff --git a/ur3_moveit_config/launch/ur3_moveit_controller_manager.launch.xml b/ur3_moveit_config/launch/ur3_moveit_controller_manager.launch.xml index 380c63075..e1dd977da 100644 --- a/ur3_moveit_config/launch/ur3_moveit_controller_manager.launch.xml +++ b/ur3_moveit_config/launch/ur3_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch b/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch index 81b7ca8a7..53c114e13 100644 --- a/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch +++ b/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch @@ -1,14 +1,12 @@ - - + - - + + - diff --git a/ur3_moveit_config/launch/ur3_robot_moveit_controller_manager.launch.xml b/ur3_moveit_config/launch/ur3_robot_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..eb0bd44b8 --- /dev/null +++ b/ur3_moveit_config/launch/ur3_robot_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur3_moveit_config/launch/ur3_robot_moveit_sensor_manager.launch.xml b/ur3_moveit_config/launch/ur3_robot_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur3_moveit_config/launch/ur3_robot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur3_moveit_config/launch/warehouse.launch b/ur3_moveit_config/launch/warehouse.launch index c42dc3b72..767fbc688 100644 --- a/ur3_moveit_config/launch/warehouse.launch +++ b/ur3_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - + - + diff --git a/ur3_moveit_config/launch/warehouse_settings.launch.xml b/ur3_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur3_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur3_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +1,16 @@ - - + + - - + + + diff --git a/ur3_moveit_config/package.xml b/ur3_moveit_config/package.xml index 3a0920c22..67301f293 100644 --- a/ur3_moveit_config/package.xml +++ b/ur3_moveit_config/package.xml @@ -24,6 +24,7 @@ moveit_simple_controller_manager joint_state_publisher robot_state_publisher + tf2_ros xacro ur_description diff --git a/ur3_moveit_config/tests/moveit_planning_execution.xml b/ur3_moveit_config/tests/moveit_planning_execution.xml index ca37b19ed..10246c7d7 100644 --- a/ur3_moveit_config/tests/moveit_planning_execution.xml +++ b/ur3_moveit_config/tests/moveit_planning_execution.xml @@ -1,16 +1,14 @@ - - - + - - + + diff --git a/ur3e_moveit_config/.setup_assistant b/ur3e_moveit_config/.setup_assistant new file mode 100644 index 000000000..ee6c9797c --- /dev/null +++ b/ur3e_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: ur_description + relative_path: urdf/ur3e.xacro + xacro_args: "" + SRDF: + relative_path: config/ur3e.srdf + CONFIG: + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur3e_moveit_config/CHANGELOG.rst b/ur3e_moveit_config/CHANGELOG.rst new file mode 100644 index 000000000..c73e554de --- /dev/null +++ b/ur3e_moveit_config/CHANGELOG.rst @@ -0,0 +1,63 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ur3e_moveit_config +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.5 (2019-04-05) +------------------ +* Update maintainer listing: add Miguel (`#410 `_) +* MoveGroupExecuteService is Deprecated by MoveIt! (`#391 `_) +* Update maintainer and author information. +* Add roslaunch tests (`#362 `_) +* Contributors: gavanderhoorn, Nadia Hammoudeh García, 薯片半价 + +1.2.1 (2018-01-06) +------------------ +* Reduce longest valid segment fraction to accomodate non-limited version of the UR5 (`#266 `_) +* Contributors: Scott Paulin + +1.2.0 (2017-08-04) +------------------ +* Fix Deprecated warning in MoveIt: parameter moved into namespace 'trajectory_execution' +* Contributors: Dave Coleman + +1.1.9 (2017-01-02) +------------------ +* use '--inorder' for jade+ xacro as well. +* make RViz load MoveIt display by default. +* Contributors: gavanderhoorn + +1.1.8 (2016-12-30) +------------------ +* all: update maintainers. +* Contributors: gavanderhoorn + +1.1.7 (2016-12-29) +------------------ +* Don't depend on moveit_plugins metapackage +* Fix xacro warnings in Jade +* Contributors: Dave Coleman, Jon Binney + +1.1.6 (2016-04-01) +------------------ +* add missing dependency for moveit_simple_controller_manager +* Merge branch 'indigo-devel' of github.com:ros-industrial/universal_robot into ur3_moveit_config +* apply latest setup assistant changes to ur5 and ur3e +* Adding comment explaining the choice of default planning algorithm +* Use RRTConnect by default for UR10 + Fixes bug `#193 `_ about slow planning on Indigo + LBKPIECE1 (the previous default) looks to be the wrong planning algorithm for the robot + See https://groups.google.com/forum/#!topic/moveit-users/M71T-GaUNgg +* crop ik solutions wrt joint_limits +* set planning time to 0 +* reduce planning attempts in moveit rviz plugin +* Contributors: Marco Esposito, ipa-fxm + +1.0.2 (2014-03-31) +------------------ + +1.0.1 (2014-03-31) +------------------ +* changes due to file renaming +* update moveit_configs: include ee_link and handle limited robot +* new moveit_configs for ur5 and ur3e +* Contributors: ipa-fxm diff --git a/ur10_e_moveit_config/CMakeLists.txt b/ur3e_moveit_config/CMakeLists.txt similarity index 92% rename from ur10_e_moveit_config/CMakeLists.txt rename to ur3e_moveit_config/CMakeLists.txt index 0e8b09a98..a84bbc4ce 100644 --- a/ur10_e_moveit_config/CMakeLists.txt +++ b/ur3e_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(ur10_e_moveit_config) +project(ur3e_moveit_config) find_package(catkin REQUIRED) diff --git a/ur3e_moveit_config/config/chomp_planning.yaml b/ur3e_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur3e_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur5_e_moveit_config/config/fake_controllers.yaml b/ur3e_moveit_config/config/fake_controllers.yaml similarity index 75% rename from ur5_e_moveit_config/config/fake_controllers.yaml rename to ur3e_moveit_config/config/fake_controllers.yaml index 5e24f9451..e328e94d4 100644 --- a/ur5_e_moveit_config/config/fake_controllers.yaml +++ b/ur3e_moveit_config/config/fake_controllers.yaml @@ -9,4 +9,7 @@ controller_list: - wrist_3_joint - name: fake_endeffector_controller joints: - [] \ No newline at end of file + [] +initial: # Define initial robot poses. + - group: manipulator + pose: home \ No newline at end of file diff --git a/ur10_e_moveit_config/config/joint_limits.yaml b/ur3e_moveit_config/config/joint_limits.yaml similarity index 52% rename from ur10_e_moveit_config/config/joint_limits.yaml rename to ur3e_moveit_config/config/joint_limits.yaml index 991719a66..45694aa56 100644 --- a/ur10_e_moveit_config/config/joint_limits.yaml +++ b/ur3e_moveit_config/config/joint_limits.yaml @@ -2,33 +2,33 @@ # 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: - shoulder_pan_joint: + elbow_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 - elbow_joint: + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: has_velocity_limits: true - max_velocity: 3.14 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 6.283185307179586 + has_acceleration_limits: false + max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 6.283185307179586 + has_acceleration_limits: false + max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 6.28 - has_acceleration_limits: true - max_acceleration: 3.14 + max_velocity: 6.283185307179586 + has_acceleration_limits: false + max_acceleration: 0 diff --git a/ur5_e_moveit_config/config/kinematics.yaml b/ur3e_moveit_config/config/kinematics.yaml similarity index 50% rename from ur5_e_moveit_config/config/kinematics.yaml rename to ur3e_moveit_config/config/kinematics.yaml index 5d492ac1f..e37d336c3 100644 --- a/ur5_e_moveit_config/config/kinematics.yaml +++ b/ur3e_moveit_config/config/kinematics.yaml @@ -1,3 +1,8 @@ +#manipulator: +# kinematics_solver: ur_kinematics/UR10KinematicsPlugin +# kinematics_solver_search_resolution: 0.005 +# kinematics_solver_timeout: 0.005 +# kinematics_solver_attempts: 3 manipulator: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver_search_resolution: 0.005 diff --git a/ur3e_moveit_config/config/ompl_planning.yaml b/ur3e_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..acbf6bd9b --- /dev/null +++ b/ur3e_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,172 @@ +planner_configs: + 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 +manipulator: + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo +endeffector: + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur3e_moveit_config/config/ros_controllers.yaml b/ur3e_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..0ecf90959 --- /dev/null +++ b/ur3e_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,34 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: manipulator + joint_model_group_pose: home +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur3_e_moveit_config/config/ur3e.srdf b/ur3e_moveit_config/config/ur3e.srdf similarity index 84% rename from ur3_e_moveit_config/config/ur3e.srdf rename to ur3e_moveit_config/config/ur3e.srdf index b47172108..feb8f539a 100644 --- a/ur3_e_moveit_config/config/ur3e.srdf +++ b/ur3e_moveit_config/config/ur3e.srdf @@ -3,17 +3,17 @@ 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 --> - + - + - + @@ -33,17 +33,15 @@ - + - - - - + + + - diff --git a/ur3e_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur3e_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..58f736d7c --- /dev/null +++ b/ur3e_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur3e_moveit_config/launch/default_warehouse_db.launch b/ur3e_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 000000000..e938f3d98 --- /dev/null +++ b/ur3e_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur3e_moveit_config/launch/demo.launch b/ur3e_moveit_config/launch/demo.launch new file mode 100644 index 000000000..83a323361 --- /dev/null +++ b/ur3e_moveit_config/launch/demo.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur10_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur3e_moveit_config/launch/fake_moveit_controller_manager.launch.xml similarity index 78% rename from ur10_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml rename to ur3e_moveit_config/launch/fake_moveit_controller_manager.launch.xml index 1f3f4de92..8789fd70c 100644 --- a/ur10_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml +++ b/ur3e_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -4,6 +4,6 @@ - + diff --git a/ur10_e_moveit_config/launch/move_group.launch b/ur3e_moveit_config/launch/move_group.launch similarity index 54% rename from ur10_e_moveit_config/launch/move_group.launch rename to ur3e_moveit_config/launch/move_group.launch index efeb0a045..5c2ab7ade 100644 --- a/ur10_e_moveit_config/launch/move_group.launch +++ b/ur3e_moveit_config/launch/move_group.launch @@ -1,14 +1,10 @@ - - - - - - + @@ -16,27 +12,52 @@ + + + + + + + + + + + + + + + - - + + - + - + - - + + @@ -47,19 +68,9 @@ + + - - diff --git a/ur3e_moveit_config/launch/moveit.rviz b/ur3e_moveit_config/launch/moveit.rviz new file mode 100644 index 000000000..b431b2a03 --- /dev/null +++ b/ur3e_moveit_config/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 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 + Planning Group: left_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: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/ur3e_moveit_config/launch/moveit_rviz.launch b/ur3e_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 000000000..a4605c037 --- /dev/null +++ b/ur3e_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/ur10_e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur3e_moveit_config/launch/ompl_planning_pipeline.launch.xml similarity index 90% rename from ur10_e_moveit_config/launch/ompl_planning_pipeline.launch.xml rename to ur3e_moveit_config/launch/ompl_planning_pipeline.launch.xml index 2a6b4c1a7..bf3b34698 100644 --- a/ur10_e_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur3e_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - + diff --git a/ur10_e_moveit_config/launch/planning_context.launch b/ur3e_moveit_config/launch/planning_context.launch similarity index 54% rename from ur10_e_moveit_config/launch/planning_context.launch rename to ur3e_moveit_config/launch/planning_context.launch index a87b942d1..49ef7dfeb 100644 --- a/ur10_e_moveit_config/launch/planning_context.launch +++ b/ur3e_moveit_config/launch/planning_context.launch @@ -1,28 +1,25 @@ - - - - - + - - + + - + - + + - + diff --git a/ur10_e_moveit_config/launch/planning_pipeline.launch.xml b/ur3e_moveit_config/launch/planning_pipeline.launch.xml similarity index 57% rename from ur10_e_moveit_config/launch/planning_pipeline.launch.xml rename to ur3e_moveit_config/launch/planning_pipeline.launch.xml index a0d6c2960..5dfab7d5a 100644 --- a/ur10_e_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur3e_moveit_config/launch/planning_pipeline.launch.xml @@ -1,10 +1,10 @@ - + - + diff --git a/ur3e_moveit_config/launch/ros_controllers.launch b/ur3e_moveit_config/launch/ros_controllers.launch new file mode 100644 index 000000000..b3e545009 --- /dev/null +++ b/ur3e_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/ur10_e_moveit_config/launch/run_benchmark_ompl.launch b/ur3e_moveit_config/launch/run_benchmark_ompl.launch similarity index 63% rename from ur10_e_moveit_config/launch/run_benchmark_ompl.launch rename to ur3e_moveit_config/launch/run_benchmark_ompl.launch index 9c4615c8d..46f8cb9f3 100644 --- a/ur10_e_moveit_config/launch/run_benchmark_ompl.launch +++ b/ur3e_moveit_config/launch/run_benchmark_ompl.launch @@ -4,19 +4,19 @@ - + - + - - + + diff --git a/ur10_e_moveit_config/launch/sensor_manager.launch.xml b/ur3e_moveit_config/launch/sensor_manager.launch.xml similarity index 70% rename from ur10_e_moveit_config/launch/sensor_manager.launch.xml rename to ur3e_moveit_config/launch/sensor_manager.launch.xml index 90cf60d85..c6a1afaae 100644 --- a/ur10_e_moveit_config/launch/sensor_manager.launch.xml +++ b/ur3e_moveit_config/launch/sensor_manager.launch.xml @@ -1,6 +1,6 @@ - + @@ -8,7 +8,7 @@ - - - + + + diff --git a/ur10_e_moveit_config/launch/setup_assistant.launch b/ur3e_moveit_config/launch/setup_assistant.launch similarity index 60% rename from ur10_e_moveit_config/launch/setup_assistant.launch rename to ur3e_moveit_config/launch/setup_assistant.launch index f35f15b87..215c93dce 100644 --- a/ur10_e_moveit_config/launch/setup_assistant.launch +++ b/ur3e_moveit_config/launch/setup_assistant.launch @@ -1,4 +1,4 @@ - + @@ -7,9 +7,9 @@ - diff --git a/ur10_e_moveit_config/launch/trajectory_execution.launch.xml b/ur3e_moveit_config/launch/trajectory_execution.launch.xml similarity index 83% rename from ur10_e_moveit_config/launch/trajectory_execution.launch.xml rename to ur3e_moveit_config/launch/trajectory_execution.launch.xml index 2dfb6e8bf..aadaeb14c 100644 --- a/ur10_e_moveit_config/launch/trajectory_execution.launch.xml +++ b/ur3e_moveit_config/launch/trajectory_execution.launch.xml @@ -12,7 +12,7 @@ - - + + diff --git a/ur10_e_moveit_config/launch/ur10_e_moveit_controller_manager.launch.xml b/ur3e_moveit_config/launch/ur3e_moveit_controller_manager.launch.xml similarity index 78% rename from ur10_e_moveit_config/launch/ur10_e_moveit_controller_manager.launch.xml rename to ur3e_moveit_config/launch/ur3e_moveit_controller_manager.launch.xml index ac361c10a..ec00c74b6 100644 --- a/ur10_e_moveit_config/launch/ur10_e_moveit_controller_manager.launch.xml +++ b/ur3e_moveit_config/launch/ur3e_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch b/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch new file mode 100644 index 000000000..59da97306 --- /dev/null +++ b/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ur3e_moveit_config/launch/ur3e_moveit_sensor_manager.launch.xml b/ur3e_moveit_config/launch/ur3e_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur3e_moveit_config/launch/ur3e_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur3e_moveit_config/launch/ur3e_robot_moveit_controller_manager.launch.xml b/ur3e_moveit_config/launch/ur3e_robot_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..82dda5ce2 --- /dev/null +++ b/ur3e_moveit_config/launch/ur3e_robot_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur3e_moveit_config/launch/ur3e_robot_moveit_sensor_manager.launch.xml b/ur3e_moveit_config/launch/ur3e_robot_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur3e_moveit_config/launch/ur3e_robot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur10_e_moveit_config/launch/warehouse.launch b/ur3e_moveit_config/launch/warehouse.launch similarity index 67% rename from ur10_e_moveit_config/launch/warehouse.launch rename to ur3e_moveit_config/launch/warehouse.launch index b0c8eeefe..8916787cb 100644 --- a/ur10_e_moveit_config/launch/warehouse.launch +++ b/ur3e_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - - + + - + diff --git a/ur5_e_moveit_config/launch/warehouse_settings.launch.xml b/ur3e_moveit_config/launch/warehouse_settings.launch.xml similarity index 64% rename from ur5_e_moveit_config/launch/warehouse_settings.launch.xml rename to ur3e_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur5_e_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur3e_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +1,16 @@ - - + + - - + + + diff --git a/ur3_e_moveit_config/package.xml b/ur3e_moveit_config/package.xml similarity index 94% rename from ur3_e_moveit_config/package.xml rename to ur3e_moveit_config/package.xml index bfdb3f9bc..4563bfde3 100644 --- a/ur3_e_moveit_config/package.xml +++ b/ur3e_moveit_config/package.xml @@ -1,7 +1,7 @@ - ur3_e_moveit_config + ur3e_moveit_config 1.2.5 An automatically generated package with all the configuration and launch files for using the ur3e with the MoveIt Motion Planning Framework @@ -10,7 +10,7 @@ G.A. vd. Hoorn Miguel Prada Sarasola Nadia Hammoudeh Garcia - + BSD http://moveit.ros.org/ @@ -24,10 +24,11 @@ moveit_simple_controller_manager joint_state_publisher robot_state_publisher + tf2_ros xacro ur_description roslaunch catkin - + diff --git a/ur3e_moveit_config/tests/moveit_planning_execution.xml b/ur3e_moveit_config/tests/moveit_planning_execution.xml new file mode 100644 index 000000000..6025d2427 --- /dev/null +++ b/ur3e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/.setup_assistant b/ur5_e_moveit_config/.setup_assistant deleted file mode 100644 index dd22d1333..000000000 --- a/ur5_e_moveit_config/.setup_assistant +++ /dev/null @@ -1,8 +0,0 @@ -moveit_setup_assistant_config: - URDF: - package: ur_e_description - relative_path: urdf/ur5e_robot.urdf.xacro - SRDF: - relative_path: config/ur5e.srdf - CONFIG: - generated_timestamp: 1413877529 diff --git a/ur5_e_moveit_config/config/controllers.yaml b/ur5_e_moveit_config/config/controllers.yaml deleted file mode 100644 index bf2252cb2..000000000 --- a/ur5_e_moveit_config/config/controllers.yaml +++ /dev/null @@ -1,11 +0,0 @@ -controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur5_e_moveit_config/config/ompl_planning.yaml b/ur5_e_moveit_config/config/ompl_planning.yaml deleted file mode 100644 index 191879b4e..000000000 --- a/ur5_e_moveit_config/config/ompl_planning.yaml +++ /dev/null @@ -1,84 +0,0 @@ -planner_configs: - SBLkConfigDefault: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: - 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 - LBKPIECEkConfigDefault: - 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 - BKPIECEkConfigDefault: - 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 - KPIECEkConfigDefault: - 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 - RRTkConfigDefault: - 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 - RRTConnectkConfigDefault: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: - 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 - TRRTkConfigDefault: - 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() - PRMkConfigDefault: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: - type: geometric::PRMstar -manipulator: - default_planner_config: RRTConnectkConfigDefault - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) - longest_valid_segment_fraction: 0.01 -endeffector: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault diff --git a/ur5_e_moveit_config/launch/default_warehouse_db.launch b/ur5_e_moveit_config/launch/default_warehouse_db.launch deleted file mode 100644 index 626b22f68..000000000 --- a/ur5_e_moveit_config/launch/default_warehouse_db.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/ur5_e_moveit_config/launch/demo.launch b/ur5_e_moveit_config/launch/demo.launch deleted file mode 100644 index dd23ff7d8..000000000 --- a/ur5_e_moveit_config/launch/demo.launch +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - [/move_group/fake_controller_joint_states] - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur5_e_moveit_config/launch/moveit.rviz b/ur5_e_moveit_config/launch/moveit.rviz deleted file mode 100644 index c7540069f..000000000 --- a/ur5_e_moveit_config/launch/moveit.rviz +++ /dev/null @@ -1,290 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 75 - Name: Displays - Property Tree Widget: - Expanded: - - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: moveit_rviz_plugin/MotionPlanning - Enabled: true - Move Group Namespace: "" - MoveIt_Goal_Tolerance: 0 - MoveIt_Planning_Attempts: 10 - MoveIt_Planning_Time: 5 - MoveIt_Use_Constraint_Aware_IK: true - 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 - base: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ee_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - forearm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - shoulder_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - upper_arm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - wrist_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - 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 - 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 - TextHeight: 0.08 - Planning Request: - Colliding Link Color: 255; 0; 0 - Goal State Alpha: 1 - Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 - Joint Violation Color: 255; 0; 255 - Planning Group: manipulator - 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: 0.9 - Scene Color: 50; 230; 50 - Scene Display Time: 0.2 - 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 - base: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ee_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - forearm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - shoulder_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - upper_arm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - wrist_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wrist_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 2.82854 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 997 - Hide Left Dock: false - Hide Right Dock: true - Motion Planning: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 diff --git a/ur5_e_moveit_config/launch/moveit_rviz.launch b/ur5_e_moveit_config/launch/moveit_rviz.launch deleted file mode 100644 index a1cb30986..000000000 --- a/ur5_e_moveit_config/launch/moveit_rviz.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch b/ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch deleted file mode 100644 index 148c40e4b..000000000 --- a/ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/ur5_e_moveit_config/tests/moveit_planning_execution.xml b/ur5_e_moveit_config/tests/moveit_planning_execution.xml deleted file mode 100644 index 53f6e391f..000000000 --- a/ur5_e_moveit_config/tests/moveit_planning_execution.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur5_moveit_config/.setup_assistant b/ur5_moveit_config/.setup_assistant index fccc0b629..12a72528d 100644 --- a/ur5_moveit_config/.setup_assistant +++ b/ur5_moveit_config/.setup_assistant @@ -1,8 +1,11 @@ moveit_setup_assistant_config: URDF: package: ur_description - relative_path: urdf/ur5_robot.urdf.xacro + relative_path: urdf/ur5.xacro + xacro_args: "" SRDF: relative_path: config/ur5.srdf CONFIG: - generated_timestamp: 1413877529 \ No newline at end of file + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur5_moveit_config/config/chomp_planning.yaml b/ur5_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur5_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur5_moveit_config/config/controllers.yaml b/ur5_moveit_config/config/controllers.yaml deleted file mode 100644 index bf2252cb2..000000000 --- a/ur5_moveit_config/config/controllers.yaml +++ /dev/null @@ -1,11 +0,0 @@ -controller_list: - - name: "" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint diff --git a/ur5_moveit_config/config/fake_controllers.yaml b/ur5_moveit_config/config/fake_controllers.yaml index 5e24f9451..e328e94d4 100644 --- a/ur5_moveit_config/config/fake_controllers.yaml +++ b/ur5_moveit_config/config/fake_controllers.yaml @@ -9,4 +9,7 @@ controller_list: - wrist_3_joint - name: fake_endeffector_controller joints: - [] \ No newline at end of file + [] +initial: # Define initial robot poses. + - group: manipulator + pose: home \ No newline at end of file diff --git a/ur5_moveit_config/config/joint_limits.yaml b/ur5_moveit_config/config/joint_limits.yaml index 60797d513..bdc914f89 100644 --- a/ur5_moveit_config/config/joint_limits.yaml +++ b/ur5_moveit_config/config/joint_limits.yaml @@ -2,33 +2,33 @@ # 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: - shoulder_pan_joint: + elbow_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 - elbow_joint: + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: true - max_acceleration: 3.15 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: true - max_acceleration: 3.2 \ No newline at end of file + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 diff --git a/ur5_moveit_config/config/kinematics.yaml b/ur5_moveit_config/config/kinematics.yaml index e2fa9b157..e37d336c3 100644 --- a/ur5_moveit_config/config/kinematics.yaml +++ b/ur5_moveit_config/config/kinematics.yaml @@ -1,5 +1,5 @@ #manipulator: -# kinematics_solver: ur_kinematics/UR5KinematicsPlugin +# kinematics_solver: ur_kinematics/UR10KinematicsPlugin # kinematics_solver_search_resolution: 0.005 # kinematics_solver_timeout: 0.005 # kinematics_solver_attempts: 3 diff --git a/ur5_moveit_config/config/ompl_planning.yaml b/ur5_moveit_config/config/ompl_planning.yaml index b58b2d655..acbf6bd9b 100644 --- a/ur5_moveit_config/config/ompl_planning.yaml +++ b/ur5_moveit_config/config/ompl_planning.yaml @@ -1,42 +1,42 @@ planner_configs: - SBLkConfigDefault: + SBL: type: geometric::SBL range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: + 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 - LBKPIECEkConfigDefault: + 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 - BKPIECEkConfigDefault: + 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 - KPIECEkConfigDefault: + 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 + 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 - RRTkConfigDefault: + 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 - RRTConnectkConfigDefault: + RRTConnect: type: geometric::RRTConnect range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: + 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 - TRRTkConfigDefault: + 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 @@ -44,40 +44,129 @@ planner_configs: 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() + 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() - PRMkConfigDefault: + PRM: type: geometric::PRM max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: + 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 manipulator: planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE - #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) - longest_valid_segment_fraction: 0.01 + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo endeffector: planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur5_moveit_config/config/ros_controllers.yaml b/ur5_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..0ecf90959 --- /dev/null +++ b/ur5_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,34 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: manipulator + joint_model_group_pose: home +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur5_moveit_config/config/ur5.srdf b/ur5_moveit_config/config/ur5.srdf index 9b13cebea..ddf9b0f37 100644 --- a/ur5_moveit_config/config/ur5.srdf +++ b/ur5_moveit_config/config/ur5.srdf @@ -3,17 +3,17 @@ 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 --> - + - + - + @@ -33,17 +33,18 @@ - + - - - - + + + + + diff --git a/ur5_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur5_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..b0f9b159f --- /dev/null +++ b/ur5_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur5_moveit_config/launch/default_warehouse_db.launch b/ur5_moveit_config/launch/default_warehouse_db.launch index 0399e7246..c71e519a1 100644 --- a/ur5_moveit_config/launch/default_warehouse_db.launch +++ b/ur5_moveit_config/launch/default_warehouse_db.launch @@ -1,10 +1,12 @@ + + - + - + diff --git a/ur5_moveit_config/launch/demo.launch b/ur5_moveit_config/launch/demo.launch index c4befef84..0b0a89bcc 100644 --- a/ur5_moveit_config/launch/demo.launch +++ b/ur5_moveit_config/launch/demo.launch @@ -1,46 +1,63 @@ + + + + + - - - - - - - + + + + + + - + - - - [/move_group/fake_controller_joint_states] + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] - + - + - + + + - - + + - + + + diff --git a/ur5_moveit_config/launch/move_group.launch b/ur5_moveit_config/launch/move_group.launch index 5e13ea380..fe73c1d3a 100644 --- a/ur5_moveit_config/launch/move_group.launch +++ b/ur5_moveit_config/launch/move_group.launch @@ -1,14 +1,10 @@ - - - - - - + @@ -16,15 +12,40 @@ + + + + + + + + + + + + + + + - + @@ -36,7 +57,7 @@ - + @@ -47,19 +68,9 @@ + + - - diff --git a/ur5_moveit_config/launch/moveit.rviz b/ur5_moveit_config/launch/moveit.rviz index c7540069f..b431b2a03 100644 --- a/ur5_moveit_config/launch/moveit.rviz +++ b/ur5_moveit_config/launch/moveit.rviz @@ -1,31 +1,19 @@ Panels: - Class: rviz/Displays - Help Height: 75 + Help Height: 84 Name: Displays Property Tree Widget: Expanded: - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 299 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" Visualization Manager: Class: "" Displays: @@ -49,106 +37,314 @@ Visualization Manager: Value: true - Class: moveit_rviz_plugin/MotionPlanning Enabled: true - Move Group Namespace: "" MoveIt_Goal_Tolerance: 0 - MoveIt_Planning_Attempts: 10 MoveIt_Planning_Time: 5 MoveIt_Use_Constraint_Aware_IK: true 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 - base: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: Alpha: 1 Show Axes: false Show Trail: false + Value: true base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - ee_link: + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - forearm_link: + l_gripper_l_finger_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - shoulder_link: + l_gripper_l_finger_tip_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - tool0: + l_gripper_motor_accelerometer_link: Alpha: 1 Show Axes: false Show Trail: false - upper_arm_link: + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - world: + r_gripper_r_finger_link: Alpha: 1 Show Axes: false Show Trail: false - wrist_1_link: + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_2_link: + r_shoulder_pan_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_3_link: + r_upper_arm_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - Loop Animation: false + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true 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 - Trajectory Topic: /move_group/display_planned_path + 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 - TextHeight: 0.08 Planning Request: Colliding Link Color: 255; 0; 0 Goal State Alpha: 1 Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15 + Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 - Planning Group: manipulator + Planning Group: left_arm Query Goal State: true Query Start State: false Show Workspace: false @@ -157,7 +353,7 @@ Visualization Manager: Planning Scene Topic: move_group/monitored_planning_scene Robot Description: robot_description Scene Geometry: - Scene Alpha: 0.9 + Scene Alpha: 1 Scene Color: 50; 230; 50 Scene Display Time: 0.2 Show Scene Geometry: true @@ -166,125 +362,328 @@ Visualization Manager: 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 - base: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: Alpha: 1 Show Axes: false Show Trail: false + Value: true base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - ee_link: + bl_caster_l_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - forearm_link: + bl_caster_r_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - shoulder_link: + bl_caster_rotation_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - tool0: + br_caster_l_wheel_link: Alpha: 1 Show Axes: false Show Trail: false - upper_arm_link: + Value: true + br_caster_r_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - world: + br_caster_rotation_link: Alpha: 1 Show Axes: false Show Trail: false - wrist_1_link: + Value: true + double_stereo_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_2_link: + fl_caster_l_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_3_link: + fl_caster_r_wheel_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true Value: true Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 + Fixed Frame: base_link Name: root Tools: - Class: rviz/Interact Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point Value: true Views: Current: - Class: rviz/Orbit - Distance: 2.82854 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false + Class: rviz/XYOrbit + Distance: 2.9965 Focal Point: - X: 0.044143 - Y: -0.0136969 - Z: 0.0199439 + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 Name: Current View Near Clip Distance: 0.01 - Pitch: 0.465398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.9954 + Pitch: 0.509797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 5.65995 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 997 + Height: 1337 + Help: + collapsed: false Hide Left Dock: false - Hide Right Dock: true + Hide Right Dock: false Motion Planning: collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: - collapsed: true - Width: 1680 - X: -10 - Y: 21 + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/ur5_moveit_config/launch/moveit_rviz.launch b/ur5_moveit_config/launch/moveit_rviz.launch index c8216c755..a4605c037 100644 --- a/ur5_moveit_config/launch/moveit_rviz.launch +++ b/ur5_moveit_config/launch/moveit_rviz.launch @@ -4,13 +4,12 @@ - - - - + + + + - + args="$(arg command_args)" output="screen"> diff --git a/ur5_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur5_moveit_config/launch/ompl_planning_pipeline.launch.xml index 43eb59b57..89c4bb85d 100644 --- a/ur5_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur5_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - - - - - + - + @@ -23,6 +19,7 @@ + - + diff --git a/ur5_moveit_config/launch/planning_pipeline.launch.xml b/ur5_moveit_config/launch/planning_pipeline.launch.xml index 3d1cb9297..89fcea057 100644 --- a/ur5_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur5_moveit_config/launch/planning_pipeline.launch.xml @@ -1,7 +1,7 @@ - + diff --git a/ur5_moveit_config/launch/ros_controllers.launch b/ur5_moveit_config/launch/ros_controllers.launch new file mode 100644 index 000000000..fb90fcc68 --- /dev/null +++ b/ur5_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/ur5_moveit_config/launch/setup_assistant.launch b/ur5_moveit_config/launch/setup_assistant.launch index 4ca5f964e..9f42d38ae 100644 --- a/ur5_moveit_config/launch/setup_assistant.launch +++ b/ur5_moveit_config/launch/setup_assistant.launch @@ -1,4 +1,4 @@ - + @@ -7,9 +7,9 @@ - diff --git a/ur5_moveit_config/launch/trajectory_execution.launch.xml b/ur5_moveit_config/launch/trajectory_execution.launch.xml index 472bc6e1b..8b6beec1f 100644 --- a/ur5_moveit_config/launch/trajectory_execution.launch.xml +++ b/ur5_moveit_config/launch/trajectory_execution.launch.xml @@ -1,6 +1,6 @@ - + @@ -10,9 +10,9 @@ - + - + diff --git a/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml b/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml index db01518be..2ca68c92a 100644 --- a/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml +++ b/ur5_moveit_config/launch/ur5_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch b/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch index d2d697711..5648324c1 100644 --- a/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch +++ b/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch @@ -1,14 +1,12 @@ - - + - - + + - diff --git a/ur5_moveit_config/launch/ur5_robot_moveit_controller_manager.launch.xml b/ur5_moveit_config/launch/ur5_robot_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..0500324ce --- /dev/null +++ b/ur5_moveit_config/launch/ur5_robot_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur5_moveit_config/launch/ur5_robot_moveit_sensor_manager.launch.xml b/ur5_moveit_config/launch/ur5_robot_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur5_moveit_config/launch/ur5_robot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur5_moveit_config/launch/warehouse.launch b/ur5_moveit_config/launch/warehouse.launch index 579786c40..99b0b6aff 100644 --- a/ur5_moveit_config/launch/warehouse.launch +++ b/ur5_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - + - + diff --git a/ur5_moveit_config/launch/warehouse_settings.launch.xml b/ur5_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur5_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur5_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +1,16 @@ - - + + - - + + + diff --git a/ur5_moveit_config/package.xml b/ur5_moveit_config/package.xml index cd6507462..a2d2e00a9 100644 --- a/ur5_moveit_config/package.xml +++ b/ur5_moveit_config/package.xml @@ -24,6 +24,7 @@ moveit_simple_controller_manager joint_state_publisher robot_state_publisher + tf2_ros xacro ur_description diff --git a/ur5_moveit_config/tests/moveit_planning_execution.xml b/ur5_moveit_config/tests/moveit_planning_execution.xml index d566fa9db..16052aa74 100644 --- a/ur5_moveit_config/tests/moveit_planning_execution.xml +++ b/ur5_moveit_config/tests/moveit_planning_execution.xml @@ -1,16 +1,14 @@ - - - + - - + + diff --git a/ur5e_moveit_config/.setup_assistant b/ur5e_moveit_config/.setup_assistant new file mode 100644 index 000000000..3fae5acd7 --- /dev/null +++ b/ur5e_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: ur_description + relative_path: urdf/ur5e.xacro + xacro_args: "" + SRDF: + relative_path: config/ur5e.srdf + CONFIG: + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur5e_moveit_config/CHANGELOG.rst b/ur5e_moveit_config/CHANGELOG.rst new file mode 100644 index 000000000..28eb11545 --- /dev/null +++ b/ur5e_moveit_config/CHANGELOG.rst @@ -0,0 +1,63 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ur5e_moveit_config +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.5 (2019-04-05) +------------------ +* Update maintainer listing: add Miguel (`#410 `_) +* MoveGroupExecuteService is Deprecated by MoveIt! (`#391 `_) +* Update maintainer and author information. +* Add roslaunch tests (`#362 `_) +* Contributors: gavanderhoorn, Nadia Hammoudeh García, 薯片半价 + +1.2.1 (2018-01-06) +------------------ +* Reduce longest valid segment fraction to accomodate non-limited version of the UR5 (`#266 `_) +* Contributors: Scott Paulin + +1.2.0 (2017-08-04) +------------------ +* Fix Deprecated warning in MoveIt: parameter moved into namespace 'trajectory_execution' +* Contributors: Dave Coleman + +1.1.9 (2017-01-02) +------------------ +* use '--inorder' for jade+ xacro as well. +* make RViz load MoveIt display by default. +* Contributors: gavanderhoorn + +1.1.8 (2016-12-30) +------------------ +* all: update maintainers. +* Contributors: gavanderhoorn + +1.1.7 (2016-12-29) +------------------ +* Don't depend on moveit_plugins metapackage +* Fix xacro warnings in Jade +* Contributors: Dave Coleman, Jon Binney + +1.1.6 (2016-04-01) +------------------ +* add missing dependency for moveit_simple_controller_manager +* Merge branch 'indigo-devel' of github.com:ros-industrial/universal_robot into ur3_moveit_config +* apply latest setup assistant changes to ur5 and ur5e +* Adding comment explaining the choice of default planning algorithm +* Use RRTConnect by default for UR10 + Fixes bug `#193 `_ about slow planning on Indigo + LBKPIECE1 (the previous default) looks to be the wrong planning algorithm for the robot + See https://groups.google.com/forum/#!topic/moveit-users/M71T-GaUNgg +* crop ik solutions wrt joint_limits +* set planning time to 0 +* reduce planning attempts in moveit rviz plugin +* Contributors: Marco Esposito, ipa-fxm + +1.0.2 (2014-03-31) +------------------ + +1.0.1 (2014-03-31) +------------------ +* changes due to file renaming +* update moveit_configs: include ee_link and handle limited robot +* new moveit_configs for ur5 and ur5e +* Contributors: ipa-fxm diff --git a/ur_bringup/CMakeLists.txt b/ur5e_moveit_config/CMakeLists.txt similarity index 58% rename from ur_bringup/CMakeLists.txt rename to ur5e_moveit_config/CMakeLists.txt index 084a7d928..3934cf1c7 100644 --- a/ur_bringup/CMakeLists.txt +++ b/ur5e_moveit_config/CMakeLists.txt @@ -1,6 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) - -project(ur_bringup) +project(ur5e_moveit_config) find_package(catkin REQUIRED) @@ -8,7 +7,8 @@ catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test.xml) + roslaunch_add_file_check(tests/moveit_planning_execution.xml) endif() install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur5e_moveit_config/config/chomp_planning.yaml b/ur5e_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur5e_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur5e_moveit_config/config/fake_controllers.yaml b/ur5e_moveit_config/config/fake_controllers.yaml new file mode 100644 index 000000000..e328e94d4 --- /dev/null +++ b/ur5e_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,15 @@ +controller_list: + - name: fake_manipulator_controller + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + - name: fake_endeffector_controller + joints: + [] +initial: # Define initial robot poses. + - group: manipulator + pose: home \ No newline at end of file diff --git a/ur5e_moveit_config/config/joint_limits.yaml b/ur5e_moveit_config/config/joint_limits.yaml new file mode 100644 index 000000000..bdc914f89 --- /dev/null +++ b/ur5e_moveit_config/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# 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: + elbow_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_lift_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + wrist_1_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + wrist_2_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + wrist_3_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 diff --git a/ur5e_moveit_config/config/kinematics.yaml b/ur5e_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..e37d336c3 --- /dev/null +++ b/ur5e_moveit_config/config/kinematics.yaml @@ -0,0 +1,10 @@ +#manipulator: +# kinematics_solver: ur_kinematics/UR10KinematicsPlugin +# kinematics_solver_search_resolution: 0.005 +# kinematics_solver_timeout: 0.005 +# kinematics_solver_attempts: 3 +manipulator: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 diff --git a/ur5e_moveit_config/config/ompl_planning.yaml b/ur5e_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..acbf6bd9b --- /dev/null +++ b/ur5e_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,172 @@ +planner_configs: + 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 +manipulator: + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo +endeffector: + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur5e_moveit_config/config/ros_controllers.yaml b/ur5e_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..0ecf90959 --- /dev/null +++ b/ur5e_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,34 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: manipulator + joint_model_group_pose: home +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur5_e_moveit_config/config/ur5e.srdf b/ur5e_moveit_config/config/ur5e.srdf similarity index 83% rename from ur5_e_moveit_config/config/ur5e.srdf rename to ur5e_moveit_config/config/ur5e.srdf index bb009a906..76bc9d0b8 100644 --- a/ur5_e_moveit_config/config/ur5e.srdf +++ b/ur5e_moveit_config/config/ur5e.srdf @@ -3,17 +3,17 @@ 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 --> - + - + - + @@ -33,17 +33,18 @@ - + - - - - + + + + + diff --git a/ur5e_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur5e_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..ed0bc619d --- /dev/null +++ b/ur5e_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/default_warehouse_db.launch b/ur5e_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 000000000..c4baf5d47 --- /dev/null +++ b/ur5e_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/demo.launch b/ur5e_moveit_config/launch/demo.launch new file mode 100644 index 000000000..d00d93522 --- /dev/null +++ b/ur5e_moveit_config/launch/demo.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur5e_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..0e7d73907 --- /dev/null +++ b/ur5e_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/ur5e_moveit_config/launch/move_group.launch b/ur5e_moveit_config/launch/move_group.launch new file mode 100644 index 000000000..764c400bf --- /dev/null +++ b/ur5e_moveit_config/launch/move_group.launch @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/moveit.rviz b/ur5e_moveit_config/launch/moveit.rviz new file mode 100644 index 000000000..b431b2a03 --- /dev/null +++ b/ur5e_moveit_config/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + 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 + Planning Group: left_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: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/ur5e_moveit_config/launch/moveit_rviz.launch b/ur5e_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 000000000..a4605c037 --- /dev/null +++ b/ur5e_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur5e_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 000000000..7ec6880f1 --- /dev/null +++ b/ur5e_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/planning_context.launch b/ur5e_moveit_config/launch/planning_context.launch new file mode 100644 index 000000000..9052fd96f --- /dev/null +++ b/ur5e_moveit_config/launch/planning_context.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/planning_pipeline.launch.xml b/ur5e_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 000000000..caf1be307 --- /dev/null +++ b/ur5e_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur5e_moveit_config/launch/ros_controllers.launch b/ur5e_moveit_config/launch/ros_controllers.launch new file mode 100644 index 000000000..d71e18a0d --- /dev/null +++ b/ur5e_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/run_benchmark_ompl.launch b/ur5e_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 000000000..757bc9c52 --- /dev/null +++ b/ur5e_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/sensor_manager.launch.xml b/ur5e_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 000000000..97df2bd8f --- /dev/null +++ b/ur5e_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/ur3_e_moveit_config/launch/setup_assistant.launch b/ur5e_moveit_config/launch/setup_assistant.launch similarity index 60% rename from ur3_e_moveit_config/launch/setup_assistant.launch rename to ur5e_moveit_config/launch/setup_assistant.launch index ca7e28b0f..6e0054587 100644 --- a/ur3_e_moveit_config/launch/setup_assistant.launch +++ b/ur5e_moveit_config/launch/setup_assistant.launch @@ -1,4 +1,4 @@ - + @@ -7,9 +7,9 @@ - diff --git a/ur5e_moveit_config/launch/trajectory_execution.launch.xml b/ur5e_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 000000000..bbad585bf --- /dev/null +++ b/ur5e_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/launch/ur5_e_moveit_controller_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_moveit_controller_manager.launch.xml similarity index 78% rename from ur5_e_moveit_config/launch/ur5_e_moveit_controller_manager.launch.xml rename to ur5e_moveit_config/launch/ur5e_moveit_controller_manager.launch.xml index 6bc194070..5558a06b9 100644 --- a/ur5_e_moveit_config/launch/ur5_e_moveit_controller_manager.launch.xml +++ b/ur5e_moveit_config/launch/ur5e_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch b/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch new file mode 100644 index 000000000..acd7ef8b8 --- /dev/null +++ b/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/ur5e_moveit_sensor_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur5e_moveit_config/launch/ur5e_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur5e_moveit_config/launch/ur5e_robot_moveit_controller_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_robot_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..58e68a4ab --- /dev/null +++ b/ur5e_moveit_config/launch/ur5e_robot_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur5e_moveit_config/launch/ur5e_robot_moveit_sensor_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_robot_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur5e_moveit_config/launch/ur5e_robot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur5e_moveit_config/launch/warehouse.launch b/ur5e_moveit_config/launch/warehouse.launch new file mode 100644 index 000000000..4ec8b7786 --- /dev/null +++ b/ur5e_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur5e_moveit_config/launch/warehouse_settings.launch.xml b/ur5e_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 000000000..e473b083b --- /dev/null +++ b/ur5e_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur5_e_moveit_config/package.xml b/ur5e_moveit_config/package.xml similarity index 94% rename from ur5_e_moveit_config/package.xml rename to ur5e_moveit_config/package.xml index f81c4cc1d..f1087d6e0 100644 --- a/ur5_e_moveit_config/package.xml +++ b/ur5e_moveit_config/package.xml @@ -1,7 +1,7 @@ - ur5_e_moveit_config + ur5e_moveit_config 1.2.5 An automatically generated package with all the configuration and launch files for using the ur5e with the MoveIt Motion Planning Framework @@ -10,7 +10,7 @@ G.A. vd. Hoorn Miguel Prada Sarasola Nadia Hammoudeh Garcia - + BSD http://moveit.ros.org/ @@ -24,10 +24,11 @@ moveit_simple_controller_manager joint_state_publisher robot_state_publisher + tf2_ros xacro ur_description roslaunch catkin - + diff --git a/ur5e_moveit_config/tests/moveit_planning_execution.xml b/ur5e_moveit_config/tests/moveit_planning_execution.xml new file mode 100644 index 000000000..1a256e673 --- /dev/null +++ b/ur5e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_bringup/CHANGELOG.rst b/ur_bringup/CHANGELOG.rst deleted file mode 100644 index a7cf703f9..000000000 --- a/ur_bringup/CHANGELOG.rst +++ /dev/null @@ -1,58 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_bringup -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Update maintainer listing: add Miguel (`#410 `_) -* update maintainer and author information. -* Add roslaunch tests (`#362 `_) -* Using the 'doc' attribute on 'arg' elements. -* Contributors: gavanderhoorn, Harsh Deshpande, Nadia Hammoudeh García - -1.2.1 (2018-01-06) ------------------- -* Merge pull request `#322 `_ from gavanderhoorn/use_robot_state_publisher - driver: don't use deprecated robot_state binary. -* driver: don't use deprecated robot_state binary. -* Contributors: Felix Messmer, gavanderhoorn - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* Add prefix parameter in common launch -* Contributors: Yannick Jonetzko - -1.1.6 (2016-04-01) ------------------- -* provide launch files for ur3 -* Contributors: ipa-fxm - -1.0.2 (2014-03-31) ------------------- - -1.0.1 (2014-03-31) ------------------- -* adapt launch files in order to be able to use normal/limited xacro -* Contributors: ipa-fxm - -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* Updated urdf files use collision/visual models. -* Added launch directory to bringup package. Left the old launch files to be backwards compatable for now. Updated driver with SwRI internal changes. Changed driver to accept ip address to match ROS-Industrial standard. IP addresses for industrial robots are typically fixed. Hostnames are not typically used (this is what the driver expected) -* Removed extra stl files and fixed indentions -* Renamed packages and new groovy version -* Added ur10 and renamed packages -* Contributors: IPR-SR2, Kelsey, Shaun Edwards, ipa-nhg, robot diff --git a/ur_bringup/launch/ur10_bringup.launch b/ur_bringup/launch/ur10_bringup.launch deleted file mode 100644 index 4cb935861..000000000 --- a/ur_bringup/launch/ur10_bringup.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur10_bringup_joint_limited.launch b/ur_bringup/launch/ur10_bringup_joint_limited.launch deleted file mode 100644 index eb0b21ddf..000000000 --- a/ur_bringup/launch/ur10_bringup_joint_limited.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur3_bringup.launch b/ur_bringup/launch/ur3_bringup.launch deleted file mode 100644 index 1ff49cb16..000000000 --- a/ur_bringup/launch/ur3_bringup.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur3_bringup_joint_limited.launch b/ur_bringup/launch/ur3_bringup_joint_limited.launch deleted file mode 100644 index 3194e5b9c..000000000 --- a/ur_bringup/launch/ur3_bringup_joint_limited.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur5_bringup.launch b/ur_bringup/launch/ur5_bringup.launch deleted file mode 100644 index 5f9e0f08c..000000000 --- a/ur_bringup/launch/ur5_bringup.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur5_bringup_joint_limited.launch b/ur_bringup/launch/ur5_bringup_joint_limited.launch deleted file mode 100644 index ac39fcd2b..000000000 --- a/ur_bringup/launch/ur5_bringup_joint_limited.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur_common.launch b/ur_bringup/launch/ur_common.launch deleted file mode 100644 index 6035a3a21..000000000 --- a/ur_bringup/launch/ur_common.launch +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/package.xml b/ur_bringup/package.xml deleted file mode 100644 index 137cf3bf7..000000000 --- a/ur_bringup/package.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - ur_bringup - 1.2.5 - The ur_bringup package - - Wim Meeussen - Shaun Edwards - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - http://ros.org/wiki/ur_bringup - - catkin - roslaunch - tf2_ros - ur_description - ur_driver - robot_state_publisher - - - - diff --git a/ur_bringup/tests/roslaunch_test.xml b/ur_bringup/tests/roslaunch_test.xml deleted file mode 100644 index 3c80e057f..000000000 --- a/ur_bringup/tests/roslaunch_test.xml +++ /dev/null @@ -1,55 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/CMakeLists.txt b/ur_description/CMakeLists.txt index a3bda6691..17b3e3c20 100644 --- a/ur_description/CMakeLists.txt +++ b/ur_description/CMakeLists.txt @@ -1,133 +1,20 @@ cmake_minimum_required(VERSION 2.8.3) project(ur_description) -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages find_package(catkin REQUIRED) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -####################################### -## Declare ROS messages and services ## -####################################### - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ur_description -# CATKIN_DEPENDS urdf -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) - -## Declare a cpp library -# add_library(ur_description -# src/${PROJECT_NAME}/ur_description.cpp -# ) - -## Declare a cpp executable -# add_executable(ur_description_node src/ur_description_node.cpp) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(ur_description_node ur_description_generate_messages_cpp) - -## Specify libraries to link a library or executable target against -# target_link_libraries(ur_description_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ur_description ur_description_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_description.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur10.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur3.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur5.xml) +endif() + +install(DIRECTORY cfg config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_description/config/ur10_default.yaml b/ur_description/config/ur10/default_kinematics.yaml similarity index 84% rename from ur_description/config/ur10_default.yaml rename to ur_description/config/ur10/default_kinematics.yaml index 7fb8752df..20a084f39 100644 --- a/ur_description/config/ur10_default.yaml +++ b/ur_description/config/ur10/default_kinematics.yaml @@ -3,37 +3,37 @@ kinematics: x: 0 y: 0 z: 0.1273 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 upper_arm: x: 0 y: 0 z: 0 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 forearm: x: -0.612 y: 0 z: 0 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_1: x: -0.5723 y: 0 z: 0.163941 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_2: x: 0 y: -0.1157 z: -2.373046667922381e-11 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 wrist_3: x: 0 y: 0.0922 diff --git a/ur_description/config/ur10/joint_limits.yaml b/ur_description/config/ur10/joint_limits.yaml new file mode 100644 index 000000000..9e55c53cb --- /dev/null +++ b/ur_description/config/ur10/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - UR10 User Manual, Universal Robots, UR10/CB3, Version 3.13 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69442/99203_UR10_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur10/physical_parameters.yaml b/ur_description/config/ur10/physical_parameters.yaml new file mode 100644 index 000000000..e6515389b --- /dev/null +++ b/ur_description/config/ur10/physical_parameters.yaml @@ -0,0 +1,78 @@ +# Physical parameters + +dh_parameters: + d1: 0.1273 + a2: -0.612 + a3: -0.5723 + d4: 0.163941 + d5: 0.1157 + d6: 0.0922 + +offsets: + shoulder_offset: 0.220941 # measured from model + elbow_offset: 0.049042 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 7.778 + upper_arm_mass: 12.93 + upper_arm_inertia_offset: 0.175 + forearm_mass: 3.87 + wrist_1_mass: 1.96 + wrist_2_mass: 1.96 + wrist_3_mass: 0.202 + + shoulder_radius: x0.060 # FROM UR5 DON'T USE + upper_arm_radius: x0.054 # FROM UR5 DON'T USE + elbow_radius: x0.060 # FROM UR5 DON'T USE + forearm_radius: x0.040 # FROM UR5 DON'T USE + wrist_radius: x0.045 # FROM UR5 DON'T USE + + links: + base: + radius: 0.075 + length: 0.038 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.075 + length: 0.612 + forearm: + radius: 0.075 + length: 0.5723 + wrist_1: + radius: 0.075 + length: 0.12 + wrist_2: + radius: 0.075 + length: 0.09 + wrist_3: + radius: 0.045 + length: 0.0305 + + center_of_mass: + shoulder_cog: + x: 0.0 + y: 0.00244 + z: -0.037 + upper_arm_cog: + x: 0.00001 + y: 0.15061 + z: 0.38757 + forearm_cog: + x: -0.00012 + y: 0.06112 + z: 0.1984 + wrist_1_cog: + x: -0.00021 + y: -0.00112 + z: 0.02269 + wrist_2_cog: + x: -0.00021 + y: 0.00112 + z: 0.002269 + wrist_3_cog: + x: 0.0 + y: -0.001156 + z: -0.00149 diff --git a/ur_description/config/ur10/visual_parameters.yaml b/ur_description/config/ur10/visual_parameters.yaml new file mode 100644 index 000000000..168fbfff2 --- /dev/null +++ b/ur_description/config/ur10/visual_parameters.yaml @@ -0,0 +1,69 @@ +# Visualisation + +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur10/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur10/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur10/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur10/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur10/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/wrist1.stl" + visual_offset: -0.1149 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur10/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/wrist2.stl" + visual_offset: -0.1158 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur10/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10/collision/wrist3.stl" + visual_offset: -0.0922 diff --git a/ur_e_description/config/ur10e_default.yaml b/ur_description/config/ur10e/default_kinematics.yaml similarity index 84% rename from ur_e_description/config/ur10e_default.yaml rename to ur_description/config/ur10e/default_kinematics.yaml index 8fa1fea43..fca697c0d 100644 --- a/ur_e_description/config/ur10e_default.yaml +++ b/ur_description/config/ur10e/default_kinematics.yaml @@ -3,37 +3,37 @@ kinematics: x: 0 y: 0 z: 0.1807 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 upper_arm: x: 0 y: 0 z: 0 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 forearm: x: -0.6127 y: 0 z: 0 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_1: x: -0.57155 y: 0 z: 0.17415 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_2: x: 0 y: -0.11985 z: -2.458164590756244e-11 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 wrist_3: x: 0 y: 0.11655 diff --git a/ur_description/config/ur10e/joint_limits.yaml b/ur_description/config/ur10e/joint_limits.yaml new file mode 100644 index 000000000..983a43ce1 --- /dev/null +++ b/ur_description/config/ur10e/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR10e, Version 5.8 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69139/99405_UR10e_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur10e/physical_parameters.yaml b/ur_description/config/ur10e/physical_parameters.yaml new file mode 100644 index 000000000..ffae062fd --- /dev/null +++ b/ur_description/config/ur10e/physical_parameters.yaml @@ -0,0 +1,78 @@ +# Physical parameters + +dh_parameters: + d1: 0.181 + a2: -0.613 + a3: -0.571 + d4: 0.174 # wrist1_length = d4 - elbow_offset - shoulder_offset + d5: 0.120 + d6: 0.117 + +offsets: + shoulder_offset: 0.1762 # measured from model + elbow_offset: 0.0393 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 7.778 + upper_arm_mass: 12.93 + upper_arm_inertia_offset: 0.175 # measured from model + forearm_mass: 3.87 + wrist_1_mass: 1.96 + wrist_2_mass: 1.96 + wrist_3_mass: 0.202 + + shoulder_radius: x0.060 # FROM UR5 DON'T USE + upper_arm_radius: x0.054 # FROM UR5 DON'T USE + elbow_radius: x0.060 # FROM UR5 DON'T USE + forearm_radius: x0.040 # FROM UR5 DON'T USE + wrist_radius: x0.045 # FROM UR5 DON'T USE + + links: + base: + radius: 0.075 + length: 0.038 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.075 + length: 0.612 + forearm: + radius: 0.075 + length: 0.57155 + wrist_1: + radius: 0.075 + length: 0.12 + wrist_2: + radius: 0.075 + length: 0.12 + wrist_3: + radius: 0.045 + length: 0.05 + + center_of_mass: + shoulder_cog: + x: 0.0 + y: 0.00244 + z: -0.037 + upper_arm_cog: + x: 0.00001 + y: 0.15061 + z: 0.38757 + forearm_cog: + x: -0.00012 + y: 0.06112 + z: 0.1984 + wrist_1_cog: + x: -0.00021 + y: -0.00112 + z: 0.02269 + wrist_2_cog: + x: -0.00021 + y: 0.00112 + z: 0.002269 + wrist_3_cog: + x: 0.0 + y: -0.001156 + z: -0.00149 diff --git a/ur_description/config/ur10e/visual_parameters.yaml b/ur_description/config/ur10e/visual_parameters.yaml new file mode 100644 index 000000000..9bd6002d6 --- /dev/null +++ b/ur_description/config/ur10e/visual_parameters.yaml @@ -0,0 +1,69 @@ +# Visualisation + +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist1.stl" + visual_offset: -0.135 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist2.stl" + visual_offset: -0.12 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl" + visual_offset: -0.1168 diff --git a/ur_e_description/config/ur16e_default.yaml b/ur_description/config/ur16e/default_kinematics.yaml similarity index 79% rename from ur_e_description/config/ur16e_default.yaml rename to ur_description/config/ur16e/default_kinematics.yaml index 70f6f78eb..d7bbeae04 100644 --- a/ur_e_description/config/ur16e_default.yaml +++ b/ur_description/config/ur16e/default_kinematics.yaml @@ -3,37 +3,37 @@ kinematics: x: 0 y: 0 z: 0.1807 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 upper_arm: x: 0 y: 0 z: 0 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 forearm: x: -0.4784 y: 0 z: 0 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_1: x: -0.36 y: 0 z: 0.17415 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_2: x: 0 y: -0.11985 z: -2.458164590756244e-11 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 wrist_3: x: 0 y: 0.11655 @@ -41,4 +41,4 @@ kinematics: roll: 1.570796326589793 pitch: 3.141592653589793 yaw: 3.141592653589793 - hash: calib_1935737212149401527 + hash: calib_1935737212149401527 \ No newline at end of file diff --git a/ur_description/config/ur16e/joint_limits.yaml b/ur_description/config/ur16e/joint_limits.yaml new file mode 100644 index 000000000..272bb4843 --- /dev/null +++ b/ur_description/config/ur16e/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR16e, Version 5.8 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69187/99473_UR16e_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur16e/physical_parameters.yaml b/ur_description/config/ur16e/physical_parameters.yaml new file mode 100644 index 000000000..658d51d7f --- /dev/null +++ b/ur_description/config/ur16e/physical_parameters.yaml @@ -0,0 +1,80 @@ +# Physical parameters + +# from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/ +dh_parameters: + d1: 0.1807 + a2: -0.4784 + a3: -0.36 + d4: 0.17415 + d5: 0.11985 + d6: 0.11655 + +offsets: + shoulder_offset: 0.176 # measured from model + elbow_offset: 0.040 # measured from model + +inertia_parameters: + # taken from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/ + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 7.369 + upper_arm_mass: 10.450 + upper_arm_inertia_offset: 0.175 # measured from model + forearm_mass: 4.321 + wrist_1_mass: 2.180 + wrist_2_mass: 2.033 + wrist_3_mass: 0.907 + + shoulder_radius: x0.060 # FROM UR5 CURRENTLY NOT USED ANYMORE + upper_arm_radius: x0.054 # FROM UR5 CURRENTLY NOT USED ANYMORE + elbow_radius: x0.060 # FROM UR5 CURRENTLY NOT USED ANYMORE + forearm_radius: x0.040 # FROM UR5 CURRENTLY NOT USED ANYMORE + wrist_radius: x0.045 # FROM UR5 CURRENTLY NOT USED ANYMORE + + links: + base: + radius: 0.075 + length: 0.038 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.075 + length: 0.4784 + forearm: + radius: 0.075 + length: 0.36 + wrist_1: + radius: 0.075 + length: 0.12 + wrist_2: + radius: 0.075 + length: 0.12 + wrist_3: + radius: 0.045 + length: 0.05 + + center_of_mass: # Adjusted manually + shoulder_cog: + x: 0.0 + y: 0.00244 + z: -0.037 + upper_arm_cog: + x: 0.00001 + y: 0.15061 + z: 0.38757 + forearm_cog: + x: -0.00012 + y: 0.06112 + z: 0.1984 + wrist_1_cog: + x: -0.00021 + y: -0.00112 + z: 0.02269 + wrist_2_cog: + x: -0.00021 + y: 0.00112 + z: 0.002269 + wrist_3_cog: + x: 0.0 + y: -0.001156 + z: -0.00149 diff --git a/ur_description/config/ur16e/visual_parameters.yaml b/ur_description/config/ur16e/visual_parameters.yaml new file mode 100644 index 000000000..7925fc183 --- /dev/null +++ b/ur_description/config/ur16e/visual_parameters.yaml @@ -0,0 +1,70 @@ +# Visualisation +# UR16e uses the same parts as UR10e except the upper and lower arm are shortened + +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur16e/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur16e/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur16e/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur16e/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist1.stl" + visual_offset: -0.135 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist2.stl" + visual_offset: -0.12 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl" + visual_offset: -0.1168 diff --git a/ur_description/config/ur3_default.yaml b/ur_description/config/ur3/default_kinematics.yaml similarity index 84% rename from ur_description/config/ur3_default.yaml rename to ur_description/config/ur3/default_kinematics.yaml index 1f083cabb..f7200ba61 100644 --- a/ur_description/config/ur3_default.yaml +++ b/ur_description/config/ur3/default_kinematics.yaml @@ -3,37 +3,37 @@ kinematics: x: 0 y: 0 z: 0.1519 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 upper_arm: x: 0 y: 0 z: 0 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 forearm: x: -0.24365 y: 0 z: 0 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_1: x: -0.21325 y: 0 z: 0.11235 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_2: x: 0 y: -0.08535 z: -1.750557762378351e-11 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 wrist_3: x: 0 y: 0.0819 diff --git a/ur_description/config/ur3/joint_limits.yaml b/ur_description/config/ur3/joint_limits.yaml new file mode 100644 index 000000000..461288abf --- /dev/null +++ b/ur_description/config/ur3/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - UR3 User Manual, Universal Robots, UR3/CB3, Version 3.13 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69300/99241_UR3_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 12.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 12.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 12.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur3/physical_parameters.yaml b/ur_description/config/ur3/physical_parameters.yaml new file mode 100644 index 000000000..ce207b722 --- /dev/null +++ b/ur_description/config/ur3/physical_parameters.yaml @@ -0,0 +1,78 @@ +# Physical parameters + +dh_parameters: + d1: 0.1519 + a2: -0.24365 + a3: -0.21325 + d4: 0.11235 + d5: 0.08535 + d6: 0.0819 + +offsets: + shoulder_offset: 0.1198 # measured from model + elbow_offset: 0.0275 # measured from model + +inertia_parameters: + base_mass: 2.0 # This mass might be incorrect + shoulder_mass: 2.0 + upper_arm_mass: 3.42 + upper_arm_inertia_offset: 0.12 + forearm_mass: 1.26 + wrist_1_mass: 0.8 + wrist_2_mass: 0.8 + wrist_3_mass: 0.35 + + shoulder_radius: 0.060 # manually measured + upper_arm_radius: 0.054 # manually measured + elbow_radius: 0.060 # manually measured + forearm_radius: 0.040 # manually measured + wrist_radius: 0.045 # manually measured + + links: + base: + radius: 0.075 + length: 0.038 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.075 + length: 0.24365 + forearm: + radius: 0.075 + length: 0.21325 + wrist_1: + radius: 0.075 + length: 0.08535 + wrist_2: + radius: 0.075 + length: 0.0819 + wrist_3: + radius: 0.032 + length: 0.04 + + center_of_mass: + shoulder_cog: + x: 0.0 + y: -0.02 + z: 0.0 + upper_arm_cog: + x: 0.13 + y: 0.0 + z: 0.1157 + forearm_cog: + x: 0.05 + y: 0.0 + z: 0.0238 + wrist_1_cog: + x: 0.0 + y: 0.0 + z: 0.01 + wrist_2_cog: + x: 0.0 + y: 0.0 + z: 0.01 + wrist_3_cog: + x: 0.0 + y: 0.0 + z: -0.02 diff --git a/ur_description/config/ur3/visual_parameters.yaml b/ur_description/config/ur3/visual_parameters.yaml new file mode 100644 index 000000000..d16f51cbc --- /dev/null +++ b/ur_description/config/ur3/visual_parameters.yaml @@ -0,0 +1,67 @@ +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur3/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur3/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur3/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur3/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur3/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/wrist1.stl" + visual_offset: -0.085 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur3/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/wrist2.stl" + visual_offset: -0.085 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur3/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3/collision/wrist3.stl" + visual_offset: -0.082 diff --git a/ur_e_description/config/ur3e_default.yaml b/ur_description/config/ur3e/default_kinematics.yaml similarity index 84% rename from ur_e_description/config/ur3e_default.yaml rename to ur_description/config/ur3e/default_kinematics.yaml index d9b6b0393..aa98e3cd2 100644 --- a/ur_e_description/config/ur3e_default.yaml +++ b/ur_description/config/ur3e/default_kinematics.yaml @@ -3,37 +3,37 @@ kinematics: x: 0 y: 0 z: 0.15185 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 upper_arm: x: 0 y: 0 z: 0 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 forearm: x: -0.24355 y: 0 z: 0 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_1: x: -0.2132 y: 0 z: 0.13105 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_2: x: 0 y: -0.08535 z: -1.750557762378351e-11 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 wrist_3: x: 0 y: 0.0921 diff --git a/ur_description/config/ur3e/joint_limits.yaml b/ur_description/config/ur3e/joint_limits.yaml new file mode 100644 index 000000000..85b6f644f --- /dev/null +++ b/ur_description/config/ur3e/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR3e, Version 5.8 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69043/99403_UR3e_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 56.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 12.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 12.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 12.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur3e/physical_parameters.yaml b/ur_description/config/ur3e/physical_parameters.yaml new file mode 100644 index 000000000..337c1f24f --- /dev/null +++ b/ur_description/config/ur3e/physical_parameters.yaml @@ -0,0 +1,78 @@ +# Physical parameters + +dh_parameters: + d1: 0.152 + a2: -0.244 + a3: -0.213 + d4: 0.131 # wrist1_length = d4 - elbow_offset - shoulder_offset + d5: 0.085 + d6: 0.092 + +offsets: + shoulder_offset: 0.120 # measured from model + elbow_offset: 0.027 # measured from model + +inertia_parameters: + base_mass: 2.0 # This mass might be incorrect + shoulder_mass: 2.0 + upper_arm_mass: 3.42 + upper_arm_inertia_offset: 0.12 # measured from model + forearm_mass: 1.26 + wrist_1_mass: 0.8 + wrist_2_mass: 0.8 + wrist_3_mass: 0.35 + + shoulder_radius: 0.060 # manually measured + upper_arm_radius: 0.054 # manually measured + elbow_radius: 0.060 # manually measured + forearm_radius: 0.040 # manually measured + wrist_radius: 0.045 # manually measured + + links: + base: + radius: 0.075 + length: 0.038 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.075 + length: 0.24365 + forearm: + radius: 0.075 + length: 0.2132 + wrist_1: + radius: 0.075 + length: 0.12 + wrist_2: + radius: 0.075 + length: 0.12 + wrist_3: + radius: 0.032 + length: 0.04 + + center_of_mass: + shoulder_cog: + x: 0.0 + y: -0.02 + z: 0.0 + upper_arm_cog: + x: 0.13 + y: 0.0 + z: 0.1157 + forearm_cog: + x: 0.05 + y: 0.0 + z: 0.0238 + wrist_1_cog: + x: 0.0 + y: 0.0 + z: 0.01 + wrist_2_cog: + x: 0.0 + y: 0.0 + z: 0.01 + wrist_3_cog: + x: 0.0 + y: 0.0 + z: -0.02 diff --git a/ur_description/config/ur3e/visual_parameters.yaml b/ur_description/config/ur3e/visual_parameters.yaml new file mode 100644 index 000000000..de8a20720 --- /dev/null +++ b/ur_description/config/ur3e/visual_parameters.yaml @@ -0,0 +1,67 @@ +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/wrist1.stl" + visual_offset: -0.104 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/wrist2.stl" + visual_offset: -0.08535 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur3e/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur3e/collision/wrist3.stl" + visual_offset: -0.0921 diff --git a/ur_description/config/ur5_default.yaml b/ur_description/config/ur5/default_kinematics.yaml similarity index 84% rename from ur_description/config/ur5_default.yaml rename to ur_description/config/ur5/default_kinematics.yaml index fa4388bed..0173c2b67 100644 --- a/ur_description/config/ur5_default.yaml +++ b/ur_description/config/ur5/default_kinematics.yaml @@ -3,37 +3,37 @@ kinematics: x: 0 y: 0 z: 0.089159 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 upper_arm: x: 0 y: 0 z: 0 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 forearm: x: -0.425 y: 0 z: 0 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_1: x: -0.39225 y: 0 z: 0.10915 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_2: x: 0 y: -0.09465 z: -1.941303950897609e-11 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 wrist_3: x: 0 y: 0.0823 diff --git a/ur_description/config/ur5/joint_limits.yaml b/ur_description/config/ur5/joint_limits.yaml new file mode 100644 index 000000000..28eacc3d9 --- /dev/null +++ b/ur_description/config/ur5/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - UR5 User Manual, Universal Robots, UR5/CB3, Version 3.13 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69371/99202_UR5_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur5/physical_parameters.yaml b/ur_description/config/ur5/physical_parameters.yaml new file mode 100644 index 000000000..9d0a4030d --- /dev/null +++ b/ur_description/config/ur5/physical_parameters.yaml @@ -0,0 +1,87 @@ +# Physical parameters + +dh_parameters: + d1: 0.089159 + a2: -0.42500 + a3: -0.39225 + d4: 0.10915 + d5: 0.09465 + d6: 0.0823 + +offsets: + shoulder_offset: 0.13585 # measured from model + elbow_offset: 0.0165 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 3.7000 + upper_arm_mass: 8.3930 + upper_arm_inertia_offset: 0.136 + forearm_mass: 2.2750 + wrist_1_mass: 1.2190 + wrist_2_mass: 1.2190 + wrist_3_mass: 0.1879 + + shoulder_radius: 0.060 # manually measured + upper_arm_radius: 0.054 # manually measured + elbow_radius: 0.060 # manually measured + forearm_radius: 0.040 # manually measured + wrist_radius: 0.045 # manually measured + + links: + base: + radius: 0.06 + length: 0.05 + shoulder: + radius: 0.075 + length: 0.178 + upperarm: + radius: 0.06 + length: 0.425 + forearm: + radius: 0.06 + length: 0.39225 + wrist_1: + radius: 0.06 + length: 0.12 + wrist_2: + radius: 0.06 + length: 0.12 + wrist_3: + radius: 0.0375 + length: 0.0345 + wrist_1: + radius: 0.06 + length: 0.095 + wrist_2: + radius: 0.06 + length: 0.085 + wrist_3: + radius: 0.0375 + length: 0.0305 + + center_of_mass: + shoulder_cog: + x: 0.0 + y: 0.00193 + z: -0.02561 + upper_arm_cog: + x: 0.0 + y: -0.024201 + z: 0.2125 + forearm_cog: + x: 0.0 + y: 0.0265 + z: 0.11993 + wrist_1_cog: + x: 0.0 + y: 0.110949 + z: 0.01634 + wrist_2_cog: + x: 0.0 + y: 0.0018 + z: 0.11099 + wrist_3_cog: + x: 0.0 + y: 0.001159 + z: 0.0 diff --git a/ur_description/config/ur5/visual_parameters.yaml b/ur_description/config/ur5/visual_parameters.yaml new file mode 100644 index 000000000..69845109d --- /dev/null +++ b/ur_description/config/ur5/visual_parameters.yaml @@ -0,0 +1,67 @@ +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur5/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur5/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur5/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur5/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur5/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/wrist1.stl" + visual_offset: -0.093 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur5/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/wrist2.stl" + visual_offset: -0.095 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur5/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5/collision/wrist3.stl" + visual_offset: -0.0818 diff --git a/ur_e_description/config/ur5e_default.yaml b/ur_description/config/ur5e/default_kinematics.yaml similarity index 84% rename from ur_e_description/config/ur5e_default.yaml rename to ur_description/config/ur5e/default_kinematics.yaml index 5b1e9cb20..e89032eec 100644 --- a/ur_e_description/config/ur5e_default.yaml +++ b/ur_description/config/ur5e/default_kinematics.yaml @@ -3,37 +3,37 @@ kinematics: x: 0 y: 0 z: 0.1625 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 upper_arm: x: 0 y: 0 z: 0 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 forearm: x: -0.425 y: 0 z: 0 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_1: x: -0.3922 y: 0 z: 0.1333 - roll: -0 + roll: 0 pitch: 0 - yaw: -0 + yaw: 0 wrist_2: x: 0 y: -0.0997 z: -2.044881182297852e-11 roll: 1.570796327 pitch: 0 - yaw: -0 + yaw: 0 wrist_3: x: 0 y: 0.09959999999999999 diff --git a/ur_description/config/ur5e/joint_limits.yaml b/ur_description/config/ur5e/joint_limits.yaml new file mode 100644 index 000000000..dddc059a8 --- /dev/null +++ b/ur_description/config/ur5e/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR5e, Version 5.8 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur5e/physical_parameters.yaml b/ur_description/config/ur5e/physical_parameters.yaml new file mode 100644 index 000000000..8955ed24d --- /dev/null +++ b/ur_description/config/ur5e/physical_parameters.yaml @@ -0,0 +1,78 @@ +# Physical parameters + +dh_parameters: + d1: 0.163 + a2: -0.42500 + a3: -0.39225 + d4: 0.134 # wrist1_length = d4 - elbow_offset - shoulder_offset + d5: 0.100 + d6: 0.100 + +offsets: + shoulder_offset: 0.138 # measured from model + elbow_offset: 0.007 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 3.7000 + upper_arm_mass: 8.3930 + upper_arm_inertia_offset: 0.138 # measured from model + forearm_mass: 2.2750 + wrist_1_mass: 1.2190 + wrist_2_mass: 1.2190 + wrist_3_mass: 0.1879 + + shoulder_radius: 0.060 # manually measured + upper_arm_radius: 0.054 # manually measured + elbow_radius: 0.060 # manually measured + forearm_radius: 0.040 # manually measured + wrist_radius: 0.045 # manually measured + + links: + base: + radius: 0.06 + length: 0.05 + shoulder: + radius: 0.06 + length: 0.15 + upperarm: + radius: 0.06 + length: 0.425 + forearm: + radius: 0.06 + length: 0.3922 + wrist_1: + radius: 0.06 + length: 0.12 + wrist_2: + radius: 0.06 + length: 0.12 + wrist_3: + radius: 0.0375 + length: 0.0458 + + center_of_mass: + shoulder_cog: + x: 0.0 + y: 0.00193 + z: -0.02561 + upper_arm_cog: + x: 0.0 + y: -0.024201 + z: 0.2125 + forearm_cog: + x: 0.0 + y: 0.0265 + z: 0.11993 + wrist_1_cog: + x: 0.0 + y: 0.110949 + z: 0.01634 + wrist_2_cog: + x: 0.0 + y: 0.0018 + z: 0.11099 + wrist_3_cog: + x: 0.0 + y: 0.001159 + z: 0.0 diff --git a/ur_description/config/ur5e/visual_parameters.yaml b/ur_description/config/ur5e/visual_parameters.yaml new file mode 100644 index 000000000..6d0156a59 --- /dev/null +++ b/ur_description/config/ur5e/visual_parameters.yaml @@ -0,0 +1,67 @@ +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/wrist1.stl" + visual_offset: -0.127 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/wrist2.stl" + visual_offset: -0.0997 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/wrist3.stl" + visual_offset: -0.0989 diff --git a/ur_description/launch/load_ur.launch b/ur_description/launch/load_ur.launch new file mode 100644 index 000000000..3e459dd52 --- /dev/null +++ b/ur_description/launch/load_ur.launch @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur10.launch b/ur_description/launch/load_ur10.launch new file mode 100644 index 000000000..227efdd4e --- /dev/null +++ b/ur_description/launch/load_ur10.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur10e.launch b/ur_description/launch/load_ur10e.launch new file mode 100644 index 000000000..6c72e0b62 --- /dev/null +++ b/ur_description/launch/load_ur10e.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur16e.launch b/ur_description/launch/load_ur16e.launch new file mode 100644 index 000000000..a633e4c1b --- /dev/null +++ b/ur_description/launch/load_ur16e.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur3.launch b/ur_description/launch/load_ur3.launch new file mode 100644 index 000000000..395545f90 --- /dev/null +++ b/ur_description/launch/load_ur3.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur3e.launch b/ur_description/launch/load_ur3e.launch new file mode 100644 index 000000000..2567cb95d --- /dev/null +++ b/ur_description/launch/load_ur3e.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur5.launch b/ur_description/launch/load_ur5.launch new file mode 100644 index 000000000..aa5be93ae --- /dev/null +++ b/ur_description/launch/load_ur5.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur5e.launch b/ur_description/launch/load_ur5e.launch new file mode 100644 index 000000000..b9368d1da --- /dev/null +++ b/ur_description/launch/load_ur5e.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/ur10_upload.launch b/ur_description/launch/ur10_upload.launch deleted file mode 100644 index 0dba45ad7..000000000 --- a/ur_description/launch/ur10_upload.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - diff --git a/ur_description/launch/ur3_upload.launch b/ur_description/launch/ur3_upload.launch deleted file mode 100644 index dc58a2a26..000000000 --- a/ur_description/launch/ur3_upload.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - diff --git a/ur_description/launch/ur5_upload.launch b/ur_description/launch/ur5_upload.launch deleted file mode 100644 index 8341e62dc..000000000 --- a/ur_description/launch/ur5_upload.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - diff --git a/ur_description/launch/view_ur10.launch b/ur_description/launch/view_ur10.launch index 1416e47a5..cabdbf5a0 100644 --- a/ur_description/launch/view_ur10.launch +++ b/ur_description/launch/view_ur10.launch @@ -1,10 +1,8 @@ - + - - - - + + diff --git a/ur_description/launch/view_ur10e.launch b/ur_description/launch/view_ur10e.launch new file mode 100644 index 000000000..dc4c4e1b8 --- /dev/null +++ b/ur_description/launch/view_ur10e.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_description/launch/view_ur16e.launch b/ur_description/launch/view_ur16e.launch new file mode 100644 index 000000000..c9c604955 --- /dev/null +++ b/ur_description/launch/view_ur16e.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_description/launch/view_ur3.launch b/ur_description/launch/view_ur3.launch index 9b487245d..96d5dd222 100644 --- a/ur_description/launch/view_ur3.launch +++ b/ur_description/launch/view_ur3.launch @@ -1,10 +1,8 @@ - + - - - - + + diff --git a/ur_description/launch/view_ur3e.launch b/ur_description/launch/view_ur3e.launch new file mode 100644 index 000000000..c0b9f67a3 --- /dev/null +++ b/ur_description/launch/view_ur3e.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_description/launch/view_ur5.launch b/ur_description/launch/view_ur5.launch index cae16dba8..2428313a1 100644 --- a/ur_description/launch/view_ur5.launch +++ b/ur_description/launch/view_ur5.launch @@ -1,10 +1,8 @@ - + - - - - + + diff --git a/ur_description/launch/view_ur5e.launch b/ur_description/launch/view_ur5e.launch new file mode 100644 index 000000000..1d1a08b76 --- /dev/null +++ b/ur_description/launch/view_ur5e.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_e_description/meshes/ur10e/collision/base.stl b/ur_description/meshes/ur10e/collision/base.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/base.stl rename to ur_description/meshes/ur10e/collision/base.stl diff --git a/ur_e_description/meshes/ur10e/collision/forearm.stl b/ur_description/meshes/ur10e/collision/forearm.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/forearm.stl rename to ur_description/meshes/ur10e/collision/forearm.stl diff --git a/ur_e_description/meshes/ur10e/collision/shoulder.stl b/ur_description/meshes/ur10e/collision/shoulder.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/shoulder.stl rename to ur_description/meshes/ur10e/collision/shoulder.stl diff --git a/ur_e_description/meshes/ur10e/collision/upperarm.stl b/ur_description/meshes/ur10e/collision/upperarm.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/upperarm.stl rename to ur_description/meshes/ur10e/collision/upperarm.stl diff --git a/ur_e_description/meshes/ur10e/collision/wrist1.stl b/ur_description/meshes/ur10e/collision/wrist1.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/wrist1.stl rename to ur_description/meshes/ur10e/collision/wrist1.stl diff --git a/ur_e_description/meshes/ur10e/collision/wrist2.stl b/ur_description/meshes/ur10e/collision/wrist2.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/wrist2.stl rename to ur_description/meshes/ur10e/collision/wrist2.stl diff --git a/ur_e_description/meshes/ur10e/collision/wrist3.stl b/ur_description/meshes/ur10e/collision/wrist3.stl similarity index 100% rename from ur_e_description/meshes/ur10e/collision/wrist3.stl rename to ur_description/meshes/ur10e/collision/wrist3.stl diff --git a/ur_e_description/meshes/ur10e/visual/base.dae b/ur_description/meshes/ur10e/visual/base.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/base.dae rename to ur_description/meshes/ur10e/visual/base.dae diff --git a/ur_e_description/meshes/ur10e/visual/forearm.dae b/ur_description/meshes/ur10e/visual/forearm.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/forearm.dae rename to ur_description/meshes/ur10e/visual/forearm.dae diff --git a/ur_e_description/meshes/ur10e/visual/shoulder.dae b/ur_description/meshes/ur10e/visual/shoulder.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/shoulder.dae rename to ur_description/meshes/ur10e/visual/shoulder.dae diff --git a/ur_e_description/meshes/ur10e/visual/upperarm.dae b/ur_description/meshes/ur10e/visual/upperarm.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/upperarm.dae rename to ur_description/meshes/ur10e/visual/upperarm.dae diff --git a/ur_e_description/meshes/ur10e/visual/wrist1.dae b/ur_description/meshes/ur10e/visual/wrist1.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/wrist1.dae rename to ur_description/meshes/ur10e/visual/wrist1.dae diff --git a/ur_e_description/meshes/ur10e/visual/wrist2.dae b/ur_description/meshes/ur10e/visual/wrist2.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/wrist2.dae rename to ur_description/meshes/ur10e/visual/wrist2.dae diff --git a/ur_e_description/meshes/ur10e/visual/wrist3.dae b/ur_description/meshes/ur10e/visual/wrist3.dae similarity index 100% rename from ur_e_description/meshes/ur10e/visual/wrist3.dae rename to ur_description/meshes/ur10e/visual/wrist3.dae diff --git a/ur_e_description/meshes/ur16e/collision/forearm.stl b/ur_description/meshes/ur16e/collision/forearm.stl similarity index 100% rename from ur_e_description/meshes/ur16e/collision/forearm.stl rename to ur_description/meshes/ur16e/collision/forearm.stl diff --git a/ur_e_description/meshes/ur16e/collision/upperarm.stl b/ur_description/meshes/ur16e/collision/upperarm.stl similarity index 100% rename from ur_e_description/meshes/ur16e/collision/upperarm.stl rename to ur_description/meshes/ur16e/collision/upperarm.stl diff --git a/ur_e_description/meshes/ur16e/visual/forearm.dae b/ur_description/meshes/ur16e/visual/forearm.dae similarity index 100% rename from ur_e_description/meshes/ur16e/visual/forearm.dae rename to ur_description/meshes/ur16e/visual/forearm.dae diff --git a/ur_e_description/meshes/ur16e/visual/upperarm.dae b/ur_description/meshes/ur16e/visual/upperarm.dae similarity index 100% rename from ur_e_description/meshes/ur16e/visual/upperarm.dae rename to ur_description/meshes/ur16e/visual/upperarm.dae diff --git a/ur_e_description/meshes/ur3e/collision/base.stl b/ur_description/meshes/ur3e/collision/base.stl similarity index 100% rename from ur_e_description/meshes/ur3e/collision/base.stl rename to ur_description/meshes/ur3e/collision/base.stl diff --git a/ur_e_description/meshes/ur3e/collision/forearm.stl b/ur_description/meshes/ur3e/collision/forearm.stl similarity index 100% rename from ur_e_description/meshes/ur3e/collision/forearm.stl rename to ur_description/meshes/ur3e/collision/forearm.stl diff --git a/ur_e_description/meshes/ur3e/collision/shoulder.stl b/ur_description/meshes/ur3e/collision/shoulder.stl similarity index 100% rename from ur_e_description/meshes/ur3e/collision/shoulder.stl rename to ur_description/meshes/ur3e/collision/shoulder.stl diff --git a/ur_e_description/meshes/ur3e/collision/upperarm.stl b/ur_description/meshes/ur3e/collision/upperarm.stl similarity index 100% rename from ur_e_description/meshes/ur3e/collision/upperarm.stl rename to ur_description/meshes/ur3e/collision/upperarm.stl diff --git a/ur_e_description/meshes/ur3e/collision/wrist1.stl b/ur_description/meshes/ur3e/collision/wrist1.stl similarity index 100% rename from ur_e_description/meshes/ur3e/collision/wrist1.stl rename to ur_description/meshes/ur3e/collision/wrist1.stl diff --git a/ur_e_description/meshes/ur3e/collision/wrist2.stl b/ur_description/meshes/ur3e/collision/wrist2.stl similarity index 100% rename from ur_e_description/meshes/ur3e/collision/wrist2.stl rename to ur_description/meshes/ur3e/collision/wrist2.stl diff --git a/ur_e_description/meshes/ur3e/collision/wrist3.stl b/ur_description/meshes/ur3e/collision/wrist3.stl similarity index 100% rename from ur_e_description/meshes/ur3e/collision/wrist3.stl rename to ur_description/meshes/ur3e/collision/wrist3.stl diff --git a/ur_e_description/meshes/ur3e/visual/base.dae b/ur_description/meshes/ur3e/visual/base.dae similarity index 100% rename from ur_e_description/meshes/ur3e/visual/base.dae rename to ur_description/meshes/ur3e/visual/base.dae diff --git a/ur_e_description/meshes/ur3e/visual/forearm.dae b/ur_description/meshes/ur3e/visual/forearm.dae similarity index 100% rename from ur_e_description/meshes/ur3e/visual/forearm.dae rename to ur_description/meshes/ur3e/visual/forearm.dae diff --git a/ur_e_description/meshes/ur3e/visual/shoulder.dae b/ur_description/meshes/ur3e/visual/shoulder.dae similarity index 100% rename from ur_e_description/meshes/ur3e/visual/shoulder.dae rename to ur_description/meshes/ur3e/visual/shoulder.dae diff --git a/ur_e_description/meshes/ur3e/visual/upperarm.dae b/ur_description/meshes/ur3e/visual/upperarm.dae similarity index 100% rename from ur_e_description/meshes/ur3e/visual/upperarm.dae rename to ur_description/meshes/ur3e/visual/upperarm.dae diff --git a/ur_e_description/meshes/ur3e/visual/wrist1.dae b/ur_description/meshes/ur3e/visual/wrist1.dae similarity index 100% rename from ur_e_description/meshes/ur3e/visual/wrist1.dae rename to ur_description/meshes/ur3e/visual/wrist1.dae diff --git a/ur_e_description/meshes/ur3e/visual/wrist2.dae b/ur_description/meshes/ur3e/visual/wrist2.dae similarity index 100% rename from ur_e_description/meshes/ur3e/visual/wrist2.dae rename to ur_description/meshes/ur3e/visual/wrist2.dae diff --git a/ur_e_description/meshes/ur3e/visual/wrist3.dae b/ur_description/meshes/ur3e/visual/wrist3.dae similarity index 100% rename from ur_e_description/meshes/ur3e/visual/wrist3.dae rename to ur_description/meshes/ur3e/visual/wrist3.dae diff --git a/ur_e_description/meshes/ur5e/collision/base.stl b/ur_description/meshes/ur5e/collision/base.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/base.stl rename to ur_description/meshes/ur5e/collision/base.stl diff --git a/ur_e_description/meshes/ur5e/collision/forearm.stl b/ur_description/meshes/ur5e/collision/forearm.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/forearm.stl rename to ur_description/meshes/ur5e/collision/forearm.stl diff --git a/ur_e_description/meshes/ur5e/collision/shoulder.stl b/ur_description/meshes/ur5e/collision/shoulder.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/shoulder.stl rename to ur_description/meshes/ur5e/collision/shoulder.stl diff --git a/ur_e_description/meshes/ur5e/collision/upperarm.stl b/ur_description/meshes/ur5e/collision/upperarm.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/upperarm.stl rename to ur_description/meshes/ur5e/collision/upperarm.stl diff --git a/ur_e_description/meshes/ur5e/collision/wrist1.stl b/ur_description/meshes/ur5e/collision/wrist1.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/wrist1.stl rename to ur_description/meshes/ur5e/collision/wrist1.stl diff --git a/ur_e_description/meshes/ur5e/collision/wrist2.stl b/ur_description/meshes/ur5e/collision/wrist2.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/wrist2.stl rename to ur_description/meshes/ur5e/collision/wrist2.stl diff --git a/ur_e_description/meshes/ur5e/collision/wrist3.stl b/ur_description/meshes/ur5e/collision/wrist3.stl similarity index 100% rename from ur_e_description/meshes/ur5e/collision/wrist3.stl rename to ur_description/meshes/ur5e/collision/wrist3.stl diff --git a/ur_e_description/meshes/ur5e/visual/base.dae b/ur_description/meshes/ur5e/visual/base.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/base.dae rename to ur_description/meshes/ur5e/visual/base.dae diff --git a/ur_e_description/meshes/ur5e/visual/forearm.dae b/ur_description/meshes/ur5e/visual/forearm.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/forearm.dae rename to ur_description/meshes/ur5e/visual/forearm.dae diff --git a/ur_e_description/meshes/ur5e/visual/shoulder.dae b/ur_description/meshes/ur5e/visual/shoulder.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/shoulder.dae rename to ur_description/meshes/ur5e/visual/shoulder.dae diff --git a/ur_e_description/meshes/ur5e/visual/upperarm.dae b/ur_description/meshes/ur5e/visual/upperarm.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/upperarm.dae rename to ur_description/meshes/ur5e/visual/upperarm.dae diff --git a/ur_e_description/meshes/ur5e/visual/wrist1.dae b/ur_description/meshes/ur5e/visual/wrist1.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/wrist1.dae rename to ur_description/meshes/ur5e/visual/wrist1.dae diff --git a/ur_e_description/meshes/ur5e/visual/wrist2.dae b/ur_description/meshes/ur5e/visual/wrist2.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/wrist2.dae rename to ur_description/meshes/ur5e/visual/wrist2.dae diff --git a/ur_e_description/meshes/ur5e/visual/wrist3.dae b/ur_description/meshes/ur5e/visual/wrist3.dae similarity index 100% rename from ur_e_description/meshes/ur5e/visual/wrist3.dae rename to ur_description/meshes/ur5e/visual/wrist3.dae diff --git a/ur_description/package.xml b/ur_description/package.xml index 0fc77915b..a4942a4e4 100644 --- a/ur_description/package.xml +++ b/ur_description/package.xml @@ -3,7 +3,7 @@ ur_description 1.2.5 - URDF description for Universal UR5/10 robot arms + URDF description for Universal UR3(e), UR5(e), UR10(e) and UR16e robots Wim Meeussen @@ -16,15 +16,15 @@ BSD - http://ros.org/wiki/ur_description + http://wiki.ros.org/ur_description catkin - joint_state_publisher + + joint_state_publisher_gui robot_state_publisher rviz urdf xacro - - + roslaunch diff --git a/ur_description/tests/roslaunch_test_ur10.xml b/ur_description/tests/roslaunch_test_ur10.xml new file mode 100644 index 000000000..7eb1d2b12 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur10.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur10e.xml b/ur_description/tests/roslaunch_test_ur10e.xml new file mode 100644 index 000000000..779de29f9 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur10e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur16e.xml b/ur_description/tests/roslaunch_test_ur16e.xml new file mode 100644 index 000000000..ff7fc896d --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur16e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur3.xml b/ur_description/tests/roslaunch_test_ur3.xml new file mode 100644 index 000000000..365b093a1 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur3.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur3e.xml b/ur_description/tests/roslaunch_test_ur3e.xml new file mode 100644 index 000000000..a2ffbe31b --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur3e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur5.xml b/ur_description/tests/roslaunch_test_ur5.xml new file mode 100644 index 000000000..15698ad70 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur5.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur5e.xml b/ur_description/tests/roslaunch_test_ur5e.xml new file mode 100644 index 000000000..ca0466995 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur5e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/urdf/common.gazebo.xacro b/ur_description/urdf/common.gazebo.xacro deleted file mode 100644 index 0b2d7989b..000000000 --- a/ur_description/urdf/common.gazebo.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - diff --git a/ur_description/urdf/inc/ur10_macro.xacro b/ur_description/urdf/inc/ur10_macro.xacro new file mode 100644 index 000000000..1e853659a --- /dev/null +++ b/ur_description/urdf/inc/ur10_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur10e_macro.xacro b/ur_description/urdf/inc/ur10e_macro.xacro new file mode 100644 index 000000000..fe0f0f265 --- /dev/null +++ b/ur_description/urdf/inc/ur10e_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur16e_macro.xacro b/ur_description/urdf/inc/ur16e_macro.xacro new file mode 100644 index 000000000..302d530aa --- /dev/null +++ b/ur_description/urdf/inc/ur16e_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur3_macro.xacro b/ur_description/urdf/inc/ur3_macro.xacro new file mode 100644 index 000000000..5a569f5a8 --- /dev/null +++ b/ur_description/urdf/inc/ur3_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur3e_macro.xacro b/ur_description/urdf/inc/ur3e_macro.xacro new file mode 100644 index 000000000..4695c5ea5 --- /dev/null +++ b/ur_description/urdf/inc/ur3e_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur5_macro.xacro b/ur_description/urdf/inc/ur5_macro.xacro new file mode 100644 index 000000000..645b240c1 --- /dev/null +++ b/ur_description/urdf/inc/ur5_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur5e_macro.xacro b/ur_description/urdf/inc/ur5e_macro.xacro new file mode 100644 index 000000000..44cf92b3b --- /dev/null +++ b/ur_description/urdf/inc/ur5e_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur_common.xacro b/ur_description/urdf/inc/ur_common.xacro new file mode 100644 index 000000000..c7902648a --- /dev/null +++ b/ur_description/urdf/inc/ur_common.xacro @@ -0,0 +1,219 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/urdf/inc/ur_macro.xacro b/ur_description/urdf/inc/ur_macro.xacro new file mode 100644 index 000000000..a78a5e38f --- /dev/null +++ b/ur_description/urdf/inc/ur_macro.xacro @@ -0,0 +1,336 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/urdf/ur.transmission.xacro b/ur_description/urdf/inc/ur_transmissions.xacro similarity index 90% rename from ur_description/urdf/ur.transmission.xacro rename to ur_description/urdf/inc/ur_transmissions.xacro index b85cc6e77..fd44d69b9 100644 --- a/ur_description/urdf/ur.transmission.xacro +++ b/ur_description/urdf/inc/ur_transmissions.xacro @@ -1,5 +1,10 @@ + diff --git a/ur_description/urdf/ur.gazebo.xacro b/ur_description/urdf/ur.gazebo.xacro deleted file mode 100644 index ed0ce6bd5..000000000 --- a/ur_description/urdf/ur.gazebo.xacro +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - true - - - true - - - true - - - true - - - true - - - true - - - true - - - - - diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro new file mode 100644 index 000000000..5e0664646 --- /dev/null +++ b/ur_description/urdf/ur.xacro @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro deleted file mode 100644 index 0645b0585..000000000 --- a/ur_description/urdf/ur10.urdf.xacro +++ /dev/null @@ -1,371 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur10.xacro b/ur_description/urdf/ur10.xacro new file mode 100644 index 000000000..11b254ed7 --- /dev/null +++ b/ur_description/urdf/ur10.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro deleted file mode 100644 index df275bc94..000000000 --- a/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur10_robot.urdf.xacro b/ur_description/urdf/ur10_robot.urdf.xacro deleted file mode 100644 index f8a8630ae..000000000 --- a/ur_description/urdf/ur10_robot.urdf.xacro +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur10e.xacro b/ur_description/urdf/ur10e.xacro new file mode 100644 index 000000000..837b08d7a --- /dev/null +++ b/ur_description/urdf/ur10e.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_description/urdf/ur16e.xacro b/ur_description/urdf/ur16e.xacro new file mode 100644 index 000000000..a79d11a43 --- /dev/null +++ b/ur_description/urdf/ur16e.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_description/urdf/ur3.urdf.xacro b/ur_description/urdf/ur3.urdf.xacro deleted file mode 100644 index d9112aaac..000000000 --- a/ur_description/urdf/ur3.urdf.xacro +++ /dev/null @@ -1,370 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur3.xacro b/ur_description/urdf/ur3.xacro new file mode 100644 index 000000000..1d025ab70 --- /dev/null +++ b/ur_description/urdf/ur3.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro deleted file mode 100644 index f09445bb1..000000000 --- a/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur3_robot.urdf.xacro b/ur_description/urdf/ur3_robot.urdf.xacro deleted file mode 100644 index ea97c5077..000000000 --- a/ur_description/urdf/ur3_robot.urdf.xacro +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur3e.xacro b/ur_description/urdf/ur3e.xacro new file mode 100644 index 000000000..f4f8cae17 --- /dev/null +++ b/ur_description/urdf/ur3e.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro deleted file mode 100644 index 6a1f3e105..000000000 --- a/ur_description/urdf/ur5.urdf.xacro +++ /dev/null @@ -1,362 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur5.xacro b/ur_description/urdf/ur5.xacro new file mode 100644 index 000000000..ce69dc6ab --- /dev/null +++ b/ur_description/urdf/ur5.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro deleted file mode 100644 index 1781264ae..000000000 --- a/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur5_robot.urdf.xacro b/ur_description/urdf/ur5_robot.urdf.xacro deleted file mode 100644 index 43e64eb66..000000000 --- a/ur_description/urdf/ur5_robot.urdf.xacro +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur5e.xacro b/ur_description/urdf/ur5e.xacro new file mode 100644 index 000000000..f71216e68 --- /dev/null +++ b/ur_description/urdf/ur5e.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_driver/CHANGELOG.rst b/ur_driver/CHANGELOG.rst deleted file mode 100644 index 541214613..000000000 --- a/ur_driver/CHANGELOG.rst +++ /dev/null @@ -1,85 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_driver -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Update maintainer listing: add Miguel (`#410 `_) -* update maintainer and author information. -* Contributors: gavanderhoorn - -1.2.1 (2018-01-06) ------------------- - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* No changes. - -1.1.6 (2016-04-01) ------------------- -* Moved SetIO FUN constants from driver.py to relevant srv file for easier interaction from other files -* Merge pull request `#170 `_ from ipa-fxm/prevent_programming - [Indigo] enable reconfigure and set_param side by side -* Merge pull request `#189 `_ from abubeck/157_for_indigo - port of PR `#157 `_ to indigo -* catkin_lint -* enable reconfigure and set_param side by side -* port of PR `#157 `_ to indigo -* driver: Factor out __send_message method. -* porting PR `#165 `_ to indigo -* dynamic reconfigure server for prevent_programming -* RobotStateRT V15 added to indigo_devw -* Changed variable params_mult to unique name in each socket_read instance. -* Fixed unpacking of MasterboardData_V30. -* Contributors: Alexander Bubeck, Dan Solomon, Maarten de Vries, Thomas Timm Andersen, Wouter van Oijen, abubeck, ipa-fxm, jeppewalther - -1.0.2 (2014-03-31) ------------------- - -1.0.1 (2014-03-31) ------------------- - -* Merge pull request `#25 `_ from ros-industrial/groovy-devel - Merging latest changed from groovy to hydro devel branch -* completed adding the workarounds from the original driver script -* ported modifications made to original driver script -* ur_driver: run_depend on trajectory_msgs. -* ur_driver: run_depend on beautifulsoup. Fix `#29 `_. -* Added keywords to arguments for new message instance of JointTrajectoryPoint(). - Arguments were previously "in order" but the keyword arguments are recommended as they are more resilient to msg changes. -* Add 1 sec throttle to unknown pkt warning. -* Fix formatting and sort list of unknown ptypes. -* Ignore unknown pkt types, instead of erroring out. - This change modifies the behaviour of the driver in case an - unknown packet type is encountered. Previously, the deserialisation - routine would raise an exception, which would cause the driver - to print an error and exit. - In the current implementation the unknown packet type(s) are - stored, their payload ignored, and the driver reports the fact that - unknown type(s) was/were received (with a request to report the - warning, ideally to the package maintainer). - This is not a solution for `#16 `_, although that issue prompted this - change. -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Merge branch 'groovy-devel' into groovy-dev -* Added definitions for adding tergets in install folder. Issue `#10 `_. -* Merge remote-tracking branch 'origin/master' into hydro-dev -* Fixed reference from ur5_driver to ur_driver in test_move.py -* patch for ur_driver/deserialize.py -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* Added launch directory to bringup package. Left the old launch files to be backwards compatable for now. Updated driver with SwRI internal changes. Changed driver to accept ip address to match ROS-Industrial standard. IP addresses for industrial robots are typically fixed. Hostnames are not typically used (this is what the driver expected) -* Renamed packages and new groovy version -* Added ur10 and renamed packages -* Contributors: Christina Gomez, Damien Smeets, IPR-SR2, Kelsey, ROS-Industrial, Shaun Edwards, gavanderhoorn, ipa-nhg, robot, ros-industrial diff --git a/ur_driver/CMakeLists.txt b/ur_driver/CMakeLists.txt deleted file mode 100644 index b41109c79..000000000 --- a/ur_driver/CMakeLists.txt +++ /dev/null @@ -1,40 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur_driver) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure) - -catkin_python_setup() - - -generate_dynamic_reconfigure_options( - cfg/URDriver.cfg -) - -################################### -## catkin specific configuration ## -################################### -catkin_package( - CATKIN_DEPENDS dynamic_reconfigure -) - -############# -## Install ## -############# -install(PROGRAMS test_move.py test_io.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(PROGRAMS src/ur_driver/driver.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(FILES prog prog_reset - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -############# -## Testing ## -############# diff --git a/ur_driver/cfg/URDriver.cfg b/ur_driver/cfg/URDriver.cfg deleted file mode 100755 index 404d58ab6..000000000 --- a/ur_driver/cfg/URDriver.cfg +++ /dev/null @@ -1,10 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "ur_driver" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -gen.add("prevent_programming", bool_t, 0, "Prevent driver from continuously uploading 'prog'", False) - -exit(gen.generate(PACKAGE, "ur_driver", "URDriver")) diff --git a/ur_driver/package.xml b/ur_driver/package.xml deleted file mode 100644 index dc4184902..000000000 --- a/ur_driver/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - ur_driver - 1.2.5 - - Driver for the UR5/10 arm based on the Polyscope control scheme. - - - Stuart Glaser - Shaun Edwards - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - http://ros.org/wiki/ur_driver - - catkin - dynamic_reconfigure - - rospy - actionlib - control_msgs - sensor_msgs - trajectory_msgs - ur_msgs - python-lxml - diff --git a/ur_driver/prog b/ur_driver/prog deleted file mode 100644 index 79bdc9c3d..000000000 --- a/ur_driver/prog +++ /dev/null @@ -1,228 +0,0 @@ -def driverProg(): - HOSTNAME = "%(driver_hostname)s" - PORT = %(driver_reverseport)d - MSG_OUT = 1 - MSG_QUIT = 2 - MSG_JOINT_STATES = 3 - MSG_MOVEJ = 4 - MSG_WAYPOINT_FINISHED = 5 - MSG_STOPJ = 6 - MSG_SERVOJ = 7 - MSG_SET_PAYLOAD = 8 - MSG_WRENCH = 9 - MSG_SET_DIGITAL_OUT = 10 - MSG_GET_IO = 11 - MSG_SET_FLAG = 12 - MSG_SET_TOOL_VOLTAGE = 13 - MSG_SET_ANALOG_OUT = 14 - MULT_wrench = 10000.0 - MULT_payload = 1000.0 - MULT_jointstate = 10000.0 - MULT_time = 1000000.0 - MULT_blend = 1000.0 - MULT_analog = 1000000.0 - pi = 3.14159265359 - - def send_out(msg): - enter_critical - socket_send_int(MSG_OUT) - socket_send_string(msg) - socket_send_string("~") - exit_critical - end - - def send_waypoint_finished(waypoint_id): - enter_critical - socket_send_int(MSG_WAYPOINT_FINISHED) - socket_send_int(waypoint_id) - exit_critical - end - - - SERVO_IDLE = 0 - SERVO_RUNNING = 1 - cmd_servo_state = SERVO_IDLE - cmd_servo_id = 0 # 0 = idle, -1 = stop - cmd_servo_q = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - cmd_servo_dt = 0.0 - def set_servo_setpoint(id, q, dt): - enter_critical - cmd_servo_state = SERVO_RUNNING - cmd_servo_id = id - cmd_servo_q = q - cmd_servo_dt = dt - exit_critical - end - thread servoThread(): - state = SERVO_IDLE - while True: - # Latches the new command - enter_critical - q = cmd_servo_q - dt = cmd_servo_dt - id = cmd_servo_id - do_brake = False - if (state == SERVO_RUNNING) and (cmd_servo_state == SERVO_IDLE): - # No command pending - do_brake = True - end - state = cmd_servo_state - cmd_servo_state = SERVO_IDLE - exit_critical - - #do_brake = False - - # Executes the command - if do_brake: - #stopj(1.0) # TODO - send_out("Braking") - sync() - elif state == SERVO_RUNNING: - servoj(q, 0, 0, dt) - #send_out("Servoed") - else: - #send_out("Idle") - sync() - end - end - end - - socket_open(HOSTNAME, PORT) - send_out("hello") - - thread_servo = run servoThread() - - # Servoes in a circle - #movej([1.5,-0.4,-1.57,0,0,0], 3, 0.75, 1.0) - #t = 0 - #while True: - # q = [1.5,0,-1.57,0,0,0] - # q[0] = q[0] + 0.2 * sin(0.25 * t*(2*pi)) - # q[1] = q[1] - 0.2 + 0.2 * cos(0.25 * t*(2*pi)) - # #servoj(q, 3, 1, 0.08) - # #send_out("servoed") - # set_servo_setpoint(t, q, 0.08) - # t = t + 0.08 - # sleep(0.08) - #end - - while True: - #send_out("Listening") - ll = socket_read_binary_integer(1) - - if ll[0] == 0: - #send_out("Received nothing") - elif ll[0] > 1: - send_out("Received too many things") - else: - mtype = ll[1] - if mtype == MSG_QUIT: - send_out("Received QUIT") - break - elif mtype == MSG_MOVEJ: - send_out("Received movej") - params_movej = socket_read_binary_integer(1+6+4) - if params_movej[0] == 0: - send_out("Received no parameters for movej message") - end - - # Unpacks the parameters - waypoint_id = params_movej[1] - q = [params_movej[2] / MULT_jointstate, - params_movej[3] / MULT_jointstate, - params_movej[4] / MULT_jointstate, - params_movej[5] / MULT_jointstate, - params_movej[6] / MULT_jointstate, - params_movej[7] / MULT_jointstate] - a = params_movej[8] / MULT_jointstate - v = params_movej[9] / MULT_jointstate - t = params_movej[10] / MULT_time - r = params_movej[11] / MULT_blend - - # Sends the command - send_out("movej started") - movej(q, a, v, t, r) - send_waypoint_finished(waypoint_id) - send_out("movej finished") - elif mtype == MSG_SERVOJ: - # Reads the parameters - params_servoj = socket_read_binary_integer(1+6+1) - if params_servoj[0] == 0: - send_out("Received no parameters for movej message") - end - - # Unpacks the parameters - waypoint_id = params_servoj[1] - q = [params_servoj[2] / MULT_jointstate, - params_servoj[3] / MULT_jointstate, - params_servoj[4] / MULT_jointstate, - params_servoj[5] / MULT_jointstate, - params_servoj[6] / MULT_jointstate, - params_servoj[7] / MULT_jointstate] - t = params_servoj[8] / MULT_time - - # Servos - #servoj(q, 3, 0.1, t) - #send_waypoint_finished(waypoint_id) - set_servo_setpoint(waypoint_id, q, t) - elif mtype == MSG_SET_PAYLOAD: - params = socket_read_binary_integer(1) - if params[0] == 0: - send_out("Received no parameters for setPayload message") - end - - payload = params[1] / MULT_payload - #send_out(payload) - send_out("Received new payload") - set_payload(payload) - elif mtype == MSG_STOPJ: - send_out("Received stopj") - stopj(1.0) - elif mtype == MSG_SET_DIGITAL_OUT: - #send_out("Received Digital Out Signal") - # Reads the parameters - params_sdo = socket_read_binary_integer(2) - if params_sdo[0] == 0: - send_out("Received no parameters for set_digital_out message") - end - if params_sdo[2] > 0: - set_digital_out(params_sdo[1], True) - elif params_sdo[2] == 0: - set_digital_out(params_sdo[1], False) - end - elif mtype == MSG_SET_FLAG: - #send_out("Received Set Flag Signal") - # Reads the parameters - params_sf = socket_read_binary_integer(2) - if params_sf[0] == 0: - send_out("Received no parameters for set_flag message") - end - if params_sf[2] != 0: - set_flag(params_sf[1], True) - elif params_sf[2] == 0: - set_flag(params_sf[1], False) - end - elif mtype == MSG_SET_ANALOG_OUT: - #send_out("Received Analog Out Signal") - # Reads the parameters - params_sao = socket_read_binary_integer(2) - if params_sao[0] == 0: - send_out("Received no parameters for set_analog_out message") - end - set_analog_out(params_sao[1], (params_sao[2] / MULT_analog)) - elif mtype == MSG_SET_TOOL_VOLTAGE: - #send_out("Received Tool Voltage Signal") - # Reads the parameters (also reads second dummy '0' integer) - params_stv = socket_read_binary_integer(2) - if params_stv[0] == 0: - send_out("Received no parameters for set_tool_voltage message") - end - set_tool_voltage(params_stv[1]) - else: - send_out("Received unknown message type") - end - end - end - - socket_send_int(MSG_QUIT) -end diff --git a/ur_driver/prog_reset b/ur_driver/prog_reset deleted file mode 100644 index ce2c7a743..000000000 --- a/ur_driver/prog_reset +++ /dev/null @@ -1,3 +0,0 @@ -def resetProg(): - sleep(0.0) -end diff --git a/ur_driver/setup.py b/ur_driver/setup.py deleted file mode 100644 index 581100e06..000000000 --- a/ur_driver/setup.py +++ /dev/null @@ -1,13 +0,0 @@ -#!/usr/bin/env python - -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -d = generate_distutils_setup( - ## don't do this unless you want a globally visible script - # scripts=['bin/myscript'], - packages=['ur_driver'], - package_dir={'': 'src'} -) - -setup(**d) diff --git a/ur_driver/src/ur_driver/__init__.py b/ur_driver/src/ur_driver/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/ur_driver/src/ur_driver/deserialize.py b/ur_driver/src/ur_driver/deserialize.py deleted file mode 100755 index 4a88aa79e..000000000 --- a/ur_driver/src/ur_driver/deserialize.py +++ /dev/null @@ -1,372 +0,0 @@ -import struct - -class PackageType(object): - ROBOT_MODE_DATA = 0 - JOINT_DATA = 1 - TOOL_DATA = 2 - MASTERBOARD_DATA = 3 - CARTESIAN_INFO = 4 - KINEMATICS_INFO = 5 - CONFIGURATION_DATA = 6 - FORCE_MODE_DATA = 7 - ADDITIONAL_INFO = 8 - CALIBRATION_DATA = 9 - -class RobotMode(object): - RUNNING = 0 - FREEDRIVE = 1 - READY = 2 - INITIALIZING = 3 - SECURITY_STOPPED = 4 - EMERGENCY_STOPPED = 5 - FATAL_ERROR = 6 - NO_POWER = 7 - NOT_CONNECTED = 8 - SHUTDOWN = 9 - SAFEGUARD_STOP = 10 - -class JointMode(object): - PART_D_CALIBRATION = 237 - BACKDRIVE = 238 - POWER_OFF = 239 - EMERGENCY_STOPPED = 240 - CALVAL_INITIALIZATION = 241 - ERROR = 242 - FREEDRIVE = 243 - SIMULATED = 244 - NOT_RESPONDING = 245 - MOTOR_INITIALISATION = 246 - ADC_CALIBRATION = 247 - DEAD_COMMUTATION = 248 - BOOTLOADER = 249 - CALIBRATION = 250 - STOPPED = 251 - FAULT = 252 - RUNNING = 253 - INITIALIZATION = 254 - IDLE = 255 - -class ToolMode(object): - BOOTLOADER = 249 - RUNNING = 253 - IDLE = 255 - -class MasterSafetyState(object): - UNDEFINED = 0 - BOOTLOADER = 1 - FAULT = 2 - BOOTING = 3 - INITIALIZING = 4 - ROBOT_EMERGENCY_STOP = 5 - EXTERNAL_EMERGENCY_STOP = 6 - SAFEGUARD_STOP = 7 - OK = 8 - -class MasterOnOffState(object): - OFF = 0 - TURNING_ON = 1 - ON = 2 - TURNING_OFF = 3 - -#this class handles different protocol versions -class RobotModeData(object): - @staticmethod - def unpack(buf): - rmd = RobotModeData() - (plen, ptype) = struct.unpack_from("!IB", buf) - if plen == 29: - return RobotModeData_V18.unpack(buf) - elif plen == 38: - return RobotModeData_V30.unpack(buf) - else: - print "RobotModeData has wrong length: " + str(plen) - return rmd - -#this parses RobotModeData for versions <= v1.8 (i.e. 1.6, 1.7, 1.8) -class RobotModeData_V18(object): - __slots__ = ['timestamp', 'robot_connected', 'real_robot_enabled', - 'power_on_robot', 'emergency_stopped', - 'security_stopped', 'program_running', 'program_paused', - 'robot_mode', 'speed_fraction'] - @staticmethod - def unpack(buf): - rmd = RobotModeData_V18() - (_, _, - rmd.timestamp, rmd.robot_connected, rmd.real_robot_enabled, - rmd.power_on_robot, rmd.emergency_stopped, rmd.security_stopped, - rmd.program_running, rmd.program_paused, rmd.robot_mode, - rmd.speed_fraction) = struct.unpack_from("!IBQ???????Bd", buf) - return rmd - -#this parses RobotModeData for versions >=3.0 (i.e. 3.0) -class RobotModeData_V30(object): - __slots__ = ['timestamp', 'robot_connected', 'real_robot_enabled', - 'power_on_robot', 'emergency_stopped', - 'security_stopped', 'program_running', 'program_paused', - 'robot_mode', 'control_mode', 'target_speed_fraction', - 'speed_scaling'] - @staticmethod - def unpack(buf): - rmd = RobotModeData_V30() - (_, _, - rmd.timestamp, rmd.robot_connected, rmd.real_robot_enabled, - rmd.power_on_robot, rmd.emergency_stopped, rmd.security_stopped, - rmd.program_running, rmd.program_paused, rmd.robot_mode, rmd.control_mode, - rmd.target_speed_fraction, rmd.speed_scaling) = struct.unpack_from("!IBQ???????BBdd", buf) - return rmd - -#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0) -class JointData(object): - __slots__ = ['q_actual', 'q_target', 'qd_actual', - 'I_actual', 'V_actual', 'T_motor', 'T_micro', 'joint_mode'] - @staticmethod - def unpack(buf): - all_joints = [] - offset = 5 - for i in range(6): - jd = JointData() - (jd.q_actual, jd.q_target, jd.qd_actual, jd.I_actual, jd.V_actual, - jd.T_motor, jd.T_micro, - jd.joint_mode) = struct.unpack_from("!dddffffB", buf, offset) - offset += 41 - all_joints.append(jd) - return all_joints - -#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0) -class ToolData(object): - __slots__ = ['analog_input_range2', 'analog_input_range3', - 'analog_input2', 'analog_input3', - 'tool_voltage_48V', 'tool_output_voltage', 'tool_current', - 'tool_temperature', 'tool_mode'] - @staticmethod - def unpack(buf): - td = ToolData() - (_, _, - td.analog_input_range2, td.analog_input_range3, - td.analog_input2, td.analog_input3, - td.tool_voltage_48V, td.tool_output_voltage, td.tool_current, - td.tool_temperature, td.tool_mode) = struct.unpack_from("!IBbbddfBffB", buf) - return td - -#this class handles different protocol versions -class MasterboardData(object): - @staticmethod - def unpack(buf): - md = MasterboardData() - (plen, ptype) = struct.unpack_from("!IB", buf) - if (plen == 64) or (plen == 76): # Euromap67 interface = 12 bytes - return MasterboardData_V18.unpack(buf) - elif (plen == 72) or (plen == 92): # Euromap67 interface = 20 bytes - return MasterboardData_V30.unpack(buf) - else: - print "MasterboardData has wrong length: " + str(plen) - print "Euromap67Interface is ignored" - return md - -#this parses MasterboardData for versions <= v1.8 (i.e. 1.6, 1.7, 1.8) -class MasterboardData_V18(object): - __slots__ = ['digital_input_bits', 'digital_output_bits', - 'analog_input_range0', 'analog_input_range1', - 'analog_input0', 'analog_input1', - 'analog_output_domain0', 'analog_output_domain1', - 'analog_output0', 'analog_output1', - 'masterboard_temperature', - 'robot_voltage_48V', 'robot_current', - 'master_io_current', 'master_safety_state', - 'master_onoff_state']#subsequent slots related to 'euromap' ignored - @staticmethod - def unpack(buf): - md = MasterboardData_V18() - (_, _, - md.digital_input_bits, md.digital_output_bits, - md.analog_input_range0, md.analog_input_range1, - md.analog_input0, md.analog_input1, - md.analog_output_domain0, md.analog_output_domain1, - md.analog_output0, md.analog_output1, - md.masterboard_temperature, - md.robot_voltage_48V, md.robot_current, - md.master_io_current, md.master_safety_state, - md.master_onoff_state) = struct.unpack_from("!IBhhbbddbbddffffBB", buf) - return md - -#this parses MasterboardData for versions >=3.0 (i.e. 3.0) -class MasterboardData_V30(object): - __slots__ = ['digital_input_bits', 'digital_output_bits', - 'analog_input_range0', 'analog_input_range1', - 'analog_input0', 'analog_input1', - 'analog_output_domain0', 'analog_output_domain1', - 'analog_output0', 'analog_output1', - 'masterboard_temperature', - 'robot_voltage_48V', 'robot_current', - 'master_io_current', 'safety_mode', - 'in_reduced_mode']#subsequent slots related to 'euromap' ignored - @staticmethod - def unpack(buf): - md = MasterboardData_V30() - (_, _, - md.digital_input_bits, md.digital_output_bits, - md.analog_input_range0, md.analog_input_range1, - md.analog_input0, md.analog_input1, - md.analog_output_domain0, md.analog_output_domain1, - md.analog_output0, md.analog_output1, - md.masterboard_temperature, - md.robot_voltage_48V, md.robot_current, - md.master_io_current, md.safety_mode, - md.in_reduced_mode) = struct.unpack_from("!IBiibbddbbddffffBB", buf) - return md - -#this parses JointData for all versions (i.e. 1.6, 1.7, 1.8, 3.0) -class CartesianInfo(object): - __slots__ = ['x', 'y', 'z', 'rx', 'ry', 'rz'] - @staticmethod - def unpack(buf): - ci = CartesianInfo() - (_, _, - ci.x, ci.y, ci.z, ci.rx, ci.ry, ci.rz) = struct.unpack_from("!IB6d", buf) - return ci - -#this parses KinematicsInfo for versions (i.e. 1.8, 3.0) -#KinematicsInfo is not available in 1.6 and 1.7 -class KinematicsInfo(object): - @staticmethod - def unpack(buf): - return KinematicsInfo() - -#helper class for ConfigurationData -class JointLimitData(object): - __slots__ = ['min_limit', 'max_limit', 'max_speed', 'max_acceleration'] - -#this parses ConfigurationData for versions (i.e. 1.8, 3.0) -#ConfigurationData is not available in 1.6 and 1.7 -class ConfigurationData(object): - __slots__ = ['joint_limit_data', - 'v_joint_default', 'a_joint_default', - 'v_tool_default', 'a_tool_default', 'eq_radius', - 'dh_a', 'dh_d', 'dh_alpha', 'dh_theta', - 'masterboard_version', 'controller_box_type', - 'robot_type', 'robot_subtype']#in v1.8 there is an additional slot 'motor_type' for each joint, which currently is ignored! - @staticmethod - def unpack(buf): - cd = ConfigurationData() - cd.joint_limit_data = [] - for i in range(6): - jld = JointLimitData() - (jld.min_limit, jld.max_limit) = struct.unpack_from("!dd", buf, 5+16*i) - (jld.max_speed, jld.max_acceleration) = struct.unpack_from("!dd", buf, 5+16*6+16*i) - cd.joint_limit_data.append(jld) - (cd.v_joint_default, cd.a_joint_default, cd.v_tool_default, cd.a_tool_default, - cd.eq_radius) = struct.unpack_from("!ddddd", buf, 5+32*6) - (cd.masterboard_version, cd.controller_box_type, cd.robot_type, - cd.robot_subtype) = struct.unpack_from("!iiii", buf, 5+32*6+5*8+6*32) - return cd - -#this parses KinematicsInfo for versions (i.e. 1.8, 3.0) -#KinematicsInfo is not available in 1.6 and 1.7 -class ForceModeData(object): - __slots__ = ['x', 'y', 'z', 'rx', 'ry', 'rz', 'robot_dexterity'] - @staticmethod - def unpack(buf): - fmd = ForceModeData() - (_, _, fmd.x, fmd.y, fmd.z, fmd.rx, fmd.ry, fmd.rz, - fmd.robot_dexterity) = struct.unpack_from("!IBddddddd", buf) - return fmd - -#this class handles different protocol versions -class AdditionalInfo(object): - @staticmethod - def unpack(buf): - ai = AdditionalInfo() - (plen, ptype) = struct.unpack_from("!IB", buf) - if plen == 10: - return AdditionalInfoOld.unpack(buf) - elif plen == 7: - return AdditionalInfoNew.unpack(buf) - else: - print "AdditionalInfo has wrong length: " + str(plen) - return ai - -class AdditionalInfoOld(object): - __slots__ = ['ctrl_bits', 'teach_button'] - @staticmethod - def unpack(buf): - ai = AdditionalInfoOld() - (_,_,ai.ctrl_bits, ai.teach_button) = struct.unpack_from("!IBIB", buf) - return ai - -class AdditionalInfoNew(object): - __slots__ = ['teach_button_enabled','teach_button_pressed'] - @staticmethod - def unpack(buf): - ai = AdditionalInfoNew() - (_,_,ai.teach_button_enabled, ai.teach_button_pressed) = struct.unpack_from("!IBBB", buf) - return ai - - -class RobotState(object): - __slots__ = ['robot_mode_data', 'joint_data', 'tool_data', - 'masterboard_data', 'cartesian_info', - 'kinematics_info', 'configuration_data', - 'force_mode_data', 'additional_info', - 'unknown_ptypes'] - - def __init__(self): - self.unknown_ptypes = [] - - @staticmethod - def unpack(buf): - length, mtype = struct.unpack_from("!IB", buf) - if length != len(buf): - raise Exception("Could not unpack packet: length field is incorrect") - if mtype != 16: - if mtype == 20: - print "Likely a syntax error:" - print buf[:2048] - raise Exception("Fatal error when unpacking RobotState packet") - - rs = RobotState() - offset = 5 - while offset < len(buf): - length, ptype = struct.unpack_from("!IB", buf, offset) - assert offset + length <= len(buf) - package_buf = buffer(buf, offset, length) - offset += length - - if ptype == PackageType.ROBOT_MODE_DATA: - rs.robot_mode_data = RobotModeData.unpack(package_buf) - elif ptype == PackageType.JOINT_DATA: - rs.joint_data = JointData.unpack(package_buf) - elif ptype == PackageType.TOOL_DATA: - rs.tool_data = ToolData.unpack(package_buf) - elif ptype == PackageType.MASTERBOARD_DATA: - rs.masterboard_data = MasterboardData.unpack(package_buf) - elif ptype == PackageType.CARTESIAN_INFO: - rs.cartesian_info = CartesianInfo.unpack(package_buf) - elif ptype == PackageType.KINEMATICS_INFO: - rs.kinematics_info = KinematicsInfo.unpack(package_buf) - elif ptype == PackageType.CONFIGURATION_DATA: - rs.configuration_data = ConfigurationData.unpack(package_buf) - elif ptype == PackageType.FORCE_MODE_DATA: - rs.force_mode_data = ForceModeData.unpack(package_buf) - elif ptype == PackageType.ADDITIONAL_INFO: - rs.additional_info = AdditionalInfo.unpack(package_buf) - elif ptype == PackageType.CALIBRATION_DATA: - pass # internal data, should be skipped - else: - rs.unknown_ptypes.append(ptype) - return rs - -def pstate(o, indent=''): - for s in o.__slots__: - child = getattr(o, s, None) - if child is None: - print "%s%s: None" % (indent, s) - elif hasattr(child, '__slots__'): - print "%s%s:" % (indent, s) - pstate(child, indent + ' ') - elif hasattr(child, '__iter__'): - print "%s%s:" % (indent, s) - for i, c in enumerate(child): - print "%s [%i]:" % (indent, i) - pstate(c, indent + ' ') - else: - print "%s%s: %s" % (indent, s, child) diff --git a/ur_driver/src/ur_driver/deserializeRT.py b/ur_driver/src/ur_driver/deserializeRT.py deleted file mode 100644 index ff6750cd4..000000000 --- a/ur_driver/src/ur_driver/deserializeRT.py +++ /dev/null @@ -1,418 +0,0 @@ -import struct -import copy - -#this class handles different protocol versions -class RobotStateRT(object): - @staticmethod - def unpack(buf): - rs = RobotStateRT() - (plen, ptype) = struct.unpack_from("!IB", buf) - if plen == 756: - return RobotStateRT_V15.unpack(buf) - elif plen == 812: - return RobotStateRT_V18.unpack(buf) - elif plen == 1044: - return RobotStateRT_V30.unpack(buf) - else: - print "RobotStateRT has wrong length: " + str(plen) - return rs - -#this parses RobotStateRT for versions = v1.5 -#http://wiki03.lynero.net/Technical/RealTimeClientInterface?foswiki_redirect_cache=9b4574b30760f720c6f79c5f1f2203dd -class RobotStateRT_V15(object): - __slots__ = ['time', - 'q_target', 'qd_target', 'qdd_target', 'i_target', 'm_target', - 'q_actual', 'qd_actual', 'i_actual', 'tool_acc_values', - 'unused', - 'tcp_force', 'tool_vector', 'tcp_speed', - 'digital_input_bits', 'motor_temperatures', 'controller_timer', - 'test_value'] - - @staticmethod - def unpack(buf): - offset = 0 - message_size = struct.unpack_from("!i", buf, offset)[0] - offset+=4 - if message_size != len(buf): - print("MessageSize: ", message_size, "; BufferSize: ", len(buf)) - raise Exception("Could not unpack RobotStateRT packet: length field is incorrect") - - rs = RobotStateRT_V15() - #time: 1x double (1x 8byte) - rs.time = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #q_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_target = copy.deepcopy(all_values) - - #qd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_target = copy.deepcopy(all_values) - - #qdd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qdd_target = copy.deepcopy(all_values) - - #i_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_target = copy.deepcopy(all_values) - - #m_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.m_target = copy.deepcopy(all_values) - - #q_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_actual = copy.deepcopy(all_values) - - #qd_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_actual = copy.deepcopy(all_values) - - #i_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_actual = copy.deepcopy(all_values) - - ### - - #tool_acc_values: 3x double (3x 8byte) - all_values = list(struct.unpack_from("!ddd",buf, offset)) - offset+=3*8 - rs.tool_acc_values = copy.deepcopy(all_values) - - #unused: 15x double (15x 8byte) - offset+=120 - rs.unused = [] - - #tcp_force: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_force = copy.deepcopy(all_values) - - #tool_vector: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tool_vector = copy.deepcopy(all_values) - - #tcp_speed: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_speed = copy.deepcopy(all_values) - - #digital_input_bits: 1x double (1x 8byte) ? - rs.digital_input_bits = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #motor_temperatures: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.motor_temperatures = copy.deepcopy(all_values) - - #controller_timer: 1x double (1x 8byte) - rs.controller_timer = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #test_value: 1x double (1x 8byte) - rs.test_value = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - return rs - - -#this parses RobotStateRT for versions <= v1.8 (i.e. 1.6, 1.7, 1.8) -class RobotStateRT_V18(object): - __slots__ = ['time', - 'q_target', 'qd_target', 'qdd_target', 'i_target', 'm_target', - 'q_actual', 'qd_actual', 'i_actual', 'tool_acc_values', - 'unused', - 'tcp_force', 'tool_vector', 'tcp_speed', - 'digital_input_bits', 'motor_temperatures', 'controller_timer', - 'test_value', - 'robot_mode', 'joint_modes'] - - @staticmethod - def unpack(buf): - offset = 0 - message_size = struct.unpack_from("!i", buf, offset)[0] - offset+=4 - if message_size != len(buf): - print("MessageSize: ", message_size, "; BufferSize: ", len(buf)) - raise Exception("Could not unpack RobotStateRT packet: length field is incorrect") - - rs = RobotStateRT_V18() - #time: 1x double (1x 8byte) - rs.time = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #q_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_target = copy.deepcopy(all_values) - - #qd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_target = copy.deepcopy(all_values) - - #qdd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qdd_target = copy.deepcopy(all_values) - - #i_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_target = copy.deepcopy(all_values) - - #m_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.m_target = copy.deepcopy(all_values) - - #q_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_actual = copy.deepcopy(all_values) - - #qd_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_actual = copy.deepcopy(all_values) - - #i_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_actual = copy.deepcopy(all_values) - - #tool_acc_values: 3x double (3x 8byte) - all_values = list(struct.unpack_from("!ddd",buf, offset)) - offset+=3*8 - rs.tool_acc_values = copy.deepcopy(all_values) - - #unused: 15x double (15x 8byte) - offset+=120 - rs.unused = [] - - #tcp_force: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_force = copy.deepcopy(all_values) - - #tool_vector: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tool_vector = copy.deepcopy(all_values) - - #tcp_speed: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_speed = copy.deepcopy(all_values) - - #digital_input_bits: 1x double (1x 8byte) ? - rs.digital_input_bits = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #motor_temperatures: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.motor_temperatures = copy.deepcopy(all_values) - - #controller_timer: 1x double (1x 8byte) - rs.controller_timer = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #test_value: 1x double (1x 8byte) - rs.test_value = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #robot_mode: 1x double (1x 8byte) - rs.robot_mode = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #joint_mode: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.joint_modes = copy.deepcopy(all_values) - - return rs - -#this parses RobotStateRT for versions >=3.0 (i.e. 3.0) -class RobotStateRT_V30(object): - __slots__ = ['time', - 'q_target', 'qd_target', 'qdd_target', 'i_target', 'm_target', - 'q_actual', 'qd_actual', 'i_actual', 'i_control', - 'tool_vector_actual', 'tcp_speed_actual', 'tcp_force', - 'tool_vector_target', 'tcp_speed_target', - 'digital_input_bits', 'motor_temperatures', 'controller_timer', - 'test_value', - 'robot_mode', 'joint_modes', 'safety_mode', - #6xd: unused - 'tool_acc_values', - #6xd: unused - 'speed_scaling', 'linear_momentum_norm', - #2xd: unused - 'v_main', 'v_robot', 'i_robot', 'v_actual'] - - @staticmethod - def unpack(buf): - offset = 0 - message_size = struct.unpack_from("!i", buf, offset)[0] - offset+=4 - if message_size != len(buf): - print("MessageSize: ", message_size, "; BufferSize: ", len(buf)) - raise Exception("Could not unpack RobotStateRT packet: length field is incorrect") - - rs = RobotStateRT_V30() - #time: 1x double (1x 8byte) - rs.time = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #q_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_target = copy.deepcopy(all_values) - - #qd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_target = copy.deepcopy(all_values) - - #qdd_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qdd_target = copy.deepcopy(all_values) - - #i_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_target = copy.deepcopy(all_values) - - #m_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.m_target = copy.deepcopy(all_values) - - #q_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.q_actual = copy.deepcopy(all_values) - - #qd_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.qd_actual = copy.deepcopy(all_values) - - #i_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_actual = copy.deepcopy(all_values) - - #i_control: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.i_control = copy.deepcopy(all_values) - - #tool_vector_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tool_vector_actual = copy.deepcopy(all_values) - - #tcp_speed_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_speed_actual = copy.deepcopy(all_values) - - #tcp_force: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_force = copy.deepcopy(all_values) - - #tool_vector_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tool_vector_target = copy.deepcopy(all_values) - - #tcp_speed_target: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.tcp_speed_target = copy.deepcopy(all_values) - - #digital_input_bits: 1x double (1x 8byte) ? - rs.digital_input_bits = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #motor_temperatures: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.motor_temperatures = copy.deepcopy(all_values) - - #controller_timer: 1x double (1x 8byte) - rs.controller_timer = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #test_value: 1x double (1x 8byte) - rs.test_value = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #robot_mode: 1x double (1x 8byte) - rs.robot_mode = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #joint_modes: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.joint_modes = copy.deepcopy(all_values) - - #safety_mode: 1x double (1x 8byte) - rs.safety_mode = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #unused: 6x double (6x 8byte) - offset+=48 - - #tool_acc_values: 3x double (3x 8byte) - all_values = list(struct.unpack_from("!ddd",buf, offset)) - offset+=3*8 - rs.tool_acc_values = copy.deepcopy(all_values) - - #unused: 6x double (6x 8byte) - offset+=48 - - #speed_scaling: 1x double (1x 8byte) - rs.speed_scaling = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #linear_momentum_norm: 1x double (1x 8byte) - rs.linear_momentum_norm = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #unused: 2x double (2x 8byte) - offset+=16 - - #v_main: 1x double (1x 8byte) - rs.v_main = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #v_robot: 1x double (1x 8byte) - rs.v_robot = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #i_robot: 1x double (1x 8byte) - rs.i_robot = struct.unpack_from("!d",buf, offset)[0] - offset+=8 - - #v_actual: 6x double (6x 8byte) - all_values = list(struct.unpack_from("!dddddd",buf, offset)) - offset+=6*8 - rs.v_actual = copy.deepcopy(all_values) - - return rs diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py deleted file mode 100755 index 20e25f3b3..000000000 --- a/ur_driver/src/ur_driver/driver.py +++ /dev/null @@ -1,1018 +0,0 @@ -#!/usr/bin/env python -import roslib; roslib.load_manifest('ur_driver') -import time, sys, threading, math -import copy -import datetime -import socket, select -import struct -import traceback, code -import optparse -import SocketServer - -import rospy -import actionlib -from sensor_msgs.msg import JointState -from control_msgs.msg import FollowJointTrajectoryAction -from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint -from geometry_msgs.msg import WrenchStamped - -from dynamic_reconfigure.server import Server -from ur_driver.cfg import URDriverConfig - -from ur_driver.deserialize import RobotState, RobotMode -from ur_driver.deserializeRT import RobotStateRT - -from ur_msgs.srv import SetPayload, SetIO -from ur_msgs.msg import * - -# renaming classes -DigitalIn = Digital -DigitalOut = Digital -Flag = Digital - -prevent_programming = False - -# Joint offsets, pulled from calibration information stored in the URDF -# -# { "joint_name" : offset } -# -# q_actual = q_from_driver + offset -joint_offsets = {} - -PORT=30002 # 10 Hz, RobotState -RT_PORT=30003 #125 Hz, RobotStateRT -DEFAULT_REVERSE_PORT = 50001 #125 Hz, custom data (from prog) - -MSG_OUT = 1 -MSG_QUIT = 2 -MSG_JOINT_STATES = 3 -MSG_MOVEJ = 4 -MSG_WAYPOINT_FINISHED = 5 -MSG_STOPJ = 6 -MSG_SERVOJ = 7 -MSG_SET_PAYLOAD = 8 -MSG_WRENCH = 9 -MSG_SET_DIGITAL_OUT = 10 -MSG_GET_IO = 11 -MSG_SET_FLAG = 12 -MSG_SET_TOOL_VOLTAGE = 13 -MSG_SET_ANALOG_OUT = 14 -MULT_payload = 1000.0 -MULT_wrench = 10000.0 -MULT_jointstate = 10000.0 -MULT_time = 1000000.0 -MULT_blend = 1000.0 -MULT_analog = 1000000.0 -MULT_analog_robotstate = 0.1 - -#Max Velocity accepted by ur_driver -MAX_VELOCITY = 10.0 -#Using a very high value in order to not limit execution of trajectories being sent from MoveIt! - -#Bounds for SetPayload service -MIN_PAYLOAD = 0.0 -MAX_PAYLOAD = 1.0 -#Using a very conservative value as it should be set throught the parameter server - - -IO_SLEEP_TIME = 0.05 - -JOINT_NAMES = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', - 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] - -Q1 = [2.2,0,-1.57,0,0,0] -Q2 = [1.5,0,-1.57,0,0,0] -Q3 = [1.5,-0.2,-1.57,0,0,0] - - -connected_robot = None -connected_robot_lock = threading.Lock() -connected_robot_cond = threading.Condition(connected_robot_lock) -last_joint_states = None -last_joint_states_lock = threading.Lock() -pub_joint_states = rospy.Publisher('joint_states', JointState, queue_size=1) -pub_wrench = rospy.Publisher('wrench', WrenchStamped, queue_size=1) -pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1) -#dump_state = open('dump_state', 'wb') - -class EOF(Exception): pass - -def dumpstacks(): - id2name = dict([(th.ident, th.name) for th in threading.enumerate()]) - code = [] - for threadId, stack in sys._current_frames().items(): - code.append("\n# Thread: %s(%d)" % (id2name.get(threadId,""), threadId)) - for filename, lineno, name, line in traceback.extract_stack(stack): - code.append('File: "%s", line %d, in %s' % (filename, lineno, name)) - if line: - code.append(" %s" % (line.strip())) - print "\n".join(code) - -def log(s): - print "[%s] %s" % (datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f'), s) - - -RESET_PROGRAM = '''def resetProg(): - sleep(0.0) -end -''' -#RESET_PROGRAM = '' - -class URConnection(object): - TIMEOUT = 1.0 - - DISCONNECTED = 0 - CONNECTED = 1 - READY_TO_PROGRAM = 2 - EXECUTING = 3 - - def __init__(self, hostname, port, program): - self.__thread = None - self.__sock = None - self.robot_state = self.DISCONNECTED - self.hostname = hostname - self.port = port - self.program = program - self.last_state = None - - def connect(self): - if self.__sock: - self.disconnect() - self.__buf = "" - self.robot_state = self.CONNECTED - self.__sock = socket.create_connection((self.hostname, self.port)) - self.__keep_running = True - self.__thread = threading.Thread(name="URConnection", target=self.__run) - self.__thread.daemon = True - self.__thread.start() - - def send_program(self): - global prevent_programming - if prevent_programming: - rospy.loginfo("Programming is currently prevented") - return - assert self.robot_state in [self.READY_TO_PROGRAM, self.EXECUTING] - rospy.loginfo("Programming the robot at %s" % self.hostname) - self.__sock.sendall(self.program) - self.robot_state = self.EXECUTING - - def send_reset_program(self): - self.__sock.sendall(RESET_PROGRAM) - self.robot_state = self.READY_TO_PROGRAM - - def disconnect(self): - if self.__thread: - self.__keep_running = False - self.__thread.join() - self.__thread = None - if self.__sock: - self.__sock.close() - self.__sock = None - self.last_state = None - self.robot_state = self.DISCONNECTED - - def ready_to_program(self): - return self.robot_state in [self.READY_TO_PROGRAM, self.EXECUTING] - - def __trigger_disconnected(self): - log("Robot disconnected") - self.robot_state = self.DISCONNECTED - def __trigger_ready_to_program(self): - rospy.loginfo("Robot ready to program") - def __trigger_halted(self): - log("Halted") - - def __on_packet(self, buf): - state = RobotState.unpack(buf) - self.last_state = state - #import deserialize; deserialize.pstate(self.last_state) - - #log("Packet. Mode=%s" % state.robot_mode_data.robot_mode) - - if not state.robot_mode_data.real_robot_enabled: - rospy.logfatal("Real robot is no longer enabled. Driver is fuxored") - time.sleep(2) - sys.exit(1) - - ### - # IO-Support is EXPERIMENTAL - # - # Notes: - # - Where are the flags coming from? Do we need flags? No, as 'prog' does not use them and other scripts are not running! - # - analog_input2 and analog_input3 are within ToolData - # - What to do with the different analog_input/output_range/domain? - # - Shall we have appropriate ur_msgs definitions in order to reflect MasterboardData, ToolData,...? - ### - - # Use information from the robot state packet to publish IOStates - msg = IOStates() - #gets digital in states - for i in range(0, 10): - msg.digital_in_states.append(DigitalIn(i, (state.masterboard_data.digital_input_bits & (1<>i)) - #gets digital out states - for i in range(0, 10): - msg.digital_out_states.append(DigitalOut(i, (state.masterboard_data.digital_output_bits & (1<>i)) - #gets analog_in[0] state - inp = state.masterboard_data.analog_input0 / MULT_analog_robotstate - msg.analog_in_states.append(Analog(0, inp)) - #gets analog_in[1] state - inp = state.masterboard_data.analog_input1 / MULT_analog_robotstate - msg.analog_in_states.append(Analog(1, inp)) - #gets analog_out[0] state - inp = state.masterboard_data.analog_output0 / MULT_analog_robotstate - msg.analog_out_states.append(Analog(0, inp)) - #gets analog_out[1] state - inp = state.masterboard_data.analog_output1 / MULT_analog_robotstate - msg.analog_out_states.append(Analog(1, inp)) - #print "Publish IO-Data from robot state data" - pub_io_states.publish(msg) - - - # Updates the state machine that determines whether we can program the robot. - can_execute = (state.robot_mode_data.robot_mode in [RobotMode.READY, RobotMode.RUNNING]) - if self.robot_state == self.CONNECTED: - if can_execute: - self.__trigger_ready_to_program() - self.robot_state = self.READY_TO_PROGRAM - elif self.robot_state == self.READY_TO_PROGRAM: - if not can_execute: - self.robot_state = self.CONNECTED - elif self.robot_state == self.EXECUTING: - if not can_execute: - self.__trigger_halted() - self.robot_state = self.CONNECTED - - # Report on any unknown packet types that were received - if len(state.unknown_ptypes) > 0: - state.unknown_ptypes.sort() - s_unknown_ptypes = [str(ptype) for ptype in state.unknown_ptypes] - self.throttle_warn_unknown(1.0, "Ignoring unknown pkt type(s): %s. " - "Please report." % ", ".join(s_unknown_ptypes)) - - def throttle_warn_unknown(self, period, msg): - self.__dict__.setdefault('_last_hit', 0.0) - # this only works for a single caller - if (self._last_hit + period) <= rospy.get_time(): - self._last_hit = rospy.get_time() - rospy.logwarn(msg) - - def __run(self): - while self.__keep_running: - r, _, _ = select.select([self.__sock], [], [], self.TIMEOUT) - if r: - more = self.__sock.recv(4096) - if more: - self.__buf = self.__buf + more - - #unpack_from requires a buffer of at least 48 bytes - while len(self.__buf) >= 48: - # Attempts to extract a packet - packet_length, ptype = struct.unpack_from("!IB", self.__buf) - #print("PacketLength: ", packet_length, "; BufferSize: ", len(self.__buf)) - if len(self.__buf) >= packet_length: - packet, self.__buf = self.__buf[:packet_length], self.__buf[packet_length:] - self.__on_packet(packet) - else: - break - - else: - self.__trigger_disconnected() - self.__keep_running = False - - else: - self.__trigger_disconnected() - self.__keep_running = False - - -class URConnectionRT(object): - TIMEOUT = 1.0 - - DISCONNECTED = 0 - CONNECTED = 1 - - def __init__(self, hostname, port): - self.__thread = None - self.__sock = None - self.robot_state = self.DISCONNECTED - self.hostname = hostname - self.port = port - self.last_stateRT = None - - def connect(self): - if self.__sock: - self.disconnect() - self.__buf = "" - self.robot_state = self.CONNECTED - self.__sock = socket.create_connection((self.hostname, self.port)) - self.__keep_running = True - self.__thread = threading.Thread(name="URConnectionRT", target=self.__run) - self.__thread.daemon = True - self.__thread.start() - - def disconnect(self): - if self.__thread: - self.__keep_running = False - self.__thread.join() - self.__thread = None - if self.__sock: - self.__sock.close() - self.__sock = None - self.last_state = None - self.robot_state = self.DISCONNECTED - - def __trigger_disconnected(self): - log("Robot disconnected") - self.robot_state = self.DISCONNECTED - - def __on_packet(self, buf): - global last_joint_states, last_joint_states_lock - now = rospy.get_rostime() - stateRT = RobotStateRT.unpack(buf) - self.last_stateRT = stateRT - - msg = JointState() - msg.header.stamp = now - msg.header.frame_id = "From real-time state data" - msg.name = joint_names - msg.position = [0.0] * 6 - for i, q in enumerate(stateRT.q_actual): - msg.position[i] = q + joint_offsets.get(joint_names[i], 0.0) - msg.velocity = stateRT.qd_actual - msg.effort = [0]*6 - pub_joint_states.publish(msg) - with last_joint_states_lock: - last_joint_states = msg - - wrench_msg = WrenchStamped() - wrench_msg.header.stamp = now - wrench_msg.wrench.force.x = stateRT.tcp_force[0] - wrench_msg.wrench.force.y = stateRT.tcp_force[1] - wrench_msg.wrench.force.z = stateRT.tcp_force[2] - wrench_msg.wrench.torque.x = stateRT.tcp_force[3] - wrench_msg.wrench.torque.y = stateRT.tcp_force[4] - wrench_msg.wrench.torque.z = stateRT.tcp_force[5] - pub_wrench.publish(wrench_msg) - - - def __run(self): - while self.__keep_running: - r, _, _ = select.select([self.__sock], [], [], self.TIMEOUT) - if r: - more = self.__sock.recv(4096) - if more: - self.__buf = self.__buf + more - - #unpack_from requires a buffer of at least 48 bytes - while len(self.__buf) >= 48: - # Attempts to extract a packet - packet_length = struct.unpack_from("!i", self.__buf)[0] - #print("PacketLength: ", packet_length, "; BufferSize: ", len(self.__buf)) - if len(self.__buf) >= packet_length: - packet, self.__buf = self.__buf[:packet_length], self.__buf[packet_length:] - self.__on_packet(packet) - else: - break - else: - self.__trigger_disconnected() - self.__keep_running = False - - else: - self.__trigger_disconnected() - self.__keep_running = False - - -def setConnectedRobot(r): - global connected_robot, connected_robot_lock - with connected_robot_lock: - connected_robot = r - connected_robot_cond.notify() - -def getConnectedRobot(wait=False, timeout=-1): - started = time.time() - with connected_robot_lock: - if wait: - while not connected_robot: - if timeout >= 0 and time.time() > started + timeout: - break - connected_robot_cond.wait(0.2) - return connected_robot - -# Receives messages from the robot over the socket -class CommanderTCPHandler(SocketServer.BaseRequestHandler): - - def recv_more(self): - global last_joint_states, last_joint_states_lock - while True: - r, _, _ = select.select([self.request], [], [], 0.2) - if r: - more = self.request.recv(4096) - if not more: - raise EOF("EOF on recv") - return more - else: - now = rospy.get_rostime() - if last_joint_states and \ - last_joint_states.header.stamp < now - rospy.Duration(1.0): - rospy.logerr("Stopped hearing from robot (last heard %.3f sec ago). Disconnected" % \ - (now - last_joint_states.header.stamp).to_sec()) - raise EOF() - - def handle(self): - self.__socket_lock = threading.Lock() - setConnectedRobot(self) - print "Handling a request" - try: - buf = self.recv_more() - if not buf: return - - while True: - #print "Buf:", [ord(b) for b in buf] - - # Unpacks the message type - mtype = struct.unpack_from("!i", buf, 0)[0] - buf = buf[4:] - #print "Message type:", mtype - - if mtype == MSG_OUT: - # Unpacks string message, terminated by tilde - i = buf.find("~") - while i < 0: - buf = buf + self.recv_more() - i = buf.find("~") - if len(buf) > 2000: - raise Exception("Probably forgot to terminate a string: %s..." % buf[:150]) - s, buf = buf[:i], buf[i+1:] - log("Out: %s" % s) - - elif mtype == MSG_QUIT: - print "Quitting" - raise EOF("Received quit") - elif mtype == MSG_WAYPOINT_FINISHED: - while len(buf) < 4: - buf = buf + self.recv_more() - waypoint_id = struct.unpack_from("!i", buf, 0)[0] - buf = buf[4:] - print "Waypoint finished (not handled)" - else: - raise Exception("Unknown message type: %i" % mtype) - - if not buf: - buf = buf + self.recv_more() - except EOF, ex: - print "Connection closed (command):", ex - setConnectedRobot(None) - - def __send_message(self, data): - """ - Send a message to the robot. - - The message is given as a list of integers that will be packed - as 4 bytes each in network byte order (big endian). - - A lock is acquired before sending the message to prevent race conditions. - - :param data: list of int, the data to send - """ - buf = struct.pack("!%ii" % len(data), *data) - with self.__socket_lock: - self.request.send(buf) - - def send_quit(self): - self.__send_message([MSG_QUIT]) - - def send_servoj(self, waypoint_id, q_actual, t): - assert(len(q_actual) == 6) - q_robot = [0.0] * 6 - for i, q in enumerate(q_actual): - q_robot[i] = q - joint_offsets.get(joint_names[i], 0.0) - params = [MSG_SERVOJ, waypoint_id] + \ - [MULT_jointstate * qq for qq in q_robot] + \ - [MULT_time * t] - self.__send_message(params) - - #Experimental set_payload implementation - def send_payload(self,payload): - self.__send_message([MSG_SET_PAYLOAD, payload * MULT_payload]) - - #Experimental set_digital_output implementation - def set_digital_out(self, pinnum, value): - self.__send_message([MSG_SET_DIGITAL_OUT, pinnum, value]) - time.sleep(IO_SLEEP_TIME) - - def set_analog_out(self, pinnum, value): - self.__send_message([MSG_SET_ANALOG_OUT, pinnum, value * MULT_analog]) - time.sleep(IO_SLEEP_TIME) - - def set_tool_voltage(self, value): - self.__send_message([MSG_SET_TOOL_VOLTAGE, value, 0]) - time.sleep(IO_SLEEP_TIME) - - def set_flag(self, pin, val): - self.__send_message([MSG_SET_FLAG, pin, val]) - #set_flag will fail if called too closely together--added delay - time.sleep(IO_SLEEP_TIME) - - def send_stopj(self): - self.__send_message([MSG_STOPJ]) - - def set_waypoint_finished_cb(self, cb): - self.waypoint_finished_cb = cb - - # Returns the last JointState message sent out - def get_joint_states(self): - global last_joint_states, last_joint_states_lock - return last_joint_states - - -class TCPServer(SocketServer.TCPServer): - allow_reuse_address = True # Allows the program to restart gracefully on crash - timeout = 5 - - -# Waits until all threads have completed. Allows KeyboardInterrupt to occur -def joinAll(threads): - while any(t.isAlive() for t in threads): - for t in threads: - t.join(0.2) - -# Returns the duration between moving from point (index-1) to point -# index in the given JointTrajectory -def get_segment_duration(traj, index): - if index == 0: - return traj.points[0].time_from_start.to_sec() - return (traj.points[index].time_from_start - traj.points[index-1].time_from_start).to_sec() - -# Reorders the JointTrajectory traj according to the order in -# joint_names. Destructive. -def reorder_traj_joints(traj, joint_names): - order = [traj.joint_names.index(j) for j in joint_names] - - new_points = [] - for p in traj.points: - new_points.append(JointTrajectoryPoint( - positions = [p.positions[i] for i in order], - velocities = [p.velocities[i] for i in order] if p.velocities else [], - accelerations = [p.accelerations[i] for i in order] if p.accelerations else [], - time_from_start = p.time_from_start)) - traj.joint_names = joint_names - traj.points = new_points - -def interp_cubic(p0, p1, t_abs): - T = (p1.time_from_start - p0.time_from_start).to_sec() - t = t_abs - p0.time_from_start.to_sec() - q = [0] * 6 - qdot = [0] * 6 - qddot = [0] * 6 - for i in range(len(p0.positions)): - a = p0.positions[i] - b = p0.velocities[i] - c = (-3*p0.positions[i] + 3*p1.positions[i] - 2*T*p0.velocities[i] - T*p1.velocities[i]) / T**2 - d = (2*p0.positions[i] - 2*p1.positions[i] + T*p0.velocities[i] + T*p1.velocities[i]) / T**3 - - q[i] = a + b*t + c*t**2 + d*t**3 - qdot[i] = b + 2*c*t + 3*d*t**2 - qddot[i] = 2*c + 6*d*t - return JointTrajectoryPoint(positions=q, velocities=qdot, accelerations=qddot, time_from_start=rospy.Duration(t_abs)) - -# Returns (q, qdot, qddot) for sampling the JointTrajectory at time t. -# The time t is the time since the trajectory was started. -def sample_traj(traj, t): - # First point - if t <= 0.0: - return copy.deepcopy(traj.points[0]) - # Last point - if t >= traj.points[-1].time_from_start.to_sec(): - return copy.deepcopy(traj.points[-1]) - - # Finds the (middle) segment containing t - i = 0 - while traj.points[i+1].time_from_start.to_sec() < t: - i += 1 - return interp_cubic(traj.points[i], traj.points[i+1], t) - -def traj_is_finite(traj): - for pt in traj.points: - for p in pt.positions: - if math.isinf(p) or math.isnan(p): - return False - for v in pt.velocities: - if math.isinf(v) or math.isnan(v): - return False - return True - -def has_limited_velocities(traj): - for p in traj.points: - for v in p.velocities: - if math.fabs(v) > max_velocity: - return False - return True - -def has_velocities(traj): - for p in traj.points: - if len(p.velocities) != len(p.positions): - return False - return True - -def within_tolerance(a_vec, b_vec, tol_vec): - for a, b, tol in zip(a_vec, b_vec, tol_vec): - if abs(a - b) > tol: - return False - return True - -class URServiceProvider(object): - def __init__(self, robot): - self.robot = robot - rospy.Service('ur_driver/setPayload', SetPayload, self.setPayload) - - def set_robot(self, robot): - self.robot = robot - - def setPayload(self, req): - if req.payload < min_payload or req.payload > max_payload: - print 'ERROR: Payload ' + str(req.payload) + ' out of bounds (' + str(min_payload) + ', ' + str(max_payload) + ')' - return False - - if self.robot: - self.robot.send_payload(req.payload) - else: - return False - return True - -class URTrajectoryFollower(object): - RATE = 0.02 - def __init__(self, robot, goal_time_tolerance=None): - self.goal_time_tolerance = goal_time_tolerance or rospy.Duration(0.0) - self.joint_goal_tolerances = [0.05, 0.05, 0.05, 0.05, 0.05, 0.05] - self.following_lock = threading.Lock() - self.T0 = time.time() - self.robot = robot - self.server = actionlib.ActionServer("follow_joint_trajectory", - FollowJointTrajectoryAction, - self.on_goal, self.on_cancel, auto_start=False) - - self.goal_handle = None - self.traj = None - self.traj_t0 = 0.0 - self.first_waypoint_id = 10 - self.tracking_i = 0 - self.pending_i = 0 - self.last_point_sent = True - - self.update_timer = rospy.Timer(rospy.Duration(self.RATE), self._update) - - def set_robot(self, robot): - # Cancels any goals in progress - if self.goal_handle: - self.goal_handle.set_canceled() - self.goal_handle = None - self.traj = None - self.robot = robot - if self.robot: - self.init_traj_from_robot() - - # Sets the trajectory to remain stationary at the current position - # of the robot. - def init_traj_from_robot(self): - if not self.robot: raise Exception("No robot connected") - # Busy wait (avoids another mutex) - state = self.robot.get_joint_states() - while not state: - time.sleep(0.1) - state = self.robot.get_joint_states() - self.traj_t0 = time.time() - self.traj = JointTrajectory() - self.traj.joint_names = joint_names - self.traj.points = [JointTrajectoryPoint( - positions = state.position, - velocities = [0] * 6, - accelerations = [0] * 6, - time_from_start = rospy.Duration(0.0))] - - def start(self): - self.init_traj_from_robot() - self.server.start() - print "The action server for this driver has been started" - - def on_goal(self, goal_handle): - log("on_goal") - - # Checks that the robot is connected - if not self.robot: - rospy.logerr("Received a goal, but the robot is not connected") - goal_handle.set_rejected() - return - - # Checks if the joints are just incorrect - if set(goal_handle.get_goal().trajectory.joint_names) != set(joint_names): - rospy.logerr("Received a goal with incorrect joint names: (%s)" % \ - ', '.join(goal_handle.get_goal().trajectory.joint_names)) - goal_handle.set_rejected() - return - - if not traj_is_finite(goal_handle.get_goal().trajectory): - rospy.logerr("Received a goal with infinites or NaNs") - goal_handle.set_rejected(text="Received a goal with infinites or NaNs") - return - - # Checks that the trajectory has velocities - if not has_velocities(goal_handle.get_goal().trajectory): - rospy.logerr("Received a goal without velocities") - goal_handle.set_rejected(text="Received a goal without velocities") - return - - # Checks that the velocities are withing the specified limits - if not has_limited_velocities(goal_handle.get_goal().trajectory): - message = "Received a goal with velocities that are higher than %f" % max_velocity - rospy.logerr(message) - goal_handle.set_rejected(text=message) - return - - # Orders the joints of the trajectory according to joint_names - reorder_traj_joints(goal_handle.get_goal().trajectory, joint_names) - - with self.following_lock: - if self.goal_handle: - # Cancels the existing goal - self.goal_handle.set_canceled() - self.first_waypoint_id += len(self.goal_handle.get_goal().trajectory.points) - self.goal_handle = None - - # Inserts the current setpoint at the head of the trajectory - now = time.time() - point0 = sample_traj(self.traj, now - self.traj_t0) - point0.time_from_start = rospy.Duration(0.0) - goal_handle.get_goal().trajectory.points.insert(0, point0) - self.traj_t0 = now - - # Replaces the goal - self.goal_handle = goal_handle - self.traj = goal_handle.get_goal().trajectory - self.goal_handle.set_accepted() - - def on_cancel(self, goal_handle): - log("on_cancel") - if goal_handle == self.goal_handle: - with self.following_lock: - # Uses the next little bit of trajectory to slow to a stop - STOP_DURATION = 0.5 - now = time.time() - point0 = sample_traj(self.traj, now - self.traj_t0) - point0.time_from_start = rospy.Duration(0.0) - point1 = sample_traj(self.traj, now - self.traj_t0 + STOP_DURATION) - point1.velocities = [0] * 6 - point1.accelerations = [0] * 6 - point1.time_from_start = rospy.Duration(STOP_DURATION) - self.traj_t0 = now - self.traj = JointTrajectory() - self.traj.joint_names = joint_names - self.traj.points = [point0, point1] - - self.goal_handle.set_canceled() - self.goal_handle = None - else: - goal_handle.set_canceled() - - last_now = time.time() - def _update(self, event): - if self.robot and self.traj: - now = time.time() - if (now - self.traj_t0) <= self.traj.points[-1].time_from_start.to_sec(): - self.last_point_sent = False #sending intermediate points - setpoint = sample_traj(self.traj, now - self.traj_t0) - try: - self.robot.send_servoj(999, setpoint.positions, 4 * self.RATE) - except socket.error: - pass - - elif not self.last_point_sent: - # All intermediate points sent, sending last point to make sure we - # reach the goal. - # This should solve an issue where the robot does not reach the final - # position and errors out due to not reaching the goal point. - last_point = self.traj.points[-1] - state = self.robot.get_joint_states() - position_in_tol = within_tolerance(state.position, last_point.positions, self.joint_goal_tolerances) - # Performing this check to try and catch our error condition. We will always - # send the last point just in case. - if not position_in_tol: - rospy.logwarn("Trajectory time exceeded and current robot state not at goal, last point required") - rospy.logwarn("Current trajectory time: %s, last point time: %s" % \ - (now - self.traj_t0, self.traj.points[-1].time_from_start.to_sec())) - rospy.logwarn("Desired: %s\nactual: %s\nvelocity: %s" % \ - (last_point.positions, state.position, state.velocity)) - setpoint = sample_traj(self.traj, self.traj.points[-1].time_from_start.to_sec()) - - try: - self.robot.send_servoj(999, setpoint.positions, 4 * self.RATE) - self.last_point_sent = True - except socket.error: - pass - - else: # Off the end - if self.goal_handle: - last_point = self.traj.points[-1] - state = self.robot.get_joint_states() - position_in_tol = within_tolerance(state.position, last_point.positions, [0.1]*6) - velocity_in_tol = within_tolerance(state.velocity, last_point.velocities, [0.05]*6) - if position_in_tol and velocity_in_tol: - # The arm reached the goal (and isn't moving). Succeeding - self.goal_handle.set_succeeded() - self.goal_handle = None - #elif now - (self.traj_t0 + last_point.time_from_start.to_sec()) > self.goal_time_tolerance.to_sec(): - # # Took too long to reach the goal. Aborting - # rospy.logwarn("Took too long to reach the goal.\nDesired: %s\nactual: %s\nvelocity: %s" % \ - # (last_point.positions, state.position, state.velocity)) - # self.goal_handle.set_aborted(text="Took too long to reach the goal") - # self.goal_handle = None - - -# joint_names: list of joints -# -# returns: { "joint_name" : joint_offset } -def load_joint_offsets(joint_names): - from lxml import etree - robot_description = rospy.get_param("robot_description") - doc = etree.fromstring(robot_description) - - # select only 'calibration_offset' elements whose parent is a joint - # element with a specific value for the name attribute - expr = "/robot/joint[@name=$name]/calibration_offset" - result = {} - for joint in joint_names: - joint_elt = doc.xpath(expr, name=joint) - if len(joint_elt) == 1: - calibration_offset = float(joint_elt[0].get("value")) - result[joint] = calibration_offset - rospy.loginfo("Found calibration offset for joint \"%s\": %.4f" % (joint, calibration_offset)) - elif len(joint_elt) > 1: - rospy.logerr("Too many joints matched on \"%s\". Please report to package maintainer(s)." % joint) - else: - rospy.logwarn("No calibration offset for joint \"%s\"" % joint) - return result - -def get_my_ip(robot_ip, port): - s = socket.create_connection((robot_ip, port)) - tmp = s.getsockname()[0] - s.close() - return tmp - -def handle_set_io(req): - r = getConnectedRobot(wait=False) - if r: - if req.fun == req.FUN_SET_DIGITAL_OUT: - r.set_digital_out(req.pin, req.state) - return True - elif req.fun == req.FUN_SET_FLAG: - r.set_flag(req.pin, req.state) - return True - elif req.fun == req.FUN_SET_ANALOG_OUT: - r.set_analog_out(req.pin, req.state) - return True - elif req.fun == req.FUN_SET_TOOL_VOLTAGE: - r.set_tool_voltage(req.pin) - return True - else: - raise ROSServiceException("Robot not connected") - -def set_io_server(): - s= rospy.Service('set_io', SetIO, handle_set_io) - -def reconfigure_callback(config, level): - global prevent_programming - prevent_programming = config.prevent_programming - ## What about updating the value on the parameter server? - return config - -def main(): - rospy.init_node('ur_driver', disable_signals=True) - if rospy.get_param("use_sim_time", False): - rospy.logwarn("use_sim_time is set!!!") - - global prevent_programming - reconfigure_srv = Server(URDriverConfig, reconfigure_callback) - - prefix = rospy.get_param("~prefix", "") - print "Setting prefix to %s" % prefix - global joint_names - joint_names = [prefix + name for name in JOINT_NAMES] - - # Parses command line arguments - parser = optparse.OptionParser(usage="usage: %prog robot_hostname [reverse_port]") - (options, args) = parser.parse_args(rospy.myargv()[1:]) - if len(args) < 1: - parser.error("You must specify the robot hostname") - elif len(args) == 1: - robot_hostname = args[0] - reverse_port = DEFAULT_REVERSE_PORT - elif len(args) == 2: - robot_hostname = args[0] - reverse_port = int(args[1]) - if not (0 <= reverse_port <= 65535): - parser.error("You entered an invalid port number") - else: - parser.error("Wrong number of parameters") - - # Reads the calibrated joint offsets from the URDF - global joint_offsets - joint_offsets = load_joint_offsets(joint_names) - if len(joint_offsets) > 0: - rospy.loginfo("Loaded calibration offsets from urdf: %s" % joint_offsets) - else: - rospy.loginfo("No calibration offsets loaded from urdf") - - # Reads the maximum velocity - # The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits - global max_velocity - max_velocity = rospy.get_param("~max_velocity", MAX_VELOCITY) # [rad/s] - rospy.loginfo("Max velocity accepted by ur_driver: %s [rad/s]" % max_velocity) - - # Reads the minimum payload - global min_payload - min_payload = rospy.get_param("~min_payload", MIN_PAYLOAD) - # Reads the maximum payload - global max_payload - max_payload = rospy.get_param("~max_payload", MAX_PAYLOAD) - rospy.loginfo("Bounds for Payload: [%s, %s]" % (min_payload, max_payload)) - - - # Sets up the server for the robot to connect to - server = TCPServer(("", reverse_port), CommanderTCPHandler) - thread_commander = threading.Thread(name="CommanderHandler", target=server.serve_forever) - thread_commander.daemon = True - thread_commander.start() - - with open(roslib.packages.get_pkg_dir('ur_driver') + '/prog') as fin: - program = fin.read() % {"driver_hostname": get_my_ip(robot_hostname, PORT), "driver_reverseport": reverse_port} - connection = URConnection(robot_hostname, PORT, program) - connection.connect() - connection.send_reset_program() - - connectionRT = URConnectionRT(robot_hostname, RT_PORT) - connectionRT.connect() - - set_io_server() - - service_provider = None - action_server = None - try: - while not rospy.is_shutdown(): - # Checks for disconnect - if getConnectedRobot(wait=False): - time.sleep(0.2) - try: - prevent_programming = rospy.get_param("~prevent_programming") - update = {'prevent_programming': prevent_programming} - reconfigure_srv.update_configuration(update) - except KeyError, ex: - print "Parameter 'prevent_programming' not set. Value: " + str(prevent_programming) - pass - if prevent_programming: - print "Programming now prevented" - connection.send_reset_program() - else: - print "Disconnected. Reconnecting" - if action_server: - action_server.set_robot(None) - - rospy.loginfo("Programming the robot") - while True: - # Sends the program to the robot - while not connection.ready_to_program(): - print "Waiting to program" - time.sleep(1.0) - try: - prevent_programming = rospy.get_param("~prevent_programming") - update = {'prevent_programming': prevent_programming} - reconfigure_srv.update_configuration(update) - except KeyError, ex: - print "Parameter 'prevent_programming' not set. Value: " + str(prevent_programming) - pass - connection.send_program() - - r = getConnectedRobot(wait=True, timeout=1.0) - if r: - break - rospy.loginfo("Robot connected") - - #provider for service calls - if service_provider: - service_provider.set_robot(r) - else: - service_provider = URServiceProvider(r) - - if action_server: - action_server.set_robot(r) - else: - action_server = URTrajectoryFollower(r, rospy.Duration(1.0)) - action_server.start() - - except KeyboardInterrupt: - try: - r = getConnectedRobot(wait=False) - rospy.signal_shutdown("KeyboardInterrupt") - if r: r.send_quit() - except: - pass - raise - -if __name__ == '__main__': main() diff --git a/ur_driver/src/ur_driver/io_interface.py b/ur_driver/src/ur_driver/io_interface.py deleted file mode 100644 index e78c0b423..000000000 --- a/ur_driver/src/ur_driver/io_interface.py +++ /dev/null @@ -1,79 +0,0 @@ -#!/usr/bin/env python - -import sys -import rospy -from ur_msgs.srv import * -from ur_msgs.msg import * - -FUN_SET_DIGITAL_OUT = 1 -FUN_SET_FLAG = 2 -FUN_SET_ANALOG_OUT = 3 -FUN_SET_TOOL_VOLTAGE = 4 - -#Flag_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0] -Digital_Out_States = [0,0,0,0,0,0,0,0,0,0] #8(controller)+2(tool) -Digital_In_States = [0,0,0,0,0,0,0,0,0,0] #8(controller)+2(tool) -Analog_Out_States = [0,0] #2(controller) -Analog_In_States = [0,0] #2(controller)+0(tool) - -ANALOG_TOLERANCE_VALUE = 0.01 - -def set_io_val(fun, pin, val): - try: - set_io(fun, pin, val) - except rospy.ServiceException, e: - print "Service call failed: %s"%e - -def set_tool_voltage(volts): - try: - set_io(FUN_SET_TOOL_VOLTAGE, volts, 0) - except rospy.ServiceException, e: - print "Service call failed: %s"%e - -def set_digital_out(pin, val): - try: - set_io(FUN_SET_DIGITAL_OUT, pin, val) - except rospy.ServiceException, e: - print "Service call failed: %s"%e - -def set_analog_out(pin, val): - try: - set_io(FUN_SET_ANALOG_OUT, pin, val) - except rospy.ServiceException, e: - print "Service call failed: %s"%e - -def set_flag(pin, val): - rospy.logerr("SETTING FLAGS IS NOT SUPPORTED!") - #try: - #set_io(FUN_SET_FLAG, pin, val) - #except rospy.ServiceException, e: - #print "Service call failed: %s"%e - -def callback(data): - rospy.logerr("Flag_States are currently not supported") - #for i in range(0,32): - #del Flag_States[i] - #Flag_States.insert(i, data.flag_states[i].state) - for i in range(0,10): - del Digital_Out_States[i] - Digital_Out_States.insert(i, data.digital_out_states[i].state) - for i in range(0,10): - del Digital_In_States[i] - Digital_In_States.insert(i, data.digital_in_states[i].state) - for i in range(0,2): - del Analog_Out_States[i] - Analog_Out_States.insert(i, data.analog_out_states[i].state) - rospy.logerr("ToolInput analog_in[2] and analog_in[3] currently not supported") - for i in range(0,2): - del Analog_In_States[i] - Analog_In_States.insert(i, data.analog_in_states[i].state) - -def get_states(): - rospy.init_node('UR_State_Getter') - rospy.Subscriber("io_states", IOStates, callback) - -def set_states(): - rospy.wait_for_service('set_io') - global set_io - set_io = rospy.ServiceProxy('set_io', SetIO) - diff --git a/ur_driver/src/ur_driver/testRT_comm.py b/ur_driver/src/ur_driver/testRT_comm.py deleted file mode 100755 index 11daffa67..000000000 --- a/ur_driver/src/ur_driver/testRT_comm.py +++ /dev/null @@ -1,98 +0,0 @@ -#!/usr/bin/env python -import roslib; roslib.load_manifest('ur_driver') -import time, sys, threading, math -import copy -import datetime -import socket, select -import struct -import traceback, code -import SocketServer - -import rospy - -from sensor_msgs.msg import JointState -from ur_driver.deserializeRT import RobotStateRT -from ur_msgs.msg import * - - -joint_names = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', - 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] -joint_offsets = {} - - -def __on_packet(buf): - stateRT = RobotStateRT.unpack(buf) - - msg = RobotStateRTMsg() - msg.time = stateRT.time - msg.q_target = stateRT.q_target - msg.qd_target = stateRT.qd_target - msg.qdd_target = stateRT.qdd_target - msg.i_target = stateRT.i_target - msg.m_target = stateRT.m_target - msg.q_actual = stateRT.q_actual - msg.qd_actual = stateRT.qd_actual - msg.i_actual = stateRT.i_actual - msg.tool_acc_values = stateRT.tool_acc_values - msg.tcp_force = stateRT.tcp_force - msg.tool_vector = stateRT.tool_vector - msg.tcp_speed = stateRT.tcp_speed - msg.digital_input_bits = stateRT.digital_input_bits - msg.motor_temperatures = stateRT.motor_temperatures - msg.controller_timer = stateRT.controller_timer - msg.test_value = stateRT.test_value - msg.robot_mode = stateRT.robot_mode - msg.joint_modes = stateRT.joint_modes - pub_robot_stateRT.publish(msg) - - - msg = JointState() - msg.header.stamp = rospy.get_rostime() - msg.header.frame_id = "From real-time state data" - msg.name = joint_names - msg.position = [0.0] * 6 - for i, q in enumerate(stateRT.q_actual): - msg.position[i] = q + joint_offsets.get(joint_names[i], 0.0) - msg.velocity = stateRT.qd_actual - msg.effort = [0]*6 - pub_joint_statesRT.publish(msg) - - - - -def main(): - rospy.init_node('testRT_comm', disable_signals=True) - - global pub_joint_statesRT - pub_joint_statesRT = rospy.Publisher('joint_statesRT', JointState, queue_size=1) - global pub_robot_stateRT - pub_robot_stateRT = rospy.Publisher('robot_stateRT', RobotStateRTMsg, queue_size=1) - - - - robot_hostname = '192.168.0.42' - rt_port = 30003 - - rt_socket = socket.create_connection((robot_hostname, rt_port)) - buf = "" - - while not rospy.is_shutdown(): - more = rt_socket.recv(4096) - if more: - buf = buf + more - - # Attempts to extract a packet - packet_length = struct.unpack_from("!i", buf)[0] - print("PacketLength: ", packet_length, "; BufferSize: ", len(buf)) - if len(buf) >= packet_length: - packet, buf = buf[:packet_length], buf[packet_length:] - __on_packet(packet) - else: - print("There is no more...") - - rt_socket.close() - - - - -if __name__ == '__main__': main() diff --git a/ur_driver/src/ur_driver/test_comm.py b/ur_driver/src/ur_driver/test_comm.py deleted file mode 100755 index 1670db852..000000000 --- a/ur_driver/src/ur_driver/test_comm.py +++ /dev/null @@ -1,120 +0,0 @@ -#!/usr/bin/env python -import roslib; roslib.load_manifest('ur_driver') -import time, sys, threading, math -import copy -import datetime -import socket, select -import struct -import traceback, code -import SocketServer - -import rospy - -from sensor_msgs.msg import JointState -from ur_driver.deserialize import RobotState -from ur_msgs.msg import * - -# renaming classes -DigitalIn = Digital -DigitalOut = Digital -Flag = Digital - -MULT_analog = 1000000.0 -MULT_analog_robotstate = 0.1 - -joint_names = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', - 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] -joint_offsets = {} - - -def __on_packet(buf): - state = RobotState.unpack(buf) - - mb_msg = MasterboardDataMsg() - mb_msg.digital_input_bits = state.masterboard_data.digital_input_bits - mb_msg.digital_output_bits = state.masterboard_data.digital_output_bits - mb_msg.analog_input_range0 = state.masterboard_data.analog_input_range0 - mb_msg.analog_input_range1 = state.masterboard_data.analog_input_range1 - mb_msg.analog_input0 = state.masterboard_data.analog_input0 - mb_msg.analog_input1 = state.masterboard_data.analog_input1 - mb_msg.analog_output_domain0 = state.masterboard_data.analog_output_domain0 - mb_msg.analog_output_domain1 = state.masterboard_data.analog_output_domain1 - mb_msg.analog_output0 = state.masterboard_data.analog_output0 - mb_msg.analog_output1 = state.masterboard_data.analog_output1 - mb_msg.masterboard_temperature = state.masterboard_data.masterboard_temperature - mb_msg.robot_voltage_48V = state.masterboard_data.robot_voltage_48V - mb_msg.robot_current = state.masterboard_data.robot_current - mb_msg.master_io_current = state.masterboard_data.master_io_current - mb_msg.master_safety_state = state.masterboard_data.master_safety_state - mb_msg.master_onoff_state = state.masterboard_data.master_onoff_state - pub_masterboard_state.publish(mb_msg) - - - # Use information from the robot state packet to publish IOStates - msg = IOStates() - #gets digital in states - for i in range(0, 10): - msg.digital_in_states.append(DigitalIn(i, (state.masterboard_data.digital_input_bits & (1<>i)) - #gets digital out states - for i in range(0, 10): - msg.digital_out_states.append(DigitalOut(i, (state.masterboard_data.digital_output_bits & (1<>i)) - #gets analog_in[0] state - inp = state.masterboard_data.analog_input0 / MULT_analog_robotstate - msg.analog_in_states.append(Analog(0, inp)) - #gets analog_in[1] state - inp = state.masterboard_data.analog_input1 / MULT_analog_robotstate - msg.analog_in_states.append(Analog(1, inp)) - #gets analog_out[0] state - inp = state.masterboard_data.analog_output0 / MULT_analog_robotstate - msg.analog_out_states.append(Analog(0, inp)) - #gets analog_out[1] state - inp = state.masterboard_data.analog_output1 / MULT_analog_robotstate - msg.analog_out_states.append(Analog(1, inp)) - #print "Publish IO-Data from robot state data" - pub_io_states.publish(msg) - - # Notes: - # - Where are the flags coming from? Do we need flags? No, as 'prog' does not use them and other scripts are not running! - # - analog_input2 and analog_input3 are within ToolData - # - What to do with the different analog_input/output_range/domain? - # - Shall we have appropriate ur_msgs definitions in order to reflect MasterboardData, ToolData,...? - - - - - -def main(): - rospy.init_node('test_comm', disable_signals=True) - - global pub_masterboard_state - pub_masterboard_state = rospy.Publisher('masterboard_state', MasterboardDataMsg, queue_size=1) - global pub_io_states - pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1) - - - robot_hostname = '192.168.0.42' - port = 30002 - - test_socket = socket.create_connection((robot_hostname, port)) - buf = "" - - while not rospy.is_shutdown(): - more = test_socket.recv(4096) - if more: - buf = buf + more - - # Attempts to extract a packet - packet_length = struct.unpack_from("!i", buf)[0] - print("PacketLength: ", packet_length, "; BufferSize: ", len(buf)) - if len(buf) >= packet_length: - packet, buf = buf[:packet_length], buf[packet_length:] - __on_packet(packet) - else: - print("There is no more...") - - test_socket.close() - - - - -if __name__ == '__main__': main() diff --git a/ur_driver/test_io.py b/ur_driver/test_io.py deleted file mode 100755 index 7b3c2a826..000000000 --- a/ur_driver/test_io.py +++ /dev/null @@ -1,31 +0,0 @@ -#!/usr/bin/env python -import time -from ur_driver.io_interface import * - -if __name__ == "__main__": - print "testing io-interface" - get_states() - print "listener has been activated" - set_states() - print "service-server has been started" - while(True): - set_tool_voltage(12) - set_digital_out(0, True) - set_analog_out(0, 0.75) - #print "Flags are currently not supported" - ##set_flag(0, True) - ##print(Flag_States[0]) - print(Analog_Out_States[0]) - print(Digital_Out_States[0]) - time.sleep(1) - set_tool_voltage(24) - set_digital_out(0, False) - set_analog_out(0, 0.25) - #print "Flags are currently not supported" - ##set_flag(0, False) - ##print(Flag_States[0]) - print(Analog_Out_States[0]) - print(Digital_Out_States[0]) - time.sleep(1) - - diff --git a/ur_driver/test_move.py b/ur_driver/test_move.py deleted file mode 100755 index 54b9115fc..000000000 --- a/ur_driver/test_move.py +++ /dev/null @@ -1,106 +0,0 @@ -#!/usr/bin/env python -import time -import roslib; roslib.load_manifest('ur_driver') -import rospy -import actionlib -from control_msgs.msg import * -from trajectory_msgs.msg import * - -JOINT_NAMES = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', - 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] -Q1 = [2.2,0,-1.57,0,0,0] -Q2 = [1.5,0,-1.57,0,0,0] -Q3 = [1.5,-0.2,-1.57,0,0,0] - -client = None - -def move1(): - g = FollowJointTrajectoryGoal() - g.trajectory = JointTrajectory() - g.trajectory.joint_names = JOINT_NAMES - g.trajectory.points = [ - JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)), - JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)), - JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))] - client.send_goal(g) - try: - client.wait_for_result() - except KeyboardInterrupt: - client.cancel_goal() - raise - -def move_disordered(): - order = [4, 2, 3, 1, 5, 0] - g = FollowJointTrajectoryGoal() - g.trajectory = JointTrajectory() - g.trajectory.joint_names = [JOINT_NAMES[i] for i in order] - q1 = [Q1[i] for i in order] - q2 = [Q2[i] for i in order] - q3 = [Q3[i] for i in order] - g.trajectory.points = [ - JointTrajectoryPoint(positions=q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)), - JointTrajectoryPoint(positions=q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)), - JointTrajectoryPoint(positions=q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))] - client.send_goal(g) - client.wait_for_result() - -def move_repeated(): - g = FollowJointTrajectoryGoal() - g.trajectory = JointTrajectory() - g.trajectory.joint_names = JOINT_NAMES - - d = 2.0 - g.trajectory.points = [] - for i in range(10): - g.trajectory.points.append( - JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(d))) - d += 1 - g.trajectory.points.append( - JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(d))) - d += 1 - g.trajectory.points.append( - JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(d))) - d += 2 - client.send_goal(g) - try: - client.wait_for_result() - except KeyboardInterrupt: - client.cancel_goal() - raise - -def move_interrupt(): - g = FollowJointTrajectoryGoal() - g.trajectory = JointTrajectory() - g.trajectory.joint_names = JOINT_NAMES - g.trajectory.points = [ - JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(2.0)), - JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(3.0)), - JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(4.0))] - - client.send_goal(g) - time.sleep(2.0) - print "Interrupting" - client.send_goal(g) - try: - client.wait_for_result() - except KeyboardInterrupt: - client.cancel_goal() - raise - -def main(): - global client - try: - rospy.init_node("test_move", anonymous=True, disable_signals=True) - client = actionlib.SimpleActionClient('follow_joint_trajectory', FollowJointTrajectoryAction) - print "Waiting for server..." - client.wait_for_server() - print "Connected to server" - #move1() - move_repeated() - #move_disordered() - #move_interrupt() - except KeyboardInterrupt: - rospy.signal_shutdown("KeyboardInterrupt") - raise - -if __name__ == '__main__': main() diff --git a/ur_e_description/CHANGELOG.rst b/ur_e_description/CHANGELOG.rst deleted file mode 100644 index 823e8bb30..000000000 --- a/ur_e_description/CHANGELOG.rst +++ /dev/null @@ -1,10 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_e_description -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* First release (of this package) -* Update maintainer listing: add Miguel (`#410 `_) -* UR-E Series (`#380 `_) -* Contributors: Dave Niewinski, gavanderhoorn diff --git a/ur_e_description/CMakeLists.txt b/ur_e_description/CMakeLists.txt deleted file mode 100644 index 3a6ee2dd9..000000000 --- a/ur_e_description/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur_e_description) - -find_package(catkin REQUIRED) - -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ur_e_description -# CATKIN_DEPENDS urdf -# DEPENDS system_lib -) - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_e_description/cfg/view_robot.rviz b/ur_e_description/cfg/view_robot.rviz deleted file mode 100644 index eca0bdce6..000000000 --- a/ur_e_description/cfg/view_robot.rviz +++ /dev/null @@ -1,184 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - - /TF1 - Splitter Ratio: 0.5 - Tree Height: 787 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - /base_link: - Value: true - /link_1: - Value: true - /link_2: - Value: true - /link_3: - Value: true - /link_4: - Value: true - /link_5: - Value: true - /link_6: - Value: true - /tool0: - Value: true - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - /base_link: - /link_1: - /link_2: - /link_3: - /link_4: - /link_5: - /link_6: - /tool0: - {} - Update Interval: 0 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: /base_link - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 10 - Focal Point: - X: 0 - Y: 0 - Z: 0 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.115398 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.930399 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1000 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000013c000003a2fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003a2000000dd00ffffff000000010000010f000003a2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000003a2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f700fffffffb0000000800540069006d00650100000000000004500000000000000000000002a9000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1280 - X: 60 - Y: 60 diff --git a/ur_e_description/launch/ur10e_upload.launch b/ur_e_description/launch/ur10e_upload.launch deleted file mode 100644 index 041bf778b..000000000 --- a/ur_e_description/launch/ur10e_upload.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - diff --git a/ur_e_description/launch/ur16e_upload.launch b/ur_e_description/launch/ur16e_upload.launch deleted file mode 100644 index 179a5cb60..000000000 --- a/ur_e_description/launch/ur16e_upload.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - diff --git a/ur_e_description/launch/ur3e_upload.launch b/ur_e_description/launch/ur3e_upload.launch deleted file mode 100644 index 583e4e342..000000000 --- a/ur_e_description/launch/ur3e_upload.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - diff --git a/ur_e_description/launch/ur5e_upload.launch b/ur_e_description/launch/ur5e_upload.launch deleted file mode 100644 index a4d0e8d98..000000000 --- a/ur_e_description/launch/ur5e_upload.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - diff --git a/ur_e_description/launch/view_ur10e.launch b/ur_e_description/launch/view_ur10e.launch deleted file mode 100644 index d80983873..000000000 --- a/ur_e_description/launch/view_ur10e.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_description/launch/view_ur16e.launch b/ur_e_description/launch/view_ur16e.launch deleted file mode 100644 index 749138d01..000000000 --- a/ur_e_description/launch/view_ur16e.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_description/launch/view_ur3e.launch b/ur_e_description/launch/view_ur3e.launch deleted file mode 100644 index 560020010..000000000 --- a/ur_e_description/launch/view_ur3e.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_description/launch/view_ur5e.launch b/ur_e_description/launch/view_ur5e.launch deleted file mode 100644 index f849247c9..000000000 --- a/ur_e_description/launch/view_ur5e.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_description/package.xml b/ur_e_description/package.xml deleted file mode 100644 index e8776490a..000000000 --- a/ur_e_description/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - ur_e_description - 1.2.5 - - URDF description for Universal UR5/10 robot arms - - - Wim Meeussen - Kelsey Hawkins - Mathias Ludtke - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - http://ros.org/wiki/ur_e_description - - catkin - joint_state_publisher - robot_state_publisher - rviz - urdf - xacro - - - - diff --git a/ur_e_description/urdf/common.gazebo.xacro b/ur_e_description/urdf/common.gazebo.xacro deleted file mode 100644 index f800be84b..000000000 --- a/ur_e_description/urdf/common.gazebo.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur.gazebo.xacro b/ur_e_description/urdf/ur.gazebo.xacro deleted file mode 100644 index beaeb225a..000000000 --- a/ur_e_description/urdf/ur.gazebo.xacro +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - true - - - true - - - true - - - true - - - true - - - true - - - true - - - - - diff --git a/ur_e_description/urdf/ur.transmission.xacro b/ur_e_description/urdf/ur.transmission.xacro deleted file mode 100644 index b85cc6e77..000000000 --- a/ur_e_description/urdf/ur.transmission.xacro +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - transmission_interface/SimpleTransmission - - ${hw_interface} - - - 1 - - - - - - diff --git a/ur_e_description/urdf/ur10e.urdf.xacro b/ur_e_description/urdf/ur10e.urdf.xacro deleted file mode 100644 index 1d22e82e9..000000000 --- a/ur_e_description/urdf/ur10e.urdf.xacro +++ /dev/null @@ -1,371 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro deleted file mode 100644 index ea786c493..000000000 --- a/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur10e_robot.urdf.xacro b/ur_e_description/urdf/ur10e_robot.urdf.xacro deleted file mode 100644 index b101ea896..000000000 --- a/ur_e_description/urdf/ur10e_robot.urdf.xacro +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur16e.urdf.xacro b/ur_e_description/urdf/ur16e.urdf.xacro deleted file mode 100644 index 4f6afd519..000000000 --- a/ur_e_description/urdf/ur16e.urdf.xacro +++ /dev/null @@ -1,371 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur16e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur16e_joint_limited_robot.urdf.xacro deleted file mode 100644 index c0bbde817..000000000 --- a/ur_e_description/urdf/ur16e_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur16e_robot.urdf.xacro b/ur_e_description/urdf/ur16e_robot.urdf.xacro deleted file mode 100644 index 35e48f017..000000000 --- a/ur_e_description/urdf/ur16e_robot.urdf.xacro +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur3e.urdf.xacro b/ur_e_description/urdf/ur3e.urdf.xacro deleted file mode 100644 index 37fb60513..000000000 --- a/ur_e_description/urdf/ur3e.urdf.xacro +++ /dev/null @@ -1,369 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro deleted file mode 100644 index 8b770e25c..000000000 --- a/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur3e_robot.urdf.xacro b/ur_e_description/urdf/ur3e_robot.urdf.xacro deleted file mode 100644 index 11e2fe5e6..000000000 --- a/ur_e_description/urdf/ur3e_robot.urdf.xacro +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur5e.urdf.xacro b/ur_e_description/urdf/ur5e.urdf.xacro deleted file mode 100644 index ec1399a3b..000000000 --- a/ur_e_description/urdf/ur5e.urdf.xacro +++ /dev/null @@ -1,369 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro b/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro deleted file mode 100644 index f9ccb4cc7..000000000 --- a/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_description/urdf/ur5e_robot.urdf.xacro b/ur_e_description/urdf/ur5e_robot.urdf.xacro deleted file mode 100644 index 3d7e39574..000000000 --- a/ur_e_description/urdf/ur5e_robot.urdf.xacro +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_gazebo/CHANGELOG.rst b/ur_e_gazebo/CHANGELOG.rst deleted file mode 100644 index 3b57581ad..000000000 --- a/ur_e_gazebo/CHANGELOG.rst +++ /dev/null @@ -1,10 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_e_gazebo -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* First release (of this package) -* Update maintainer listing: add Miguel (`#410 `_) -* UR-E Series (`#380 `_) -* Contributors: Dave Niewinski, gavanderhoorn diff --git a/ur_e_gazebo/CMakeLists.txt b/ur_e_gazebo/CMakeLists.txt deleted file mode 100644 index 045db89df..000000000 --- a/ur_e_gazebo/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(ur_e_gazebo) - -find_package(catkin REQUIRED) - -catkin_package() - -if (CATKIN_ENABLE_TESTING) - find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test.xml) -endif() - -install(DIRECTORY launch controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_e_gazebo/controller/arm_controller_ur10e.yaml b/ur_e_gazebo/controller/arm_controller_ur10e.yaml deleted file mode 100644 index fb7b3d4fe..000000000 --- a/ur_e_gazebo/controller/arm_controller_ur10e.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/ur_e_gazebo/controller/arm_controller_ur3e.yaml b/ur_e_gazebo/controller/arm_controller_ur3e.yaml deleted file mode 100644 index fb7b3d4fe..000000000 --- a/ur_e_gazebo/controller/arm_controller_ur3e.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/ur_e_gazebo/controller/arm_controller_ur5e.yaml b/ur_e_gazebo/controller/arm_controller_ur5e.yaml deleted file mode 100644 index fb7b3d4fe..000000000 --- a/ur_e_gazebo/controller/arm_controller_ur5e.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/ur_e_gazebo/controller/joint_state_controller.yaml b/ur_e_gazebo/controller/joint_state_controller.yaml deleted file mode 100644 index 0cd5bb707..000000000 --- a/ur_e_gazebo/controller/joint_state_controller.yaml +++ /dev/null @@ -1,3 +0,0 @@ -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 diff --git a/ur_e_gazebo/launch/controller_utils.launch b/ur_e_gazebo/launch/controller_utils.launch deleted file mode 100644 index 8bfdf0114..000000000 --- a/ur_e_gazebo/launch/controller_utils.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/ur_e_gazebo/launch/ur10e.launch b/ur_e_gazebo/launch/ur10e.launch deleted file mode 100644 index ec37fd536..000000000 --- a/ur_e_gazebo/launch/ur10e.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_gazebo/launch/ur10e_joint_limited.launch b/ur_e_gazebo/launch/ur10e_joint_limited.launch deleted file mode 100644 index 59b0825ee..000000000 --- a/ur_e_gazebo/launch/ur10e_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_gazebo/launch/ur3e.launch b/ur_e_gazebo/launch/ur3e.launch deleted file mode 100644 index 31bc8dcb8..000000000 --- a/ur_e_gazebo/launch/ur3e.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_gazebo/launch/ur3e_joint_limited.launch b/ur_e_gazebo/launch/ur3e_joint_limited.launch deleted file mode 100644 index b8d118879..000000000 --- a/ur_e_gazebo/launch/ur3e_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_gazebo/launch/ur5e.launch b/ur_e_gazebo/launch/ur5e.launch deleted file mode 100644 index 756549339..000000000 --- a/ur_e_gazebo/launch/ur5e.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_e_gazebo/launch/ur5e_joint_limited.launch b/ur_e_gazebo/launch/ur5e_joint_limited.launch deleted file mode 100644 index e260acbd4..000000000 --- a/ur_e_gazebo/launch/ur5e_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_e_gazebo/package.xml b/ur_e_gazebo/package.xml deleted file mode 100644 index e738b7e3b..000000000 --- a/ur_e_gazebo/package.xml +++ /dev/null @@ -1,37 +0,0 @@ - - - ur_e_gazebo - 1.2.5 - - Gazebo wrapper for the Universal UR5/10 robot arms. - - - - Alexander Bubeck - Shaun Edwards - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - http://ros.org/wiki/ur_e_gazebo - - catkin - roslaunch - controller_manager - effort_controllers - joint_state_controller - joint_trajectory_controller - gazebo_ros - gazebo_ros_control - position_controllers - robot_state_publisher - rostopic - ur_e_description - - - - - diff --git a/ur_e_gazebo/tests/roslaunch_test.xml b/ur_e_gazebo/tests/roslaunch_test.xml deleted file mode 100644 index f95ac6a7a..000000000 --- a/ur_e_gazebo/tests/roslaunch_test.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt index 19effd7a8..9a077b51e 100644 --- a/ur_gazebo/CMakeLists.txt +++ b/ur_gazebo/CMakeLists.txt @@ -8,7 +8,14 @@ catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur3.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur5.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur10.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml) endif() -install(DIRECTORY launch controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config launch urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_gazebo/config/ur10_controllers.yaml b/ur_gazebo/config/ur10_controllers.yaml new file mode 100644 index 000000000..7b6ab9c2c --- /dev/null +++ b/ur_gazebo/config/ur10_controllers.yaml @@ -0,0 +1,29 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 125 + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/config/ur10e_controllers.yaml new file mode 100644 index 000000000..3599c8e7d --- /dev/null +++ b/ur_gazebo/config/ur10e_controllers.yaml @@ -0,0 +1,29 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 500 + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur16e_controllers.yaml b/ur_gazebo/config/ur16e_controllers.yaml new file mode 100644 index 000000000..3599c8e7d --- /dev/null +++ b/ur_gazebo/config/ur16e_controllers.yaml @@ -0,0 +1,29 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 500 + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur3_controllers.yaml b/ur_gazebo/config/ur3_controllers.yaml new file mode 100644 index 000000000..7b6ab9c2c --- /dev/null +++ b/ur_gazebo/config/ur3_controllers.yaml @@ -0,0 +1,29 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 125 + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/config/ur3e_controllers.yaml new file mode 100644 index 000000000..3599c8e7d --- /dev/null +++ b/ur_gazebo/config/ur3e_controllers.yaml @@ -0,0 +1,29 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 500 + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur5_controllers.yaml b/ur_gazebo/config/ur5_controllers.yaml new file mode 100644 index 000000000..7b6ab9c2c --- /dev/null +++ b/ur_gazebo/config/ur5_controllers.yaml @@ -0,0 +1,29 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 125 + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/config/ur5e_controllers.yaml new file mode 100644 index 000000000..3599c8e7d --- /dev/null +++ b/ur_gazebo/config/ur5e_controllers.yaml @@ -0,0 +1,29 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 500 + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml deleted file mode 100644 index fb7b3d4fe..000000000 --- a/ur_gazebo/controller/arm_controller_ur10.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/ur_gazebo/controller/arm_controller_ur3.yaml b/ur_gazebo/controller/arm_controller_ur3.yaml deleted file mode 100644 index fb7b3d4fe..000000000 --- a/ur_gazebo/controller/arm_controller_ur3.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/controller/arm_controller_ur5.yaml deleted file mode 100644 index fb7b3d4fe..000000000 --- a/ur_gazebo/controller/arm_controller_ur5.yaml +++ /dev/null @@ -1,31 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - diff --git a/ur_gazebo/controller/joint_state_controller.yaml b/ur_gazebo/controller/joint_state_controller.yaml deleted file mode 100644 index 0cd5bb707..000000000 --- a/ur_gazebo/controller/joint_state_controller.yaml +++ /dev/null @@ -1,3 +0,0 @@ -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 diff --git a/ur_gazebo/launch/controller_utils.launch b/ur_gazebo/launch/controller_utils.launch deleted file mode 100644 index f4cd9bab1..000000000 --- a/ur_gazebo/launch/controller_utils.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/inc/load_ur.launch.xml new file mode 100644 index 000000000..02efc2fb8 --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur.launch.xml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur10.launch.xml b/ur_gazebo/launch/inc/load_ur10.launch.xml new file mode 100644 index 000000000..dc2de3537 --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur10.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur10e.launch.xml b/ur_gazebo/launch/inc/load_ur10e.launch.xml new file mode 100644 index 000000000..65ee47278 --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur10e.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur16e.launch.xml b/ur_gazebo/launch/inc/load_ur16e.launch.xml new file mode 100644 index 000000000..e0a8a17dc --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur16e.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur3.launch.xml b/ur_gazebo/launch/inc/load_ur3.launch.xml new file mode 100644 index 000000000..1128e1bdd --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur3.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur3e.launch.xml b/ur_gazebo/launch/inc/load_ur3e.launch.xml new file mode 100644 index 000000000..f9555dfab --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur3e.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur5.launch.xml b/ur_gazebo/launch/inc/load_ur5.launch.xml new file mode 100644 index 000000000..d9b4dc10c --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur5.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur5e.launch.xml b/ur_gazebo/launch/inc/load_ur5e.launch.xml new file mode 100644 index 000000000..4ed014cff --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur5e.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/ur_control.launch.xml b/ur_gazebo/launch/inc/ur_control.launch.xml new file mode 100644 index 000000000..b92f090d8 --- /dev/null +++ b/ur_gazebo/launch/inc/ur_control.launch.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10.launch deleted file mode 100644 index bd422b937..000000000 --- a/ur_gazebo/launch/ur10.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch new file mode 100644 index 000000000..acd6c96fe --- /dev/null +++ b/ur_gazebo/launch/ur10_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur10_joint_limited.launch b/ur_gazebo/launch/ur10_joint_limited.launch deleted file mode 100644 index e618e2685..000000000 --- a/ur_gazebo/launch/ur10_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch new file mode 100644 index 000000000..7d39bda8c --- /dev/null +++ b/ur_gazebo/launch/ur10e_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch new file mode 100644 index 000000000..d0f193ed6 --- /dev/null +++ b/ur_gazebo/launch/ur16e_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur3.launch b/ur_gazebo/launch/ur3.launch deleted file mode 100644 index 076e1dcc4..000000000 --- a/ur_gazebo/launch/ur3.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch new file mode 100644 index 000000000..035d156db --- /dev/null +++ b/ur_gazebo/launch/ur3_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur3_joint_limited.launch b/ur_gazebo/launch/ur3_joint_limited.launch deleted file mode 100644 index ca5fe7560..000000000 --- a/ur_gazebo/launch/ur3_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch new file mode 100644 index 000000000..8e3ec545d --- /dev/null +++ b/ur_gazebo/launch/ur3e_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch deleted file mode 100644 index 2dc3291b7..000000000 --- a/ur_gazebo/launch/ur5.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch new file mode 100644 index 000000000..bff4f9323 --- /dev/null +++ b/ur_gazebo/launch/ur5_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur5_joint_limited.launch b/ur_gazebo/launch/ur5_joint_limited.launch deleted file mode 100644 index 3abf24e95..000000000 --- a/ur_gazebo/launch/ur5_joint_limited.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch new file mode 100644 index 000000000..24c884a6c --- /dev/null +++ b/ur_gazebo/launch/ur5e_bringup.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/package.xml b/ur_gazebo/package.xml index 506cef08e..89e20c456 100644 --- a/ur_gazebo/package.xml +++ b/ur_gazebo/package.xml @@ -28,7 +28,6 @@ joint_trajectory_controller position_controllers robot_state_publisher - rostopic ur_description diff --git a/ur_gazebo/tests/roslaunch_test.xml b/ur_gazebo/tests/roslaunch_test.xml deleted file mode 100644 index 815829d06..000000000 --- a/ur_gazebo/tests/roslaunch_test.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/tests/roslaunch_test_ur10.xml b/ur_gazebo/tests/roslaunch_test_ur10.xml new file mode 100644 index 000000000..02e6458c7 --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur10.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur10e.xml b/ur_gazebo/tests/roslaunch_test_ur10e.xml new file mode 100644 index 000000000..8443ef3d4 --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur10e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur16e.xml b/ur_gazebo/tests/roslaunch_test_ur16e.xml new file mode 100644 index 000000000..566e1f1cd --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur16e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur3.xml b/ur_gazebo/tests/roslaunch_test_ur3.xml new file mode 100644 index 000000000..d9c9c148d --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur3.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur3e.xml b/ur_gazebo/tests/roslaunch_test_ur3e.xml new file mode 100644 index 000000000..4a10cd48f --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur3e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur5.xml b/ur_gazebo/tests/roslaunch_test_ur5.xml new file mode 100644 index 000000000..dae9deae7 --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur5.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur5e.xml b/ur_gazebo/tests/roslaunch_test_ur5e.xml new file mode 100644 index 000000000..0cf392035 --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur5e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro new file mode 100644 index 000000000..3975c83e2 --- /dev/null +++ b/ur_gazebo/urdf/ur.xacro @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro new file mode 100644 index 000000000..96146ac13 --- /dev/null +++ b/ur_gazebo/urdf/ur_macro.xacro @@ -0,0 +1,109 @@ + + + + + + + + + + + + + + + + + true + + + true + + + true + + + true + + + true + + + true + + + true + + + + + + + + + + + diff --git a/ur_kinematics/src/ur_kinematics/test_analytical_ik.py b/ur_kinematics/src/ur_kinematics/test_analytical_ik.py index c11860bf5..74a2e4337 100644 --- a/ur_kinematics/src/ur_kinematics/test_analytical_ik.py +++ b/ur_kinematics/src/ur_kinematics/test_analytical_ik.py @@ -1,3 +1,4 @@ +from __future__ import print_function import numpy as np import sys import roslib @@ -30,21 +31,21 @@ def test_q(q): qsol = [999.]*6 diff = np.sum(np.abs(np.array(qsol) - q)) if diff > 0.001: - print np.array(sols) - print 'Best q:', qsol - print 'Actual:', np.array(q) - print 'Diff: ', q - qsol - print 'Difdiv:', (q - qsol)/np.pi - print i1-3, i2-3, i3-3, i4-3, i5-3, i6-3 + print(np.array(sols)) + print('Best q:', qsol) + print('Actual:', np.array(q)) + print('Diff: ', q - qsol) + print('Difdiv:', (q - qsol)/np.pi) + print(i1-3, i2-3, i3-3, i4-3, i5-3, i6-3) if raw_input() == 'q': sys.exit() def main(): np.set_printoptions(precision=3) - print "Testing multiples of pi/2..." + print("Testing multiples of pi/2...") for i1 in range(0,5): for i2 in range(0,5): - print i1, i2 + print(i1, i2) for i3 in range(0,5): for i4 in range(0,5): for i5 in range(0,5): @@ -52,11 +53,11 @@ def main(): q = np.array([i1*np.pi/2., i2*np.pi/2., i3*np.pi/2., i4*np.pi/2., i5*np.pi/2., i6*np.pi/2.]) test_q(q) - print "Testing random configurations..." + print("Testing random configurations...") for i in range(10000): q = (np.random.rand(6)-.5)*4*np.pi test_q(q) - print "Done!" + print("Done!") if __name__ == "__main__": if False: diff --git a/ur_msgs/CHANGELOG.rst b/ur_msgs/CHANGELOG.rst deleted file mode 100644 index 02ddba397..000000000 --- a/ur_msgs/CHANGELOG.rst +++ /dev/null @@ -1,38 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_msgs -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.5 (2019-04-05) ------------------- -* Correct width and type of 'digital\_*_bits'. (`#416 `_) -* Clarify use of fields in SetIO svc. (`#415 `_) -* Update maintainer listing: add Miguel (`#410 `_) -* Add RobotModeDataMsg (`#395 `_) -* Update maintainer and author information. -* Contributors: Felix von Drigalski, gavanderhoorn - -1.2.1 (2018-01-06) ------------------- - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* No changes. - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* Add message definition for ToolData. -* Contributors: Nikolas Engelhard - -1.1.6 (2016-04-01) ------------------- -* Moved SetIO FUN constants from driver.py to relevant srv file for easier interaction from other files -* catkin_lint -* Contributors: Thomas Timm Andersen, ipa-fxm diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt deleted file mode 100644 index a9208aa4c..000000000 --- a/ur_msgs/CMakeLists.txt +++ /dev/null @@ -1,58 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur_msgs) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS message_generation std_msgs geometry_msgs) - - -## Generate messages in the 'msg' folder -add_message_files( - FILES - Analog.msg - Digital.msg - IOStates.msg - RobotStateRTMsg.msg - MasterboardDataMsg.msg - RobotModeDataMsg.msg - ToolDataMsg.msg -) - -## Generate services in the 'srv' folder -add_service_files( - FILES - SetPayload.srv - SetSpeedSliderFraction.srv - SetIO.srv -) - - -## Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - std_msgs - geometry_msgs -) - -################################### -## catkin specific configuration ## -################################### -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ur_msgs - CATKIN_DEPENDS message_runtime std_msgs geometry_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -############# -## Install ## -############# - -############# -## Testing ## -############# diff --git a/ur_msgs/msg/Analog.msg b/ur_msgs/msg/Analog.msg deleted file mode 100644 index f7400ca1c..000000000 --- a/ur_msgs/msg/Analog.msg +++ /dev/null @@ -1,6 +0,0 @@ -uint8 CURRENT=0 -uint8 VOLTAGE=1 - -uint8 pin -uint8 domain # can be VOLTAGE or CURRENT -float32 state diff --git a/ur_msgs/msg/Digital.msg b/ur_msgs/msg/Digital.msg deleted file mode 100644 index 618394595..000000000 --- a/ur_msgs/msg/Digital.msg +++ /dev/null @@ -1,2 +0,0 @@ -uint8 pin -bool state diff --git a/ur_msgs/msg/IOStates.msg b/ur_msgs/msg/IOStates.msg deleted file mode 100644 index e71957353..000000000 --- a/ur_msgs/msg/IOStates.msg +++ /dev/null @@ -1,5 +0,0 @@ -Digital[] digital_in_states -Digital[] digital_out_states -Digital[] flag_states -Analog[] analog_in_states -Analog[] analog_out_states diff --git a/ur_msgs/msg/MasterboardDataMsg.msg b/ur_msgs/msg/MasterboardDataMsg.msg deleted file mode 100644 index 18b6bbea7..000000000 --- a/ur_msgs/msg/MasterboardDataMsg.msg +++ /dev/null @@ -1,27 +0,0 @@ -# This data structure contains the MasterboardData structure -# used by the Universal Robots controller -# -# MasterboardData is part of the data structure being send on the -# secondary client communications interface -# -# This data structure is send at 10 Hz on TCP port 30002 -# -# Documentation can be found on the Universal Robots Support site, article -# number 16496. - -uint32 digital_input_bits -uint32 digital_output_bits -int8 analog_input_range0 -int8 analog_input_range1 -float64 analog_input0 -float64 analog_input1 -int8 analog_output_domain0 -int8 analog_output_domain1 -float64 analog_output0 -float64 analog_output1 -float32 masterboard_temperature -float32 robot_voltage_48V -float32 robot_current -float32 master_io_current -uint8 master_safety_state -uint8 master_onoff_state diff --git a/ur_msgs/msg/RobotModeDataMsg.msg b/ur_msgs/msg/RobotModeDataMsg.msg deleted file mode 100644 index 5c443f7b6..000000000 --- a/ur_msgs/msg/RobotModeDataMsg.msg +++ /dev/null @@ -1,15 +0,0 @@ -# This data structure contains the RobotModeData structure -# used by the Universal Robots controller -# -# This data structure is send at 10 Hz on TCP port 30002 -# -# Note: this message does not carry all fields from the RobotModeData structure as broadcast by the robot controller, but a subset. - -uint64 timestamp -bool is_robot_connected -bool is_real_robot_enabled -bool is_power_on_robot -bool is_emergency_stopped -bool is_protective_stopped -bool is_program_running -bool is_program_paused diff --git a/ur_msgs/msg/RobotStateRTMsg.msg b/ur_msgs/msg/RobotStateRTMsg.msg deleted file mode 100644 index 274146397..000000000 --- a/ur_msgs/msg/RobotStateRTMsg.msg +++ /dev/null @@ -1,27 +0,0 @@ -# Data structure for the realtime communications interface (aka Matlab interface) -# used by the Universal Robots controller -# -# This data structure is send at 125 Hz on TCP port 30003 -# -# Dokumentation can be found on the Universal Robots Support Wiki -# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9) - -float64 time -float64[] q_target -float64[] qd_target -float64[] qdd_target -float64[] i_target -float64[] m_target -float64[] q_actual -float64[] qd_actual -float64[] i_actual -float64[] tool_acc_values -float64[] tcp_force -float64[] tool_vector -float64[] tcp_speed -float64 digital_input_bits -float64[] motor_temperatures -float64 controller_timer -float64 test_value -float64 robot_mode -float64[] joint_modes diff --git a/ur_msgs/msg/ToolDataMsg.msg b/ur_msgs/msg/ToolDataMsg.msg deleted file mode 100644 index 83d782ab9..000000000 --- a/ur_msgs/msg/ToolDataMsg.msg +++ /dev/null @@ -1,20 +0,0 @@ -# This data structure contains the ToolData structure -# used by the Universal Robots controller - -int8 ANALOG_INPUT_RANGE_CURRENT = 0 -int8 ANALOG_INPUT_RANGE_VOLTAGE = 1 - -int8 analog_input_range2 # one of ANALOG_INPUT_RANGE_* -int8 analog_input_range3 # one of ANALOG_INPUT_RANGE_* -float64 analog_input2 -float64 analog_input3 -float32 tool_voltage_48v -uint8 tool_output_voltage -float32 tool_current -float32 tool_temperature - -uint8 TOOL_BOOTLOADER_MODE = 249 -uint8 TOOL_RUNNING_MODE = 253 -uint8 TOOL_IDLE_MODE = 255 - -uint8 tool_mode # one of TOOL_* diff --git a/ur_msgs/package.xml b/ur_msgs/package.xml deleted file mode 100644 index 18732c59a..000000000 --- a/ur_msgs/package.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - ur_msgs - 1.2.5 - The ur_msgs package - - Andrew Glusiec - Felix Messmer - G.A. vd. Hoorn - Miguel Prada Sarasola - Nadia Hammoudeh Garcia - - BSD - - catkin - message_generation - geometry_msgs - std_msgs - message_runtime - - - - diff --git a/ur_msgs/srv/SetIO.srv b/ur_msgs/srv/SetIO.srv deleted file mode 100644 index 0bea454e4..000000000 --- a/ur_msgs/srv/SetIO.srv +++ /dev/null @@ -1,42 +0,0 @@ -# Service allows setting digital (DIO) and analog (AIO) IO, as well as flags -# and configuring tool voltage. -# -# This service has three request fields (see below). -# -# When setting DIO or AIO pins to new values: -# -# fun The function to perform -# pin Numeric ID of the pin to set -# state Desired pin state (signal level for analog or STATE_(ON|OFF) for DIO and flags) -# -# When configuring tool voltage: -# -# fun Set to FUN_SET_TOOL_VOLTAGE -# pin Ignored -# state Desired tool voltage (use STATE_TOOL_VOLTAGE constants) - -# constants - -# valid function values -# -# Note: 'fun' is short for 'function' (ie: the function the service should perform). -int8 FUN_SET_DIGITAL_OUT = 1 -int8 FUN_SET_FLAG = 2 -int8 FUN_SET_ANALOG_OUT = 3 -int8 FUN_SET_TOOL_VOLTAGE = 4 - -# valid values for 'state' when setting digital IO or flags -int8 STATE_OFF = 0 -int8 STATE_ON = 1 - -# valid 'state' values when setting tool voltage -int8 STATE_TOOL_VOLTAGE_0V = 0 -int8 STATE_TOOL_VOLTAGE_12V = 12 -int8 STATE_TOOL_VOLTAGE_24V = 24 - -# request fields -int8 fun -int8 pin -float32 state ---- -bool success diff --git a/ur_msgs/srv/SetPayload.srv b/ur_msgs/srv/SetPayload.srv deleted file mode 100644 index ad93a27b6..000000000 --- a/ur_msgs/srv/SetPayload.srv +++ /dev/null @@ -1,4 +0,0 @@ -float32 payload -geometry_msgs/Vector3 center_of_gravity ------------------------ -bool success diff --git a/ur_msgs/srv/SetSpeedSliderFraction.srv b/ur_msgs/srv/SetSpeedSliderFraction.srv deleted file mode 100644 index 263a37597..000000000 --- a/ur_msgs/srv/SetSpeedSliderFraction.srv +++ /dev/null @@ -1,8 +0,0 @@ -# Set the speed slider on the teach pendant to the specified value. -# -# Values for 'speed_slider_fraction' must be from [0; 1.0]; values outside this -# valid range will result in an error being returned to the caller. - -float64 speed_slider_fraction ---- -bool success