From b3d32d637396577923e022c56f59e8680dc1b869 Mon Sep 17 00:00:00 2001 From: Ludovic Delval Date: Tue, 2 Jul 2019 16:20:34 +0200 Subject: [PATCH 001/133] deleted ur_e specific repositories * moved ur_e_description meshes files to ur_description --- universal_robots/package.xml | 2 - .../meshes/ur10e/collision/base.stl | Bin .../meshes/ur10e/collision/forearm.stl | Bin .../meshes/ur10e/collision/shoulder.stl | Bin .../meshes/ur10e/collision/upperarm.stl | Bin .../meshes/ur10e/collision/wrist1.stl | Bin .../meshes/ur10e/collision/wrist2.stl | Bin .../meshes/ur10e/collision/wrist3.stl | Bin .../meshes/ur10e/visual/base.dae | 0 .../meshes/ur10e/visual/forearm.dae | 0 .../meshes/ur10e/visual/shoulder.dae | 0 .../meshes/ur10e/visual/upperarm.dae | 0 .../meshes/ur10e/visual/wrist1.dae | 0 .../meshes/ur10e/visual/wrist2.dae | 0 .../meshes/ur10e/visual/wrist3.dae | 0 .../meshes/ur3e/collision/base.stl | Bin .../meshes/ur3e/collision/forearm.stl | Bin .../meshes/ur3e/collision/shoulder.stl | Bin .../meshes/ur3e/collision/upperarm.stl | Bin .../meshes/ur3e/collision/wrist1.stl | Bin .../meshes/ur3e/collision/wrist2.stl | Bin .../meshes/ur3e/collision/wrist3.stl | Bin .../meshes/ur3e/visual/base.dae | 0 .../meshes/ur3e/visual/forearm.dae | 0 .../meshes/ur3e/visual/shoulder.dae | 0 .../meshes/ur3e/visual/upperarm.dae | 0 .../meshes/ur3e/visual/wrist1.dae | 0 .../meshes/ur3e/visual/wrist2.dae | 0 .../meshes/ur3e/visual/wrist3.dae | 0 .../meshes/ur5e/collision/base.stl | Bin .../meshes/ur5e/collision/forearm.stl | Bin .../meshes/ur5e/collision/shoulder.stl | Bin .../meshes/ur5e/collision/upperarm.stl | Bin .../meshes/ur5e/collision/wrist1.stl | Bin .../meshes/ur5e/collision/wrist2.stl | Bin .../meshes/ur5e/collision/wrist3.stl | Bin .../meshes/ur5e/visual/base.dae | 0 .../meshes/ur5e/visual/forearm.dae | 0 .../meshes/ur5e/visual/shoulder.dae | 0 .../meshes/ur5e/visual/upperarm.dae | 0 .../meshes/ur5e/visual/wrist1.dae | 0 .../meshes/ur5e/visual/wrist2.dae | 0 .../meshes/ur5e/visual/wrist3.dae | 0 ur_e_description/CHANGELOG.rst | 10 - ur_e_description/CMakeLists.txt | 15 - ur_e_description/cfg/view_robot.rviz | 184 --------- ur_e_description/launch/ur10e_upload.launch | 7 - ur_e_description/launch/ur3e_upload.launch | 7 - ur_e_description/launch/ur5e_upload.launch | 7 - ur_e_description/launch/view_ur10e.launch | 10 - ur_e_description/launch/view_ur3e.launch | 10 - ur_e_description/launch/view_ur5e.launch | 10 - ur_e_description/package.xml | 30 -- ur_e_description/urdf/common.gazebo.xacro | 26 -- ur_e_description/urdf/ur.gazebo.xacro | 30 -- ur_e_description/urdf/ur.transmission.xacro | 68 ---- ur_e_description/urdf/ur10e.urdf.xacro | 366 ----------------- .../urdf/ur10e_joint_limited_robot.urdf.xacro | 29 -- ur_e_description/urdf/ur10e_robot.urdf.xacro | 22 - ur_e_description/urdf/ur3e.urdf.xacro | 365 ----------------- .../urdf/ur3e_joint_limited_robot.urdf.xacro | 29 -- ur_e_description/urdf/ur3e_robot.urdf.xacro | 22 - ur_e_description/urdf/ur5e.urdf.xacro | 382 ------------------ .../urdf/ur5e_joint_limited_robot.urdf.xacro | 29 -- ur_e_description/urdf/ur5e_robot.urdf.xacro | 22 - ur_e_gazebo/CHANGELOG.rst | 10 - ur_e_gazebo/CMakeLists.txt | 14 - .../controller/arm_controller_ur10e.yaml | 31 -- .../controller/arm_controller_ur3e.yaml | 31 -- .../controller/arm_controller_ur5e.yaml | 31 -- .../controller/joint_state_controller.yaml | 3 - ur_e_gazebo/launch/controller_utils.launch | 18 - ur_e_gazebo/launch/ur10e.launch | 31 -- ur_e_gazebo/launch/ur10e_joint_limited.launch | 10 - ur_e_gazebo/launch/ur3e.launch | 31 -- ur_e_gazebo/launch/ur3e_joint_limited.launch | 10 - ur_e_gazebo/launch/ur5e.launch | 31 -- ur_e_gazebo/launch/ur5e_joint_limited.launch | 10 - ur_e_gazebo/package.xml | 37 -- ur_e_gazebo/tests/roslaunch_test.xml | 31 -- 80 files changed, 2011 deletions(-) rename {ur_e_description => ur_description}/meshes/ur10e/collision/base.stl (100%) rename {ur_e_description => ur_description}/meshes/ur10e/collision/forearm.stl (100%) rename {ur_e_description => ur_description}/meshes/ur10e/collision/shoulder.stl (100%) rename {ur_e_description => ur_description}/meshes/ur10e/collision/upperarm.stl (100%) rename {ur_e_description => ur_description}/meshes/ur10e/collision/wrist1.stl (100%) rename {ur_e_description => ur_description}/meshes/ur10e/collision/wrist2.stl (100%) rename {ur_e_description => ur_description}/meshes/ur10e/collision/wrist3.stl (100%) rename {ur_e_description => ur_description}/meshes/ur10e/visual/base.dae (100%) rename {ur_e_description => ur_description}/meshes/ur10e/visual/forearm.dae (100%) rename {ur_e_description => ur_description}/meshes/ur10e/visual/shoulder.dae (100%) rename {ur_e_description => ur_description}/meshes/ur10e/visual/upperarm.dae (100%) rename {ur_e_description => ur_description}/meshes/ur10e/visual/wrist1.dae (100%) rename {ur_e_description => ur_description}/meshes/ur10e/visual/wrist2.dae (100%) rename {ur_e_description => ur_description}/meshes/ur10e/visual/wrist3.dae (100%) rename {ur_e_description => ur_description}/meshes/ur3e/collision/base.stl (100%) rename {ur_e_description => ur_description}/meshes/ur3e/collision/forearm.stl (100%) rename {ur_e_description => ur_description}/meshes/ur3e/collision/shoulder.stl (100%) rename {ur_e_description => ur_description}/meshes/ur3e/collision/upperarm.stl (100%) rename {ur_e_description => ur_description}/meshes/ur3e/collision/wrist1.stl (100%) rename {ur_e_description => ur_description}/meshes/ur3e/collision/wrist2.stl (100%) rename {ur_e_description => ur_description}/meshes/ur3e/collision/wrist3.stl (100%) rename {ur_e_description => ur_description}/meshes/ur3e/visual/base.dae (100%) rename {ur_e_description => ur_description}/meshes/ur3e/visual/forearm.dae (100%) rename {ur_e_description => ur_description}/meshes/ur3e/visual/shoulder.dae (100%) rename {ur_e_description => ur_description}/meshes/ur3e/visual/upperarm.dae (100%) rename {ur_e_description => ur_description}/meshes/ur3e/visual/wrist1.dae (100%) rename {ur_e_description => ur_description}/meshes/ur3e/visual/wrist2.dae (100%) rename {ur_e_description => ur_description}/meshes/ur3e/visual/wrist3.dae (100%) rename {ur_e_description => ur_description}/meshes/ur5e/collision/base.stl (100%) rename {ur_e_description => ur_description}/meshes/ur5e/collision/forearm.stl (100%) rename {ur_e_description => ur_description}/meshes/ur5e/collision/shoulder.stl (100%) rename {ur_e_description => ur_description}/meshes/ur5e/collision/upperarm.stl (100%) rename {ur_e_description => ur_description}/meshes/ur5e/collision/wrist1.stl (100%) rename {ur_e_description => ur_description}/meshes/ur5e/collision/wrist2.stl (100%) rename {ur_e_description => ur_description}/meshes/ur5e/collision/wrist3.stl (100%) rename {ur_e_description => ur_description}/meshes/ur5e/visual/base.dae (100%) rename {ur_e_description => ur_description}/meshes/ur5e/visual/forearm.dae (100%) rename {ur_e_description => ur_description}/meshes/ur5e/visual/shoulder.dae (100%) rename {ur_e_description => ur_description}/meshes/ur5e/visual/upperarm.dae (100%) rename {ur_e_description => ur_description}/meshes/ur5e/visual/wrist1.dae (100%) rename {ur_e_description => ur_description}/meshes/ur5e/visual/wrist2.dae (100%) rename {ur_e_description => ur_description}/meshes/ur5e/visual/wrist3.dae (100%) delete mode 100644 ur_e_description/CHANGELOG.rst delete mode 100644 ur_e_description/CMakeLists.txt delete mode 100644 ur_e_description/cfg/view_robot.rviz delete mode 100644 ur_e_description/launch/ur10e_upload.launch delete mode 100644 ur_e_description/launch/ur3e_upload.launch delete mode 100644 ur_e_description/launch/ur5e_upload.launch delete mode 100644 ur_e_description/launch/view_ur10e.launch delete mode 100644 ur_e_description/launch/view_ur3e.launch delete mode 100644 ur_e_description/launch/view_ur5e.launch delete mode 100644 ur_e_description/package.xml delete mode 100644 ur_e_description/urdf/common.gazebo.xacro delete mode 100644 ur_e_description/urdf/ur.gazebo.xacro delete mode 100644 ur_e_description/urdf/ur.transmission.xacro delete mode 100644 ur_e_description/urdf/ur10e.urdf.xacro delete mode 100644 ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro delete mode 100644 ur_e_description/urdf/ur10e_robot.urdf.xacro delete mode 100644 ur_e_description/urdf/ur3e.urdf.xacro delete mode 100644 ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro delete mode 100644 ur_e_description/urdf/ur3e_robot.urdf.xacro delete mode 100644 ur_e_description/urdf/ur5e.urdf.xacro delete mode 100644 ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro delete mode 100644 ur_e_description/urdf/ur5e_robot.urdf.xacro delete mode 100644 ur_e_gazebo/CHANGELOG.rst delete mode 100644 ur_e_gazebo/CMakeLists.txt delete mode 100644 ur_e_gazebo/controller/arm_controller_ur10e.yaml delete mode 100644 ur_e_gazebo/controller/arm_controller_ur3e.yaml delete mode 100644 ur_e_gazebo/controller/arm_controller_ur5e.yaml delete mode 100644 ur_e_gazebo/controller/joint_state_controller.yaml delete mode 100644 ur_e_gazebo/launch/controller_utils.launch delete mode 100644 ur_e_gazebo/launch/ur10e.launch delete mode 100644 ur_e_gazebo/launch/ur10e_joint_limited.launch delete mode 100644 ur_e_gazebo/launch/ur3e.launch delete mode 100644 ur_e_gazebo/launch/ur3e_joint_limited.launch delete mode 100644 ur_e_gazebo/launch/ur5e.launch delete mode 100644 ur_e_gazebo/launch/ur5e_joint_limited.launch delete mode 100644 ur_e_gazebo/package.xml delete mode 100644 ur_e_gazebo/tests/roslaunch_test.xml diff --git a/universal_robots/package.xml b/universal_robots/package.xml index 9a6a18900..4e123b298 100644 --- a/universal_robots/package.xml +++ b/universal_robots/package.xml @@ -29,8 +29,6 @@ ur_bringup ur_description ur_driver - ur_e_description - ur_e_gazebo ur_gazebo ur_kinematics ur_msgs 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/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_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 f729cb3eb..000000000 --- a/ur_e_description/CMakeLists.txt +++ /dev/null @@ -1,15 +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}) 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 c9f8bbddd..000000000 --- a/ur_e_description/launch/ur10e_upload.launch +++ /dev/null @@ -1,7 +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 67132551f..000000000 --- a/ur_e_description/launch/ur3e_upload.launch +++ /dev/null @@ -1,7 +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 f2e4a30e1..000000000 --- a/ur_e_description/launch/ur5e_upload.launch +++ /dev/null @@ -1,7 +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_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 4b2d12630..000000000 --- a/ur_e_description/urdf/ur.transmission.xacro +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - 1 - - - - - - diff --git a/ur_e_description/urdf/ur10e.urdf.xacro b/ur_e_description/urdf/ur10e.urdf.xacro deleted file mode 100644 index 9cd24e786..000000000 --- a/ur_e_description/urdf/ur10e.urdf.xacro +++ /dev/null @@ -1,366 +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 1959d2f8c..000000000 --- a/ur_e_description/urdf/ur10e_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,29 +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 3babbe7b0..000000000 --- a/ur_e_description/urdf/ur10e_robot.urdf.xacro +++ /dev/null @@ -1,22 +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 fc8fe1da1..000000000 --- a/ur_e_description/urdf/ur3e.urdf.xacro +++ /dev/null @@ -1,365 +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 88a579976..000000000 --- a/ur_e_description/urdf/ur3e_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,29 +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 9a3036462..000000000 --- a/ur_e_description/urdf/ur3e_robot.urdf.xacro +++ /dev/null @@ -1,22 +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 460ba61a5..000000000 --- a/ur_e_description/urdf/ur5e.urdf.xacro +++ /dev/null @@ -1,382 +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 7d7489247..000000000 --- a/ur_e_description/urdf/ur5e_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,29 +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 ada88a192..000000000 --- a/ur_e_description/urdf/ur5e_robot.urdf.xacro +++ /dev/null @@ -1,22 +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 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From f7f16841586c944c0f494f9c4f35f5f5fa9e222b Mon Sep 17 00:00:00 2001 From: Ludovic Delval Date: Mon, 15 Jul 2019 18:12:35 +0200 Subject: [PATCH 002/133] create parameters yaml files * one for each models --- ur_description/CMakeLists.txt | 1 + .../config/ur10/joints_limits_parameters.yaml | 32 ++++++++ .../config/ur10/physical_parameters.yaml | 77 +++++++++++++++++++ .../config/ur10/visual_parameters.yaml | 66 ++++++++++++++++ .../ur10e/joints_limits_parameters.yaml | 32 ++++++++ .../config/ur10e/physical_parameters.yaml | 77 +++++++++++++++++++ .../config/ur10e/visual_parameters.yaml | 66 ++++++++++++++++ .../config/ur3/joints_limits_parameters.yaml | 33 ++++++++ .../config/ur3/physical_parameters.yaml | 77 +++++++++++++++++++ .../config/ur3/visual_parameters.yaml | 64 +++++++++++++++ .../config/ur3e/joints_limits_parameters.yaml | 33 ++++++++ .../config/ur3e/physical_parameters.yaml | 77 +++++++++++++++++++ .../config/ur3e/visual_parameters.yaml | 64 +++++++++++++++ .../config/ur5/joints_limits_parameters.yaml | 33 ++++++++ .../config/ur5/physical_parameters.yaml | 77 +++++++++++++++++++ .../config/ur5/visual_parameters.yaml | 64 +++++++++++++++ .../config/ur5e/joints_limits_parameters.yaml | 33 ++++++++ .../config/ur5e/physical_parameters.yaml | 77 +++++++++++++++++++ .../config/ur5e/visual_parameters.yaml | 64 +++++++++++++++ 19 files changed, 1047 insertions(+) create mode 100644 ur_description/config/ur10/joints_limits_parameters.yaml create mode 100644 ur_description/config/ur10/physical_parameters.yaml create mode 100644 ur_description/config/ur10/visual_parameters.yaml create mode 100644 ur_description/config/ur10e/joints_limits_parameters.yaml create mode 100644 ur_description/config/ur10e/physical_parameters.yaml create mode 100644 ur_description/config/ur10e/visual_parameters.yaml create mode 100644 ur_description/config/ur3/joints_limits_parameters.yaml create mode 100644 ur_description/config/ur3/physical_parameters.yaml create mode 100644 ur_description/config/ur3/visual_parameters.yaml create mode 100644 ur_description/config/ur3e/joints_limits_parameters.yaml create mode 100644 ur_description/config/ur3e/physical_parameters.yaml create mode 100644 ur_description/config/ur3e/visual_parameters.yaml create mode 100644 ur_description/config/ur5/joints_limits_parameters.yaml create mode 100644 ur_description/config/ur5/physical_parameters.yaml create mode 100644 ur_description/config/ur5/visual_parameters.yaml create mode 100644 ur_description/config/ur5e/joints_limits_parameters.yaml create mode 100644 ur_description/config/ur5e/physical_parameters.yaml create mode 100644 ur_description/config/ur5e/visual_parameters.yaml diff --git a/ur_description/CMakeLists.txt b/ur_description/CMakeLists.txt index c6e9dc7bd..a3bda6691 100644 --- a/ur_description/CMakeLists.txt +++ b/ur_description/CMakeLists.txt @@ -86,6 +86,7 @@ catkin_package( 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 diff --git a/ur_description/config/ur10/joints_limits_parameters.yaml b/ur_description/config/ur10/joints_limits_parameters.yaml new file mode 100644 index 000000000..377d49254 --- /dev/null +++ b/ur_description/config/ur10/joints_limits_parameters.yaml @@ -0,0 +1,32 @@ +# Joints limits +limits: + shoulder_pan: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + shoulder_lift: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + elbow_joint: + lower: -3.14159265359 + upper: 3.14159265359 + velocity: 3.15 + effort: 150.0 + wrist_1: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_2: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_3: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 \ No newline at end of file diff --git a/ur_description/config/ur10/physical_parameters.yaml b/ur_description/config/ur10/physical_parameters.yaml new file mode 100644 index 000000000..5af32680a --- /dev/null +++ b/ur_description/config/ur10/physical_parameters.yaml @@ -0,0 +1,77 @@ +# 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: -0.1719 # measured from model + upper_arm_inertia_offset: 0.045 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 7.778 + upper_arm_mass: 12.93 + 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 + wrist_1: + radius: 0.075 + length: 0.12 + wrist_2: + radius: 0.075 + length: 0.12 + 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 \ No newline at end of file diff --git a/ur_description/config/ur10/visual_parameters.yaml b/ur_description/config/ur10/visual_parameters.yaml new file mode 100644 index 000000000..b165e1d43 --- /dev/null +++ b/ur_description/config/ur10/visual_parameters.yaml @@ -0,0 +1,66 @@ +# 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" + + 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" + + 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" \ No newline at end of file diff --git a/ur_description/config/ur10e/joints_limits_parameters.yaml b/ur_description/config/ur10e/joints_limits_parameters.yaml new file mode 100644 index 000000000..377d49254 --- /dev/null +++ b/ur_description/config/ur10e/joints_limits_parameters.yaml @@ -0,0 +1,32 @@ +# Joints limits +limits: + shoulder_pan: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + shoulder_lift: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + elbow_joint: + lower: -3.14159265359 + upper: 3.14159265359 + velocity: 3.15 + effort: 150.0 + wrist_1: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_2: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_3: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 \ No newline at end of file diff --git a/ur_description/config/ur10e/physical_parameters.yaml b/ur_description/config/ur10e/physical_parameters.yaml new file mode 100644 index 000000000..bd1a55260 --- /dev/null +++ b/ur_description/config/ur10e/physical_parameters.yaml @@ -0,0 +1,77 @@ +# 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: 0.176 # measured from model + elbow_offset: -0.137 # measured from model + upper_arm_inertia_offset: 0.0 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 7.778 + upper_arm_mass: 12.93 + 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 + 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 \ No newline at end of file diff --git a/ur_description/config/ur10e/visual_parameters.yaml b/ur_description/config/ur10e/visual_parameters.yaml new file mode 100644 index 000000000..b4d6721ea --- /dev/null +++ b/ur_description/config/ur10e/visual_parameters.yaml @@ -0,0 +1,66 @@ +# 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" + + 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" + + 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" \ No newline at end of file diff --git a/ur_description/config/ur3/joints_limits_parameters.yaml b/ur_description/config/ur3/joints_limits_parameters.yaml new file mode 100644 index 000000000..ee55da0f0 --- /dev/null +++ b/ur_description/config/ur3/joints_limits_parameters.yaml @@ -0,0 +1,33 @@ +# Joints limits + +limits: + shoulder_pan: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + shoulder_lift: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + elbow_joint: + lower: -3.14159265359 + upper: 3.14159265359 + velocity: 3.15 + effort: 150.0 + wrist_1: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_2: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_3: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 \ No newline at end of file diff --git a/ur_description/config/ur3/physical_parameters.yaml b/ur_description/config/ur3/physical_parameters.yaml new file mode 100644 index 000000000..8f0043f83 --- /dev/null +++ b/ur_description/config/ur3/physical_parameters.yaml @@ -0,0 +1,77 @@ +# 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: -0.0925 # measured from model + upper_arm_inertia_offset: 0.0 # measured from model + +inertia_parameters: + base_mass: 2.0 # This mass might be incorrect + shoulder_mass: 2.0 + upper_arm_mass: 3.42 + 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 + 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 \ No newline at end of file diff --git a/ur_description/config/ur3/visual_parameters.yaml b/ur_description/config/ur3/visual_parameters.yaml new file mode 100644 index 000000000..8c843c83f --- /dev/null +++ b/ur_description/config/ur3/visual_parameters.yaml @@ -0,0 +1,64 @@ +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" + + 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" + + 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" \ No newline at end of file diff --git a/ur_description/config/ur3e/joints_limits_parameters.yaml b/ur_description/config/ur3e/joints_limits_parameters.yaml new file mode 100644 index 000000000..ee55da0f0 --- /dev/null +++ b/ur_description/config/ur3e/joints_limits_parameters.yaml @@ -0,0 +1,33 @@ +# Joints limits + +limits: + shoulder_pan: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + shoulder_lift: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + elbow_joint: + lower: -3.14159265359 + upper: 3.14159265359 + velocity: 3.15 + effort: 150.0 + wrist_1: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_2: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_3: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 \ No newline at end of file diff --git a/ur_description/config/ur3e/physical_parameters.yaml b/ur_description/config/ur3e/physical_parameters.yaml new file mode 100644 index 000000000..8518adba8 --- /dev/null +++ b/ur_description/config/ur3e/physical_parameters.yaml @@ -0,0 +1,77 @@ +# 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: -0.093 # measured from model + upper_arm_inertia_offset: 0.0 # measured from model + +inertia_parameters: + base_mass: 2.0 # This mass might be incorrect + shoulder_mass: 2.0 + upper_arm_mass: 3.42 + 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 + 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 \ No newline at end of file diff --git a/ur_description/config/ur3e/visual_parameters.yaml b/ur_description/config/ur3e/visual_parameters.yaml new file mode 100644 index 000000000..7f8121f02 --- /dev/null +++ b/ur_description/config/ur3e/visual_parameters.yaml @@ -0,0 +1,64 @@ +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" + + 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" + + 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" \ No newline at end of file diff --git a/ur_description/config/ur5/joints_limits_parameters.yaml b/ur_description/config/ur5/joints_limits_parameters.yaml new file mode 100644 index 000000000..ee55da0f0 --- /dev/null +++ b/ur_description/config/ur5/joints_limits_parameters.yaml @@ -0,0 +1,33 @@ +# Joints limits + +limits: + shoulder_pan: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + shoulder_lift: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + elbow_joint: + lower: -3.14159265359 + upper: 3.14159265359 + velocity: 3.15 + effort: 150.0 + wrist_1: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_2: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_3: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 \ No newline at end of file diff --git a/ur_description/config/ur5/physical_parameters.yaml b/ur_description/config/ur5/physical_parameters.yaml new file mode 100644 index 000000000..62310b593 --- /dev/null +++ b/ur_description/config/ur5/physical_parameters.yaml @@ -0,0 +1,77 @@ +# 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: -0.1197 # measured from model + upper_arm_inertia_offset: 0.0 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 3.7000 + upper_arm_mass: 8.3930 + 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: 0.56 + forearm: + radius: 0.06 + wrist_1: + radius: 0.06 + length: 0.12 + wrist_2: + radius: 0.06 + length: 0.12 + wrist_3: + radius: 0.0375 + length: 0.0345 + + 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..13b231422 --- /dev/null +++ b/ur_description/config/ur5/visual_parameters.yaml @@ -0,0 +1,64 @@ +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" + + 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" + + 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" \ No newline at end of file diff --git a/ur_description/config/ur5e/joints_limits_parameters.yaml b/ur_description/config/ur5e/joints_limits_parameters.yaml new file mode 100644 index 000000000..ee55da0f0 --- /dev/null +++ b/ur_description/config/ur5e/joints_limits_parameters.yaml @@ -0,0 +1,33 @@ +# Joints limits + +limits: + shoulder_pan: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + shoulder_lift: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + elbow_joint: + lower: -3.14159265359 + upper: 3.14159265359 + velocity: 3.15 + effort: 150.0 + wrist_1: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_2: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_3: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 \ No newline at end of file diff --git a/ur_description/config/ur5e/physical_parameters.yaml b/ur_description/config/ur5e/physical_parameters.yaml new file mode 100644 index 000000000..6b56f490c --- /dev/null +++ b/ur_description/config/ur5e/physical_parameters.yaml @@ -0,0 +1,77 @@ +# 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: -0.131 # measured from model + upper_arm_inertia_offset: 0.0 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 3.7000 + upper_arm_mass: 8.3930 + 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 + 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..3dd428261 --- /dev/null +++ b/ur_description/config/ur5e/visual_parameters.yaml @@ -0,0 +1,64 @@ +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" + + 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" + + 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" \ No newline at end of file From 8a1955ab7f483cb078bea82b09645c1e2a794485 Mon Sep 17 00:00:00 2001 From: Ludovic Delval Date: Mon, 15 Jul 2019 18:14:32 +0200 Subject: [PATCH 003/133] made common macro for ur_robot urdf * removed each model specific xacro * use of yaml files * pass yaml files as parameters * common ur_robo macro * remved ur_gazebo specific parts --- ur_description/urdf/common.gazebo.xacro | 26 -- ur_description/urdf/ur.common.xacro | 160 ++++++++ ur_description/urdf/ur.gazebo.xacro | 30 -- ur_description/urdf/ur10.urdf.xacro | 367 ----------------- .../urdf/ur10_joint_limited_robot.urdf.xacro | 32 -- ur_description/urdf/ur10_robot.urdf.xacro | 26 -- ur_description/urdf/ur3.urdf.xacro | 365 ----------------- .../urdf/ur3_joint_limited_robot.urdf.xacro | 32 -- ur_description/urdf/ur3_robot.urdf.xacro | 26 -- ur_description/urdf/ur5.urdf.xacro | 382 ------------------ .../urdf/ur5_joint_limited_robot.urdf.xacro | 32 -- ur_description/urdf/ur5_robot.urdf.xacro | 26 -- ur_description/urdf/ur_robot.macro.xacro | 270 +++++++++++++ ur_description/urdf/ur_robot.urdf.xacro | 25 ++ 14 files changed, 455 insertions(+), 1344 deletions(-) delete mode 100644 ur_description/urdf/common.gazebo.xacro create mode 100644 ur_description/urdf/ur.common.xacro delete mode 100644 ur_description/urdf/ur.gazebo.xacro delete mode 100644 ur_description/urdf/ur10.urdf.xacro delete mode 100644 ur_description/urdf/ur10_joint_limited_robot.urdf.xacro delete mode 100644 ur_description/urdf/ur10_robot.urdf.xacro delete mode 100644 ur_description/urdf/ur3.urdf.xacro delete mode 100644 ur_description/urdf/ur3_joint_limited_robot.urdf.xacro delete mode 100644 ur_description/urdf/ur3_robot.urdf.xacro delete mode 100644 ur_description/urdf/ur5.urdf.xacro delete mode 100644 ur_description/urdf/ur5_joint_limited_robot.urdf.xacro delete mode 100644 ur_description/urdf/ur5_robot.urdf.xacro create mode 100644 ur_description/urdf/ur_robot.macro.xacro create mode 100644 ur_description/urdf/ur_robot.urdf.xacro 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/ur.common.xacro b/ur_description/urdf/ur.common.xacro new file mode 100644 index 000000000..388617065 --- /dev/null +++ b/ur_description/urdf/ur.common.xacro @@ -0,0 +1,160 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro deleted file mode 100644 index f8c86c499..000000000 --- a/ur_description/urdf/ur10.urdf.xacro +++ /dev/null @@ -1,367 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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 3aebf144f..000000000 --- a/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,32 +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 188021c7f..000000000 --- a/ur_description/urdf/ur10_robot.urdf.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur3.urdf.xacro b/ur_description/urdf/ur3.urdf.xacro deleted file mode 100644 index 839cc06ac..000000000 --- a/ur_description/urdf/ur3.urdf.xacro +++ /dev/null @@ -1,365 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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 7b482e27c..000000000 --- a/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,32 +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 f92e1a04c..000000000 --- a/ur_description/urdf/ur3_robot.urdf.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro deleted file mode 100644 index 909f92362..000000000 --- a/ur_description/urdf/ur5.urdf.xacro +++ /dev/null @@ -1,382 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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 9d81d0057..000000000 --- a/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,32 +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 1c81fb53d..000000000 --- a/ur_description/urdf/ur5_robot.urdf.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_description/urdf/ur_robot.macro.xacro b/ur_description/urdf/ur_robot.macro.xacro new file mode 100644 index 000000000..81d7f18f0 --- /dev/null +++ b/ur_description/urdf/ur_robot.macro.xacro @@ -0,0 +1,270 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/urdf/ur_robot.urdf.xacro b/ur_description/urdf/ur_robot.urdf.xacro new file mode 100644 index 000000000..620320fa1 --- /dev/null +++ b/ur_description/urdf/ur_robot.urdf.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + From 8ee4a405e6177b21525163e0fd3256cbbadfdca7 Mon Sep 17 00:00:00 2001 From: Ludovic Delval Date: Mon, 15 Jul 2019 18:34:52 +0200 Subject: [PATCH 004/133] create urdf files for ur_gazebo --- ur_gazebo/CMakeLists.txt | 2 +- ur_gazebo/urdf/common.gazebo.xacro | 26 ++++++++++++++ ur_gazebo/urdf/ur_robot.urdf.xacro | 34 ++++++++++++++++++ ur_gazebo/urdf/ur_robot_gazebo.macro.xacro | 42 ++++++++++++++++++++++ 4 files changed, 103 insertions(+), 1 deletion(-) create mode 100644 ur_gazebo/urdf/common.gazebo.xacro create mode 100644 ur_gazebo/urdf/ur_robot.urdf.xacro create mode 100644 ur_gazebo/urdf/ur_robot_gazebo.macro.xacro diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt index 19effd7a8..d390277f3 100644 --- a/ur_gazebo/CMakeLists.txt +++ b/ur_gazebo/CMakeLists.txt @@ -11,4 +11,4 @@ if (CATKIN_ENABLE_TESTING) roslaunch_add_file_check(tests/roslaunch_test.xml) endif() -install(DIRECTORY launch controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY launch controller urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_gazebo/urdf/common.gazebo.xacro b/ur_gazebo/urdf/common.gazebo.xacro new file mode 100644 index 000000000..e92df3fd0 --- /dev/null +++ b/ur_gazebo/urdf/common.gazebo.xacro @@ -0,0 +1,26 @@ + + + + + + + + + + + + + \ No newline at end of file diff --git a/ur_gazebo/urdf/ur_robot.urdf.xacro b/ur_gazebo/urdf/ur_robot.urdf.xacro new file mode 100644 index 000000000..6cf62b77f --- /dev/null +++ b/ur_gazebo/urdf/ur_robot.urdf.xacro @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro b/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro new file mode 100644 index 000000000..bdce7cb0e --- /dev/null +++ b/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro @@ -0,0 +1,42 @@ + + + + + + + + + + + + true + + + true + + + true + + + true + + + true + + + true + + + true + + + + \ No newline at end of file From 0026d0e26e36f3baaf8b28e602a5654b07210933 Mon Sep 17 00:00:00 2001 From: Ludovic Delval Date: Mon, 15 Jul 2019 18:15:51 +0200 Subject: [PATCH 005/133] update ur_description launch files * use of yaml files parameters * added e_series * create a common launch file to avoir duplicated --- ur_description/launch/ur10_upload.launch | 22 ++++++++++++++++++---- ur_description/launch/ur10e_upload.launch | 22 ++++++++++++++++++++++ ur_description/launch/ur3_upload.launch | 20 +++++++++++++++++--- ur_description/launch/ur3e_upload.launch | 22 ++++++++++++++++++++++ ur_description/launch/ur5_upload.launch | 22 ++++++++++++++++++---- ur_description/launch/ur5e_upload.launch | 22 ++++++++++++++++++++++ ur_description/launch/ur_common.launch | 22 ++++++++++++++++++++++ ur_description/launch/view_ur10e.launch | 10 ++++++++++ ur_description/launch/view_ur3e.launch | 10 ++++++++++ ur_description/launch/view_ur5e.launch | 10 ++++++++++ 10 files changed, 171 insertions(+), 11 deletions(-) create mode 100644 ur_description/launch/ur10e_upload.launch create mode 100644 ur_description/launch/ur3e_upload.launch create mode 100644 ur_description/launch/ur5e_upload.launch create mode 100644 ur_description/launch/ur_common.launch create mode 100644 ur_description/launch/view_ur10e.launch create mode 100644 ur_description/launch/view_ur3e.launch create mode 100644 ur_description/launch/view_ur5e.launch diff --git a/ur_description/launch/ur10_upload.launch b/ur_description/launch/ur10_upload.launch index cffd27b5a..03f6e5197 100644 --- a/ur_description/launch/ur10_upload.launch +++ b/ur_description/launch/ur10_upload.launch @@ -1,8 +1,22 @@ - + + + + + + + + - - - + + + + + + + + + + \ No newline at end of file diff --git a/ur_description/launch/ur10e_upload.launch b/ur_description/launch/ur10e_upload.launch new file mode 100644 index 000000000..836d91acb --- /dev/null +++ b/ur_description/launch/ur10e_upload.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ur_description/launch/ur3_upload.launch b/ur_description/launch/ur3_upload.launch index c5df8b498..c8b585089 100644 --- a/ur_description/launch/ur3_upload.launch +++ b/ur_description/launch/ur3_upload.launch @@ -1,8 +1,22 @@ - + + + + + + + + - - + + + + + + + + + diff --git a/ur_description/launch/ur3e_upload.launch b/ur_description/launch/ur3e_upload.launch new file mode 100644 index 000000000..9ab2b35e4 --- /dev/null +++ b/ur_description/launch/ur3e_upload.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/ur5_upload.launch b/ur_description/launch/ur5_upload.launch index d71b2bb05..c9dbc74ba 100644 --- a/ur_description/launch/ur5_upload.launch +++ b/ur_description/launch/ur5_upload.launch @@ -1,8 +1,22 @@ - + + + + + + + + - - - + + + + + + + + + + \ No newline at end of file diff --git a/ur_description/launch/ur5e_upload.launch b/ur_description/launch/ur5e_upload.launch new file mode 100644 index 000000000..4b2a8a171 --- /dev/null +++ b/ur_description/launch/ur5e_upload.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ur_description/launch/ur_common.launch b/ur_description/launch/ur_common.launch new file mode 100644 index 000000000..700605273 --- /dev/null +++ b/ur_description/launch/ur_common.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + diff --git a/ur_description/launch/view_ur10e.launch b/ur_description/launch/view_ur10e.launch new file mode 100644 index 000000000..b12ed7e91 --- /dev/null +++ b/ur_description/launch/view_ur10e.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/launch/view_ur3e.launch b/ur_description/launch/view_ur3e.launch new file mode 100644 index 000000000..6a4f5b4a0 --- /dev/null +++ b/ur_description/launch/view_ur3e.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/launch/view_ur5e.launch b/ur_description/launch/view_ur5e.launch new file mode 100644 index 000000000..4190ed3ff --- /dev/null +++ b/ur_description/launch/view_ur5e.launch @@ -0,0 +1,10 @@ + + + + + + + + + + From eb25fdd3c1adb96606be536d9ffd3138d982ea9e Mon Sep 17 00:00:00 2001 From: Ludovic Delval Date: Mon, 15 Jul 2019 18:16:22 +0200 Subject: [PATCH 006/133] changed ur_bringup and related tests * added e-series --- ur_bringup/launch/ur10_bringup.launch | 11 +++++--- ...nt_limited.launch => ur10e_bringup.launch} | 22 +++++++++++----- ur_bringup/launch/ur3_bringup.launch | 13 +++++++--- ...int_limited.launch => ur3e_bringup.launch} | 26 ++++++++++++++----- ur_bringup/launch/ur5_bringup.launch | 11 +++++--- ...int_limited.launch => ur5e_bringup.launch} | 26 ++++++++++++++----- ur_bringup/tests/roslaunch_test.xml | 15 +++++------ 7 files changed, 85 insertions(+), 39 deletions(-) rename ur_bringup/launch/{ur10_bringup_joint_limited.launch => ur10e_bringup.launch} (50%) rename ur_bringup/launch/{ur3_bringup_joint_limited.launch => ur3e_bringup.launch} (50%) rename ur_bringup/launch/{ur5_bringup_joint_limited.launch => ur5e_bringup.launch} (50%) diff --git a/ur_bringup/launch/ur10_bringup.launch b/ur_bringup/launch/ur10_bringup.launch index 4cb935861..dd1b2382d 100644 --- a/ur_bringup/launch/ur10_bringup.launch +++ b/ur_bringup/launch/ur10_bringup.launch @@ -2,7 +2,6 @@ @@ -11,15 +10,19 @@ - + + + + - + + - + diff --git a/ur_bringup/launch/ur10_bringup_joint_limited.launch b/ur_bringup/launch/ur10e_bringup.launch similarity index 50% rename from ur_bringup/launch/ur10_bringup_joint_limited.launch rename to ur_bringup/launch/ur10e_bringup.launch index eb0b21ddf..41f6d284e 100644 --- a/ur_bringup/launch/ur10_bringup_joint_limited.launch +++ b/ur_bringup/launch/ur10e_bringup.launch @@ -1,10 +1,9 @@ @@ -14,11 +13,22 @@ - + + + + + + + + + + + + - + diff --git a/ur_bringup/launch/ur3_bringup.launch b/ur_bringup/launch/ur3_bringup.launch index 1ff49cb16..53f576e05 100644 --- a/ur_bringup/launch/ur3_bringup.launch +++ b/ur_bringup/launch/ur3_bringup.launch @@ -7,19 +7,23 @@ ur3_bringup.launch robot_ip:= --> - + - + + + + - + + - + @@ -28,4 +32,5 @@ + diff --git a/ur_bringup/launch/ur3_bringup_joint_limited.launch b/ur_bringup/launch/ur3e_bringup.launch similarity index 50% rename from ur_bringup/launch/ur3_bringup_joint_limited.launch rename to ur_bringup/launch/ur3e_bringup.launch index 3194e5b9c..eabd20518 100644 --- a/ur_bringup/launch/ur3_bringup_joint_limited.launch +++ b/ur_bringup/launch/ur3e_bringup.launch @@ -1,24 +1,36 @@ - + - + + + + + + + + + + + + - + + diff --git a/ur_bringup/launch/ur5_bringup.launch b/ur_bringup/launch/ur5_bringup.launch index 5f9e0f08c..7197761de 100644 --- a/ur_bringup/launch/ur5_bringup.launch +++ b/ur_bringup/launch/ur5_bringup.launch @@ -7,17 +7,21 @@ ur5_bringup.launch robot_ip:= --> - + - + + + + - + + @@ -28,4 +32,5 @@ + diff --git a/ur_bringup/launch/ur5_bringup_joint_limited.launch b/ur_bringup/launch/ur5e_bringup.launch similarity index 50% rename from ur_bringup/launch/ur5_bringup_joint_limited.launch rename to ur_bringup/launch/ur5e_bringup.launch index ac39fcd2b..389ae919d 100644 --- a/ur_bringup/launch/ur5_bringup_joint_limited.launch +++ b/ur_bringup/launch/ur5e_bringup.launch @@ -1,24 +1,36 @@ - + - + + + + + + + + + + + + - + + diff --git a/ur_bringup/tests/roslaunch_test.xml b/ur_bringup/tests/roslaunch_test.xml index 3c80e057f..adf41403b 100644 --- a/ur_bringup/tests/roslaunch_test.xml +++ b/ur_bringup/tests/roslaunch_test.xml @@ -2,7 +2,6 @@ - @@ -24,23 +23,23 @@ - - + + - - + + - - + + - + From a3b48f360a86f11e7160daadb339b31e0ccdac39 Mon Sep 17 00:00:00 2001 From: Ludovic Delval Date: Mon, 15 Jul 2019 18:16:36 +0200 Subject: [PATCH 007/133] change gazebo launch file and tests * added e-series --- ur_gazebo/launch/ur10.launch | 29 ++++++-------- ur_gazebo/launch/ur10_joint_limited.launch | 10 ----- ur_gazebo/launch/ur10e.launch | 24 ++++++++++++ ur_gazebo/launch/ur3.launch | 29 ++++++-------- ur_gazebo/launch/ur3_joint_limited.launch | 10 ----- ur_gazebo/launch/ur3e.launch | 24 ++++++++++++ ur_gazebo/launch/ur5.launch | 29 ++++++-------- ur_gazebo/launch/ur5_joint_limited.launch | 10 ----- ur_gazebo/launch/ur5e.launch | 24 ++++++++++++ ur_gazebo/launch/ur_common.launch | 45 ++++++++++++++++++++++ ur_gazebo/tests/roslaunch_test.xml | 18 ++++----- 11 files changed, 157 insertions(+), 95 deletions(-) delete mode 100644 ur_gazebo/launch/ur10_joint_limited.launch create mode 100644 ur_gazebo/launch/ur10e.launch delete mode 100644 ur_gazebo/launch/ur3_joint_limited.launch create mode 100644 ur_gazebo/launch/ur3e.launch delete mode 100644 ur_gazebo/launch/ur5_joint_limited.launch create mode 100644 ur_gazebo/launch/ur5e.launch create mode 100644 ur_gazebo/launch/ur_common.launch diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10.launch index bd422b937..cff10baab 100644 --- a/ur_gazebo/launch/ur10.launch +++ b/ur_gazebo/launch/ur10.launch @@ -1,31 +1,24 @@ - + + + + + - - - - - - - - - + + + + + + - - - - - - - - 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.launch b/ur_gazebo/launch/ur10e.launch new file mode 100644 index 000000000..3f6325702 --- /dev/null +++ b/ur_gazebo/launch/ur10e.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur3.launch b/ur_gazebo/launch/ur3.launch index 076e1dcc4..1a709782b 100644 --- a/ur_gazebo/launch/ur3.launch +++ b/ur_gazebo/launch/ur3.launch @@ -1,31 +1,24 @@ - + + + + + - - - - - - - - - + + + + + + - - - - - - - - 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.launch b/ur_gazebo/launch/ur3e.launch new file mode 100644 index 000000000..9c093d0ca --- /dev/null +++ b/ur_gazebo/launch/ur3e.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch index 2dc3291b7..8dc4012c6 100644 --- a/ur_gazebo/launch/ur5.launch +++ b/ur_gazebo/launch/ur5.launch @@ -1,31 +1,24 @@ - + + + + + - - - - - - - - - + + + + + + - - - - - - - - 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.launch b/ur_gazebo/launch/ur5e.launch new file mode 100644 index 000000000..72b2ebaf9 --- /dev/null +++ b/ur_gazebo/launch/ur5e.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch new file mode 100644 index 000000000..e5927bc6d --- /dev/null +++ b/ur_gazebo/launch/ur_common.launch @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test.xml b/ur_gazebo/tests/roslaunch_test.xml index 815829d06..4f28cb647 100644 --- a/ur_gazebo/tests/roslaunch_test.xml +++ b/ur_gazebo/tests/roslaunch_test.xml @@ -13,20 +13,16 @@ - - + + - - + + - - + + - - - - - + \ No newline at end of file From bcd3e8a3b2788a4177d2b969f0727880a6a49e9a Mon Sep 17 00:00:00 2001 From: Ludovic Delval Date: Wed, 4 Mar 2020 15:55:16 +0100 Subject: [PATCH 008/133] added visual parameters to bringup launch --- ur_bringup/launch/ur10_bringup.launch | 1 + ur_bringup/launch/ur10e_bringup.launch | 1 + ur_bringup/launch/ur3_bringup.launch | 1 + ur_bringup/launch/ur3e_bringup.launch | 1 + ur_bringup/launch/ur5_bringup.launch | 1 + ur_bringup/launch/ur5e_bringup.launch | 1 + 6 files changed, 6 insertions(+) diff --git a/ur_bringup/launch/ur10_bringup.launch b/ur_bringup/launch/ur10_bringup.launch index dd1b2382d..9969c79e8 100644 --- a/ur_bringup/launch/ur10_bringup.launch +++ b/ur_bringup/launch/ur10_bringup.launch @@ -16,6 +16,7 @@ + diff --git a/ur_bringup/launch/ur10e_bringup.launch b/ur_bringup/launch/ur10e_bringup.launch index 41f6d284e..0a1f8b4dd 100644 --- a/ur_bringup/launch/ur10e_bringup.launch +++ b/ur_bringup/launch/ur10e_bringup.launch @@ -16,6 +16,7 @@ + diff --git a/ur_bringup/launch/ur3_bringup.launch b/ur_bringup/launch/ur3_bringup.launch index 53f576e05..cb99c0a33 100644 --- a/ur_bringup/launch/ur3_bringup.launch +++ b/ur_bringup/launch/ur3_bringup.launch @@ -17,6 +17,7 @@ + diff --git a/ur_bringup/launch/ur3e_bringup.launch b/ur_bringup/launch/ur3e_bringup.launch index eabd20518..0cfeb93b6 100644 --- a/ur_bringup/launch/ur3e_bringup.launch +++ b/ur_bringup/launch/ur3e_bringup.launch @@ -17,6 +17,7 @@ + diff --git a/ur_bringup/launch/ur5_bringup.launch b/ur_bringup/launch/ur5_bringup.launch index 7197761de..10c76e6a5 100644 --- a/ur_bringup/launch/ur5_bringup.launch +++ b/ur_bringup/launch/ur5_bringup.launch @@ -17,6 +17,7 @@ + diff --git a/ur_bringup/launch/ur5e_bringup.launch b/ur_bringup/launch/ur5e_bringup.launch index 389ae919d..9c4805222 100644 --- a/ur_bringup/launch/ur5e_bringup.launch +++ b/ur_bringup/launch/ur5e_bringup.launch @@ -17,6 +17,7 @@ + From 7be56f5e4c179103c673b9f4a1f6c4e7f2f739c0 Mon Sep 17 00:00:00 2001 From: Ludovic Delval Date: Wed, 4 Mar 2020 15:56:06 +0100 Subject: [PATCH 009/133] removed --inorder for common launch * default in melodic --- ur_description/launch/ur_common.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_description/launch/ur_common.launch b/ur_description/launch/ur_common.launch index 700605273..ad274baaa 100644 --- a/ur_description/launch/ur_common.launch +++ b/ur_description/launch/ur_common.launch @@ -10,7 +10,7 @@ - - + diff --git a/ur_description/launch/view_ur10e.launch b/ur_description/launch/view_ur10e.launch index b12ed7e91..6ef658af8 100644 --- a/ur_description/launch/view_ur10e.launch +++ b/ur_description/launch/view_ur10e.launch @@ -5,6 +5,6 @@ - + diff --git a/ur_description/launch/view_ur3.launch b/ur_description/launch/view_ur3.launch index 9b487245d..a35efcaa1 100644 --- a/ur_description/launch/view_ur3.launch +++ b/ur_description/launch/view_ur3.launch @@ -5,6 +5,6 @@ - + diff --git a/ur_description/launch/view_ur3e.launch b/ur_description/launch/view_ur3e.launch index 6a4f5b4a0..e7c273e97 100644 --- a/ur_description/launch/view_ur3e.launch +++ b/ur_description/launch/view_ur3e.launch @@ -5,6 +5,6 @@ - + diff --git a/ur_description/launch/view_ur5.launch b/ur_description/launch/view_ur5.launch index cae16dba8..da9c56271 100644 --- a/ur_description/launch/view_ur5.launch +++ b/ur_description/launch/view_ur5.launch @@ -5,6 +5,6 @@ - + diff --git a/ur_description/launch/view_ur5e.launch b/ur_description/launch/view_ur5e.launch index 4190ed3ff..802a9486e 100644 --- a/ur_description/launch/view_ur5e.launch +++ b/ur_description/launch/view_ur5e.launch @@ -5,6 +5,6 @@ - + From 9245b38263331874dd82daaf7eec993d5b356d9b Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 29 Jan 2020 10:25:10 +0100 Subject: [PATCH 011/133] Use full kinematics parameters in description (#495) the kinematics parameters can be retrieved from a calibration mechanism to precisely represent the robot's kinematics. --- .../config/ur10/default_kinematics.yaml | 46 ++++++++++ .../config/ur10/physical_parameters.yaml | 9 +- .../config/ur10/visual_parameters.yaml | 5 +- .../config/ur10e/default_kinematics.yaml | 44 ++++++++++ .../config/ur10e/physical_parameters.yaml | 9 +- .../config/ur10e/visual_parameters.yaml | 5 +- .../config/ur3/default_kinematics.yaml | 44 ++++++++++ .../config/ur3/physical_parameters.yaml | 11 +-- .../config/ur3/visual_parameters.yaml | 5 +- .../config/ur3e/default_kinematics.yaml | 44 ++++++++++ .../config/ur3e/physical_parameters.yaml | 7 +- .../config/ur3e/visual_parameters.yaml | 5 +- .../config/ur5/default_kinematics.yaml | 44 ++++++++++ .../config/ur5/physical_parameters.yaml | 20 +++-- .../config/ur5/visual_parameters.yaml | 5 +- .../config/ur5e/default_kinematics.yaml | 44 ++++++++++ .../config/ur5e/physical_parameters.yaml | 5 +- .../config/ur5e/visual_parameters.yaml | 5 +- ur_description/launch/ur10_upload.launch | 4 +- ur_description/launch/ur10e_upload.launch | 4 +- ur_description/launch/ur3_upload.launch | 2 + ur_description/launch/ur3e_upload.launch | 2 + ur_description/launch/ur5_upload.launch | 4 +- ur_description/launch/ur5e_upload.launch | 4 +- ur_description/launch/ur_common.launch | 2 + ur_description/urdf/ur.common.xacro | 61 ++++++++++--- ur_description/urdf/ur_robot.macro.xacro | 88 +++++++++++-------- ur_description/urdf/ur_robot.urdf.xacro | 2 + ur_gazebo/launch/ur10.launch | 2 + ur_gazebo/launch/ur10e.launch | 2 + ur_gazebo/launch/ur3.launch | 2 + ur_gazebo/launch/ur3e.launch | 2 + ur_gazebo/launch/ur5.launch | 2 + ur_gazebo/launch/ur5e.launch | 2 + ur_gazebo/launch/ur_common.launch | 2 + ur_gazebo/urdf/ur_robot.urdf.xacro | 2 + ur_gazebo/urdf/ur_robot_gazebo.macro.xacro | 14 +-- 37 files changed, 474 insertions(+), 86 deletions(-) create mode 100644 ur_description/config/ur10/default_kinematics.yaml create mode 100644 ur_description/config/ur10e/default_kinematics.yaml create mode 100644 ur_description/config/ur3/default_kinematics.yaml create mode 100644 ur_description/config/ur3e/default_kinematics.yaml create mode 100644 ur_description/config/ur5/default_kinematics.yaml create mode 100644 ur_description/config/ur5e/default_kinematics.yaml diff --git a/ur_description/config/ur10/default_kinematics.yaml b/ur_description/config/ur10/default_kinematics.yaml new file mode 100644 index 000000000..7fb8752df --- /dev/null +++ b/ur_description/config/ur10/default_kinematics.yaml @@ -0,0 +1,46 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1273 + roll: -0 + pitch: 0 + yaw: -0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: -0 + forearm: + x: -0.612 + y: 0 + z: 0 + roll: -0 + pitch: 0 + yaw: -0 + wrist_1: + x: -0.5723 + y: 0 + z: 0.163941 + roll: -0 + pitch: 0 + yaw: -0 + wrist_2: + x: 0 + y: -0.1157 + z: -2.373046667922381e-11 + roll: 1.570796327 + pitch: 0 + yaw: -0 + wrist_3: + x: 0 + y: 0.0922 + z: -1.891053610911353e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_17227329492635474227 + + diff --git a/ur_description/config/ur10/physical_parameters.yaml b/ur_description/config/ur10/physical_parameters.yaml index 5af32680a..e6515389b 100644 --- a/ur_description/config/ur10/physical_parameters.yaml +++ b/ur_description/config/ur10/physical_parameters.yaml @@ -10,13 +10,13 @@ dh_parameters: offsets: shoulder_offset: 0.220941 # measured from model - elbow_offset: -0.1719 # measured from model - upper_arm_inertia_offset: 0.045 # 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 @@ -40,12 +40,13 @@ inertia_parameters: length: 0.612 forearm: radius: 0.075 + length: 0.5723 wrist_1: radius: 0.075 length: 0.12 wrist_2: radius: 0.075 - length: 0.12 + length: 0.09 wrist_3: radius: 0.045 length: 0.0305 @@ -74,4 +75,4 @@ inertia_parameters: wrist_3_cog: x: 0.0 y: -0.001156 - z: -0.00149 \ No newline at end of file + z: -0.00149 diff --git a/ur_description/config/ur10/visual_parameters.yaml b/ur_description/config/ur10/visual_parameters.yaml index b165e1d43..168fbfff2 100644 --- a/ur_description/config/ur10/visual_parameters.yaml +++ b/ur_description/config/ur10/visual_parameters.yaml @@ -46,6 +46,7 @@ mesh_files: 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: @@ -55,6 +56,7 @@ mesh_files: 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: @@ -63,4 +65,5 @@ mesh_files: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur10/collision/wrist3.stl" \ No newline at end of file + mesh: "package://ur_description/meshes/ur10/collision/wrist3.stl" + visual_offset: -0.0922 diff --git a/ur_description/config/ur10e/default_kinematics.yaml b/ur_description/config/ur10e/default_kinematics.yaml new file mode 100644 index 000000000..8fa1fea43 --- /dev/null +++ b/ur_description/config/ur10e/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1807 + roll: -0 + pitch: 0 + yaw: -0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: -0 + forearm: + x: -0.6127 + y: 0 + z: 0 + roll: -0 + pitch: 0 + yaw: -0 + wrist_1: + x: -0.57155 + y: 0 + z: 0.17415 + roll: -0 + pitch: 0 + yaw: -0 + wrist_2: + x: 0 + y: -0.11985 + z: -2.458164590756244e-11 + roll: 1.570796327 + pitch: 0 + yaw: -0 + wrist_3: + x: 0 + y: 0.11655 + z: -2.390480459346185e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_5119701370761913513 diff --git a/ur_description/config/ur10e/physical_parameters.yaml b/ur_description/config/ur10e/physical_parameters.yaml index bd1a55260..ffae062fd 100644 --- a/ur_description/config/ur10e/physical_parameters.yaml +++ b/ur_description/config/ur10e/physical_parameters.yaml @@ -9,14 +9,14 @@ dh_parameters: d6: 0.117 offsets: - shoulder_offset: 0.176 # measured from model - elbow_offset: -0.137 # measured from model - upper_arm_inertia_offset: 0.0 # measured from model + 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 @@ -40,6 +40,7 @@ inertia_parameters: length: 0.612 forearm: radius: 0.075 + length: 0.57155 wrist_1: radius: 0.075 length: 0.12 @@ -74,4 +75,4 @@ inertia_parameters: wrist_3_cog: x: 0.0 y: -0.001156 - z: -0.00149 \ No newline at end of file + z: -0.00149 diff --git a/ur_description/config/ur10e/visual_parameters.yaml b/ur_description/config/ur10e/visual_parameters.yaml index b4d6721ea..9bd6002d6 100644 --- a/ur_description/config/ur10e/visual_parameters.yaml +++ b/ur_description/config/ur10e/visual_parameters.yaml @@ -46,6 +46,7 @@ mesh_files: 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: @@ -55,6 +56,7 @@ mesh_files: 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: @@ -63,4 +65,5 @@ mesh_files: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl" \ No newline at end of file + mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl" + visual_offset: -0.1168 diff --git a/ur_description/config/ur3/default_kinematics.yaml b/ur_description/config/ur3/default_kinematics.yaml new file mode 100644 index 000000000..1f083cabb --- /dev/null +++ b/ur_description/config/ur3/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1519 + roll: -0 + pitch: 0 + yaw: -0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: -0 + forearm: + x: -0.24365 + y: 0 + z: 0 + roll: -0 + pitch: 0 + yaw: -0 + wrist_1: + x: -0.21325 + y: 0 + z: 0.11235 + roll: -0 + pitch: 0 + yaw: -0 + wrist_2: + x: 0 + y: -0.08535 + z: -1.750557762378351e-11 + roll: 1.570796327 + pitch: 0 + yaw: -0 + wrist_3: + x: 0 + y: 0.0819 + z: -1.679797079540562e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_9122066269688285636 \ No newline at end of file diff --git a/ur_description/config/ur3/physical_parameters.yaml b/ur_description/config/ur3/physical_parameters.yaml index 8f0043f83..ce207b722 100644 --- a/ur_description/config/ur3/physical_parameters.yaml +++ b/ur_description/config/ur3/physical_parameters.yaml @@ -10,13 +10,13 @@ dh_parameters: offsets: shoulder_offset: 0.1198 # measured from model - elbow_offset: -0.0925 # measured from model - upper_arm_inertia_offset: 0.0 # 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 @@ -40,12 +40,13 @@ inertia_parameters: length: 0.24365 forearm: radius: 0.075 + length: 0.21325 wrist_1: radius: 0.075 - length: 0.12 + length: 0.08535 wrist_2: radius: 0.075 - length: 0.12 + length: 0.0819 wrist_3: radius: 0.032 length: 0.04 @@ -74,4 +75,4 @@ inertia_parameters: wrist_3_cog: x: 0.0 y: 0.0 - z: -0.02 \ No newline at end of file + z: -0.02 diff --git a/ur_description/config/ur3/visual_parameters.yaml b/ur_description/config/ur3/visual_parameters.yaml index 8c843c83f..d16f51cbc 100644 --- a/ur_description/config/ur3/visual_parameters.yaml +++ b/ur_description/config/ur3/visual_parameters.yaml @@ -44,6 +44,7 @@ mesh_files: 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: @@ -53,6 +54,7 @@ mesh_files: 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: @@ -61,4 +63,5 @@ mesh_files: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur3/collision/wrist3.stl" \ No newline at end of file + mesh: "package://ur_description/meshes/ur3/collision/wrist3.stl" + visual_offset: -0.082 diff --git a/ur_description/config/ur3e/default_kinematics.yaml b/ur_description/config/ur3e/default_kinematics.yaml new file mode 100644 index 000000000..d9b6b0393 --- /dev/null +++ b/ur_description/config/ur3e/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.15185 + roll: -0 + pitch: 0 + yaw: -0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: -0 + forearm: + x: -0.24355 + y: 0 + z: 0 + roll: -0 + pitch: 0 + yaw: -0 + wrist_1: + x: -0.2132 + y: 0 + z: 0.13105 + roll: -0 + pitch: 0 + yaw: -0 + wrist_2: + x: 0 + y: -0.08535 + z: -1.750557762378351e-11 + roll: 1.570796327 + pitch: 0 + yaw: -0 + wrist_3: + x: 0 + y: 0.0921 + z: -1.8890025766262e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_16756443741236045476 \ No newline at end of file diff --git a/ur_description/config/ur3e/physical_parameters.yaml b/ur_description/config/ur3e/physical_parameters.yaml index 8518adba8..337c1f24f 100644 --- a/ur_description/config/ur3e/physical_parameters.yaml +++ b/ur_description/config/ur3e/physical_parameters.yaml @@ -10,13 +10,13 @@ dh_parameters: offsets: shoulder_offset: 0.120 # measured from model - elbow_offset: -0.093 # measured from model - upper_arm_inertia_offset: 0.0 # 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 @@ -40,6 +40,7 @@ inertia_parameters: length: 0.24365 forearm: radius: 0.075 + length: 0.2132 wrist_1: radius: 0.075 length: 0.12 @@ -74,4 +75,4 @@ inertia_parameters: wrist_3_cog: x: 0.0 y: 0.0 - z: -0.02 \ No newline at end of file + z: -0.02 diff --git a/ur_description/config/ur3e/visual_parameters.yaml b/ur_description/config/ur3e/visual_parameters.yaml index 7f8121f02..de8a20720 100644 --- a/ur_description/config/ur3e/visual_parameters.yaml +++ b/ur_description/config/ur3e/visual_parameters.yaml @@ -44,6 +44,7 @@ mesh_files: 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: @@ -53,6 +54,7 @@ mesh_files: 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: @@ -61,4 +63,5 @@ mesh_files: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur3e/collision/wrist3.stl" \ No newline at end of file + mesh: "package://ur_description/meshes/ur3e/collision/wrist3.stl" + visual_offset: -0.0921 diff --git a/ur_description/config/ur5/default_kinematics.yaml b/ur_description/config/ur5/default_kinematics.yaml new file mode 100644 index 000000000..fa4388bed --- /dev/null +++ b/ur_description/config/ur5/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.089159 + roll: -0 + pitch: 0 + yaw: -0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: -0 + forearm: + x: -0.425 + y: 0 + z: 0 + roll: -0 + pitch: 0 + yaw: -0 + wrist_1: + x: -0.39225 + y: 0 + z: 0.10915 + roll: -0 + pitch: 0 + yaw: -0 + wrist_2: + x: 0 + y: -0.09465 + z: -1.941303950897609e-11 + roll: 1.570796327 + pitch: 0 + yaw: -0 + wrist_3: + x: 0 + y: 0.0823 + z: -1.688001216681175e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_209549117540498681 \ No newline at end of file diff --git a/ur_description/config/ur5/physical_parameters.yaml b/ur_description/config/ur5/physical_parameters.yaml index 62310b593..9d0a4030d 100644 --- a/ur_description/config/ur5/physical_parameters.yaml +++ b/ur_description/config/ur5/physical_parameters.yaml @@ -10,13 +10,13 @@ dh_parameters: offsets: shoulder_offset: 0.13585 # measured from model - elbow_offset: -0.1197 # measured from model - upper_arm_inertia_offset: 0.0 # 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 @@ -33,13 +33,14 @@ inertia_parameters: radius: 0.06 length: 0.05 shoulder: - radius: 0.06 - length: 0.15 + radius: 0.075 + length: 0.178 upperarm: radius: 0.06 - length: 0.56 + length: 0.425 forearm: radius: 0.06 + length: 0.39225 wrist_1: radius: 0.06 length: 0.12 @@ -49,6 +50,15 @@ inertia_parameters: 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: diff --git a/ur_description/config/ur5/visual_parameters.yaml b/ur_description/config/ur5/visual_parameters.yaml index 13b231422..69845109d 100644 --- a/ur_description/config/ur5/visual_parameters.yaml +++ b/ur_description/config/ur5/visual_parameters.yaml @@ -44,6 +44,7 @@ mesh_files: 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: @@ -53,6 +54,7 @@ mesh_files: 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: @@ -61,4 +63,5 @@ mesh_files: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur5/collision/wrist3.stl" \ No newline at end of file + mesh: "package://ur_description/meshes/ur5/collision/wrist3.stl" + visual_offset: -0.0818 diff --git a/ur_description/config/ur5e/default_kinematics.yaml b/ur_description/config/ur5e/default_kinematics.yaml new file mode 100644 index 000000000..5b1e9cb20 --- /dev/null +++ b/ur_description/config/ur5e/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1625 + roll: -0 + pitch: 0 + yaw: -0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: -0 + forearm: + x: -0.425 + y: 0 + z: 0 + roll: -0 + pitch: 0 + yaw: -0 + wrist_1: + x: -0.3922 + y: 0 + z: 0.1333 + roll: -0 + pitch: 0 + yaw: -0 + wrist_2: + x: 0 + y: -0.0997 + z: -2.044881182297852e-11 + roll: 1.570796327 + pitch: 0 + yaw: -0 + wrist_3: + x: 0 + y: 0.09959999999999999 + z: -2.042830148012698e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_12788084448423163542 \ No newline at end of file diff --git a/ur_description/config/ur5e/physical_parameters.yaml b/ur_description/config/ur5e/physical_parameters.yaml index 6b56f490c..8955ed24d 100644 --- a/ur_description/config/ur5e/physical_parameters.yaml +++ b/ur_description/config/ur5e/physical_parameters.yaml @@ -10,13 +10,13 @@ dh_parameters: offsets: shoulder_offset: 0.138 # measured from model - elbow_offset: -0.131 # measured from model - upper_arm_inertia_offset: 0.0 # 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 @@ -40,6 +40,7 @@ inertia_parameters: length: 0.425 forearm: radius: 0.06 + length: 0.3922 wrist_1: radius: 0.06 length: 0.12 diff --git a/ur_description/config/ur5e/visual_parameters.yaml b/ur_description/config/ur5e/visual_parameters.yaml index 3dd428261..6d0156a59 100644 --- a/ur_description/config/ur5e/visual_parameters.yaml +++ b/ur_description/config/ur5e/visual_parameters.yaml @@ -44,6 +44,7 @@ mesh_files: 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: @@ -53,6 +54,7 @@ mesh_files: 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: @@ -61,4 +63,5 @@ mesh_files: name: "LightGrey" color: "0.7 0.7 0.7 1.0" collision: - mesh: "package://ur_description/meshes/ur5e/collision/wrist3.stl" \ No newline at end of file + mesh: "package://ur_description/meshes/ur5e/collision/wrist3.stl" + visual_offset: -0.0989 diff --git a/ur_description/launch/ur10_upload.launch b/ur_description/launch/ur10_upload.launch index 03f6e5197..056765b10 100644 --- a/ur_description/launch/ur10_upload.launch +++ b/ur_description/launch/ur10_upload.launch @@ -2,6 +2,7 @@ + @@ -12,6 +13,7 @@ + @@ -19,4 +21,4 @@ - \ No newline at end of file + diff --git a/ur_description/launch/ur10e_upload.launch b/ur_description/launch/ur10e_upload.launch index 836d91acb..af5779ced 100644 --- a/ur_description/launch/ur10e_upload.launch +++ b/ur_description/launch/ur10e_upload.launch @@ -2,6 +2,7 @@ + @@ -12,6 +13,7 @@ + @@ -19,4 +21,4 @@ - \ No newline at end of file + diff --git a/ur_description/launch/ur3_upload.launch b/ur_description/launch/ur3_upload.launch index c8b585089..1f72f6d58 100644 --- a/ur_description/launch/ur3_upload.launch +++ b/ur_description/launch/ur3_upload.launch @@ -2,6 +2,7 @@ + @@ -12,6 +13,7 @@ + diff --git a/ur_description/launch/ur3e_upload.launch b/ur_description/launch/ur3e_upload.launch index 9ab2b35e4..3cfbe8ef1 100644 --- a/ur_description/launch/ur3e_upload.launch +++ b/ur_description/launch/ur3e_upload.launch @@ -2,6 +2,7 @@ + @@ -12,6 +13,7 @@ + diff --git a/ur_description/launch/ur5_upload.launch b/ur_description/launch/ur5_upload.launch index c9dbc74ba..2fad487fc 100644 --- a/ur_description/launch/ur5_upload.launch +++ b/ur_description/launch/ur5_upload.launch @@ -2,6 +2,7 @@ + @@ -12,6 +13,7 @@ + @@ -19,4 +21,4 @@ - \ No newline at end of file + diff --git a/ur_description/launch/ur5e_upload.launch b/ur_description/launch/ur5e_upload.launch index 4b2a8a171..e1f57c68e 100644 --- a/ur_description/launch/ur5e_upload.launch +++ b/ur_description/launch/ur5e_upload.launch @@ -2,6 +2,7 @@ + @@ -12,6 +13,7 @@ + @@ -19,4 +21,4 @@ - \ No newline at end of file + diff --git a/ur_description/launch/ur_common.launch b/ur_description/launch/ur_common.launch index ad274baaa..5ba2d750d 100644 --- a/ur_description/launch/ur_common.launch +++ b/ur_description/launch/ur_common.launch @@ -2,6 +2,7 @@ + @@ -12,6 +13,7 @@ + + @@ -55,16 +56,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + @@ -78,6 +122,7 @@ + @@ -135,26 +180,20 @@ + + - - - - - - - - - + diff --git a/ur_description/urdf/ur_robot.macro.xacro b/ur_description/urdf/ur_robot.macro.xacro index 81d7f18f0..3a375b398 100644 --- a/ur_description/urdf/ur_robot.macro.xacro +++ b/ur_description/urdf/ur_robot.macro.xacro @@ -1,36 +1,37 @@ - - + --> - - + + + - - + + + @@ -43,15 +44,16 @@ - + + effort="${shoulder_pan_effort_limit}" velocity="${shoulder_pan_velocity_limit}"/> + @@ -60,6 +62,7 @@ + @@ -72,8 +75,8 @@ - - + + @@ -84,6 +87,7 @@ + @@ -92,20 +96,21 @@ + - - + + - - + + @@ -116,7 +121,8 @@ - + + @@ -124,20 +130,21 @@ + - - + + - - + + @@ -148,6 +155,8 @@ + + @@ -156,19 +165,20 @@ + - + - + @@ -180,6 +190,7 @@ + @@ -188,20 +199,21 @@ + - + - - + + @@ -212,6 +224,7 @@ + @@ -220,19 +233,20 @@ + - + - + @@ -244,14 +258,20 @@ + + + + + + @@ -260,11 +280,5 @@ - - - - - - diff --git a/ur_description/urdf/ur_robot.urdf.xacro b/ur_description/urdf/ur_robot.urdf.xacro index 620320fa1..52cf88790 100644 --- a/ur_description/urdf/ur_robot.urdf.xacro +++ b/ur_description/urdf/ur_robot.urdf.xacro @@ -4,6 +4,7 @@ + @@ -15,6 +16,7 @@ + @@ -11,6 +12,7 @@ + diff --git a/ur_gazebo/launch/ur10e.launch b/ur_gazebo/launch/ur10e.launch index 3f6325702..21df8cd9c 100644 --- a/ur_gazebo/launch/ur10e.launch +++ b/ur_gazebo/launch/ur10e.launch @@ -2,6 +2,7 @@ + @@ -11,6 +12,7 @@ + diff --git a/ur_gazebo/launch/ur3.launch b/ur_gazebo/launch/ur3.launch index 1a709782b..3ded46cb6 100644 --- a/ur_gazebo/launch/ur3.launch +++ b/ur_gazebo/launch/ur3.launch @@ -2,6 +2,7 @@ + @@ -11,6 +12,7 @@ + diff --git a/ur_gazebo/launch/ur3e.launch b/ur_gazebo/launch/ur3e.launch index 9c093d0ca..525952b33 100644 --- a/ur_gazebo/launch/ur3e.launch +++ b/ur_gazebo/launch/ur3e.launch @@ -2,6 +2,7 @@ + @@ -11,6 +12,7 @@ + diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch index 8dc4012c6..8c45d5377 100644 --- a/ur_gazebo/launch/ur5.launch +++ b/ur_gazebo/launch/ur5.launch @@ -2,6 +2,7 @@ + @@ -11,6 +12,7 @@ + diff --git a/ur_gazebo/launch/ur5e.launch b/ur_gazebo/launch/ur5e.launch index 72b2ebaf9..9c9017609 100644 --- a/ur_gazebo/launch/ur5e.launch +++ b/ur_gazebo/launch/ur5e.launch @@ -2,6 +2,7 @@ + @@ -11,6 +12,7 @@ + diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch index e5927bc6d..6cd1fb1f2 100644 --- a/ur_gazebo/launch/ur_common.launch +++ b/ur_gazebo/launch/ur_common.launch @@ -3,6 +3,7 @@ + @@ -26,6 +27,7 @@ + @@ -17,6 +18,7 @@ - + kinematics_parameters_file="${kinematics_parameters_file}" + physical_parameters_file="${physical_parameters_file}" + visual_parameters_file="${visual_parameters_file}" + transmission_hw_interface="${transmission_hw_interface}" + safety_limits="${safety_limits}" + safety_pos_margin="${safety_pos_margin}" + safety_k_position="${safety_k_position}"/> true @@ -39,4 +43,4 @@ - \ No newline at end of file + From 4bb5d0d43df0834b1150d529fec10b074f09ef38 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 27 Dec 2019 21:46:35 +0100 Subject: [PATCH 012/133] Preliminary model version of UR16 added This model is only correct in the kinematics structure. Meshes and dynamics parameters have to be corrected. --- .../ur16e/joints_limits_parameters.yaml | 32 ++++++++ .../config/ur16e/physical_parameters.yaml | 78 +++++++++++++++++++ .../config/ur16e/visual_parameters.yaml | 69 ++++++++++++++++ ur_description/launch/ur16e_upload.launch | 22 ++++++ ur_description/launch/view_ur16e.launch | 10 +++ ur_gazebo/controller/arm_controller_ur16.yaml | 31 ++++++++ ur_gazebo/launch/ur16e.launch | 24 ++++++ 7 files changed, 266 insertions(+) create mode 100644 ur_description/config/ur16e/joints_limits_parameters.yaml create mode 100644 ur_description/config/ur16e/physical_parameters.yaml create mode 100644 ur_description/config/ur16e/visual_parameters.yaml create mode 100644 ur_description/launch/ur16e_upload.launch create mode 100644 ur_description/launch/view_ur16e.launch create mode 100644 ur_gazebo/controller/arm_controller_ur16.yaml create mode 100644 ur_gazebo/launch/ur16e.launch diff --git a/ur_description/config/ur16e/joints_limits_parameters.yaml b/ur_description/config/ur16e/joints_limits_parameters.yaml new file mode 100644 index 000000000..377d49254 --- /dev/null +++ b/ur_description/config/ur16e/joints_limits_parameters.yaml @@ -0,0 +1,32 @@ +# Joints limits +limits: + shoulder_pan: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + shoulder_lift: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 2.16 + effort: 330.0 + elbow_joint: + lower: -3.14159265359 + upper: 3.14159265359 + velocity: 3.15 + effort: 150.0 + wrist_1: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_2: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 + wrist_3: + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.2 + effort: 54.0 \ No newline at end of file diff --git a/ur_description/config/ur16e/physical_parameters.yaml b/ur_description/config/ur16e/physical_parameters.yaml new file mode 100644 index 000000000..8a6071ffe --- /dev/null +++ b/ur_description/config/ur16e/physical_parameters.yaml @@ -0,0 +1,78 @@ +# Physical parameters + +dh_parameters: + d1: 0.1807 + a2: -0.4784 + a3: -0.36 + d4: 0.17415 # wrist1_length = d4 - elbow_offset - shoulder_offset + d5: 0.11985 + d6: 0.11655 + +offsets: + shoulder_offset: 0.176 # measured from model + elbow_offset: -0.137 # measured from model + upper_arm_inertia_offset: 0.0 # 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 + 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 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 + 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/ur16e/visual_parameters.yaml b/ur_description/config/ur16e/visual_parameters.yaml new file mode 100644 index 000000000..019ab12ec --- /dev/null +++ b/ur_description/config/ur16e/visual_parameters.yaml @@ -0,0 +1,69 @@ +# 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" + + # TODO: This needs to be updated with a shorter one + 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: + + # TODO: This needs to be updated with a shorter one + 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" + + 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" + + 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" diff --git a/ur_description/launch/ur16e_upload.launch b/ur_description/launch/ur16e_upload.launch new file mode 100644 index 000000000..22d275e63 --- /dev/null +++ b/ur_description/launch/ur16e_upload.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/view_ur16e.launch b/ur_description/launch/view_ur16e.launch new file mode 100644 index 000000000..afce5408c --- /dev/null +++ b/ur_description/launch/view_ur16e.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/controller/arm_controller_ur16.yaml b/ur_gazebo/controller/arm_controller_ur16.yaml new file mode 100644 index 000000000..fb7b3d4fe --- /dev/null +++ b/ur_gazebo/controller/arm_controller_ur16.yaml @@ -0,0 +1,31 @@ +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/launch/ur16e.launch b/ur_gazebo/launch/ur16e.launch new file mode 100644 index 000000000..706251435 --- /dev/null +++ b/ur_gazebo/launch/ur16e.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + From 9b96f363460e8f90a77b0356ab39dfac4b4d518e Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 28 Jan 2020 13:49:35 +0100 Subject: [PATCH 013/133] Added missing meshes for ur16e --- .../config/ur16e/visual_parameters.yaml | 10 +- .../meshes/ur16e/collision/forearm.stl | Bin 0 -> 99584 bytes .../meshes/ur16e/collision/upperarm.stl | Bin 0 -> 136984 bytes .../meshes/ur16e/visual/forearm.dae | 485 +++++++++++++++ .../meshes/ur16e/visual/upperarm.dae | 568 ++++++++++++++++++ 5 files changed, 1057 insertions(+), 6 deletions(-) create mode 100644 ur_description/meshes/ur16e/collision/forearm.stl create mode 100644 ur_description/meshes/ur16e/collision/upperarm.stl create mode 100644 ur_description/meshes/ur16e/visual/forearm.dae create mode 100644 ur_description/meshes/ur16e/visual/upperarm.dae diff --git a/ur_description/config/ur16e/visual_parameters.yaml b/ur_description/config/ur16e/visual_parameters.yaml index 019ab12ec..2054f696b 100644 --- a/ur_description/config/ur16e/visual_parameters.yaml +++ b/ur_description/config/ur16e/visual_parameters.yaml @@ -20,26 +20,24 @@ mesh_files: collision: mesh: "package://ur_description/meshes/ur10e/collision/shoulder.stl" - # TODO: This needs to be updated with a shorter one upper_arm: visual: - mesh: "package://ur_description/meshes/ur10e/visual/upperarm.dae" + 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/ur10e/collision/upperarm.stl" + mesh: "package://ur_description/meshes/ur16e/collision/upperarm.stl" mesh_files: - # TODO: This needs to be updated with a shorter one forearm: visual: - mesh: "package://ur_description/meshes/ur10e/visual/forearm.dae" + 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/ur10e/collision/forearm.stl" + mesh: "package://ur_description/meshes/ur16e/collision/forearm.stl" wrist_1: visual: diff --git a/ur_description/meshes/ur16e/collision/forearm.stl b/ur_description/meshes/ur16e/collision/forearm.stl new file mode 100644 index 0000000000000000000000000000000000000000..23e92224fb9d620d0ddf7424eca3cd435ad2eac4 GIT binary patch literal 99584 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    +     +     +     + + + + + + + + + + + + + + + + + + + + + + + + + + + +     + + + + -9.99987e-4 0 -3.89409e-10 0 -3.89409e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 -0.1343 0 0 0 1 + + + + + + + + + + -9.99987e-4 0 -3.89409e-10 0 -3.89409e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1 + + + + + + + + + + -9.99987e-4 0 -3.89409e-10 0 -3.89409e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1 + + + + + + + + + + -9.99987e-4 0 -3.89409e-10 0 -3.89409e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 -0.1343 0 0 0 1 + + + + + + + + + + -9.99987e-4 0 -3.89409e-10 0 -3.89409e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1 + + + + + + + + + + -9.99987e-4 0 -3.89409e-10 0 -3.89409e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1 + + + + + + + + + + -9.99987e-4 0 -3.89409e-10 0 -3.89409e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 -0.1343 0 0 0 1 + + + + + + + + + + -9.99987e-4 0 -3.89409e-10 0 -3.89409e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 -0.1343 0 0 0 1 + + + + + + + + + + -9.99987e-4 0 -3.89409e-10 0 -3.89409e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 -0.1343 0 0 0 1 + + + + + + + + + + -9.99987e-4 0 -3.89409e-10 0 -3.89409e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1 + + + + + + + + + + -9.99987e-4 0 -3.89409e-10 0 -3.89409e-10 4.37108e-11 9.99987e-4 0 0 9.99987e-4 -4.37108e-11 0 0 0 0 1 + + + + + + + + + + + + + +     \ No newline at end of file From 83a41ecf6d1694b2acaef01c2ac3e9d965e1f806 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 28 Jan 2020 15:51:42 +0100 Subject: [PATCH 014/133] Updated kinetmatic and physical parameters according to the current PR --- .../ur16e/joints_limits_parameters.yaml | 24 ++++++++++--------- .../config/ur16e/physical_parameters.yaml | 18 +++++++------- 2 files changed, 23 insertions(+), 19 deletions(-) diff --git a/ur_description/config/ur16e/joints_limits_parameters.yaml b/ur_description/config/ur16e/joints_limits_parameters.yaml index 377d49254..17aafb26b 100644 --- a/ur_description/config/ur16e/joints_limits_parameters.yaml +++ b/ur_description/config/ur16e/joints_limits_parameters.yaml @@ -1,32 +1,34 @@ # Joints limits +# According to https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/max-joint-torques-17260/ +# and ur16e fact sheet (e.g. https://cdn2.hubspot.net/hubfs/4316198/1_VENDOR-LITERATURE/Universal%20Robots/UR16e/UR16e_Fact%20Sheet_(2sided).pdf) limits: shoulder_pan: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 + velocity: 2.094 effort: 330.0 shoulder_lift: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 + velocity: 2.094 effort: 330.0 elbow_joint: - lower: -3.14159265359 - upper: 3.14159265359 - velocity: 3.15 + lower: -6.28318530718 + upper: 6.28318530718 + velocity: 3.141 effort: 150.0 wrist_1: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 3.141 + effort: 56.0 wrist_2: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 3.141 + effort: 56.0 wrist_3: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 \ No newline at end of file + velocity: 3.141 + effort: 56.0 diff --git a/ur_description/config/ur16e/physical_parameters.yaml b/ur_description/config/ur16e/physical_parameters.yaml index 8a6071ffe..76e401c45 100644 --- a/ur_description/config/ur16e/physical_parameters.yaml +++ b/ur_description/config/ur16e/physical_parameters.yaml @@ -1,10 +1,11 @@ # 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 # wrist1_length = d4 - elbow_offset - shoulder_offset + d4: 0.17415 d5: 0.11985 d6: 0.11655 @@ -23,11 +24,11 @@ inertia_parameters: wrist_2_mass: 2.033 wrist_3_mass: 0.907 - 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 + 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: @@ -38,9 +39,10 @@ inertia_parameters: length: 0.178 upperarm: radius: 0.075 - length: 0.612 + length: 0.612 # currently, the kinematic length (-a2) is used, so this value doesn't matter forearm: radius: 0.075 + # length: currently, the kinematic length (-a3) is used, so this value doesn't matter wrist_1: radius: 0.075 length: 0.12 @@ -51,7 +53,7 @@ inertia_parameters: radius: 0.045 length: 0.05 - center_of_mass: + center_of_mass: # Adjusted manually shoulder_cog: x: 0.0 y: 0.00244 From 9eb9604984b4b14f1986b7bb753dc0e151e412e0 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 29 Jan 2020 10:45:58 +0100 Subject: [PATCH 015/133] Updated ur16 files for calibrated URDF --- .../config/ur16e/default_kinematics.yaml | 44 +++++++++++++++++++ .../config/ur16e/physical_parameters.yaml | 8 ++-- .../config/ur16e/visual_parameters.yaml | 3 ++ ur_description/launch/ur16e_upload.launch | 2 + ur_gazebo/launch/ur16e.launch | 2 + 5 files changed, 55 insertions(+), 4 deletions(-) create mode 100644 ur_description/config/ur16e/default_kinematics.yaml diff --git a/ur_description/config/ur16e/default_kinematics.yaml b/ur_description/config/ur16e/default_kinematics.yaml new file mode 100644 index 000000000..858d73969 --- /dev/null +++ b/ur_description/config/ur16e/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1807 + roll: -0 + pitch: 0 + yaw: -0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: -0 + forearm: + x: -0.4784 + y: 0 + z: 0 + roll: -0 + pitch: 0 + yaw: -0 + wrist_1: + x: -0.36 + y: 0 + z: 0.17415 + roll: -0 + pitch: 0 + yaw: -0 + wrist_2: + x: 0 + y: -0.11985 + z: -2.458164590756244e-11 + roll: 1.570796327 + pitch: 0 + yaw: -0 + wrist_3: + x: 0 + y: 0.11655 + z: -2.390480459346185e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_1935737212149401527 \ No newline at end of file diff --git a/ur_description/config/ur16e/physical_parameters.yaml b/ur_description/config/ur16e/physical_parameters.yaml index 76e401c45..658d51d7f 100644 --- a/ur_description/config/ur16e/physical_parameters.yaml +++ b/ur_description/config/ur16e/physical_parameters.yaml @@ -11,14 +11,14 @@ dh_parameters: offsets: shoulder_offset: 0.176 # measured from model - elbow_offset: -0.137 # measured from model - upper_arm_inertia_offset: 0.0 # 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 @@ -39,10 +39,10 @@ inertia_parameters: length: 0.178 upperarm: radius: 0.075 - length: 0.612 # currently, the kinematic length (-a2) is used, so this value doesn't matter + length: 0.4784 forearm: radius: 0.075 - # length: currently, the kinematic length (-a3) is used, so this value doesn't matter + length: 0.36 wrist_1: radius: 0.075 length: 0.12 diff --git a/ur_description/config/ur16e/visual_parameters.yaml b/ur_description/config/ur16e/visual_parameters.yaml index 2054f696b..7925fc183 100644 --- a/ur_description/config/ur16e/visual_parameters.yaml +++ b/ur_description/config/ur16e/visual_parameters.yaml @@ -47,6 +47,7 @@ mesh_files: 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: @@ -56,6 +57,7 @@ mesh_files: 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: @@ -65,3 +67,4 @@ mesh_files: 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/launch/ur16e_upload.launch b/ur_description/launch/ur16e_upload.launch index 22d275e63..715ae88aa 100644 --- a/ur_description/launch/ur16e_upload.launch +++ b/ur_description/launch/ur16e_upload.launch @@ -2,6 +2,7 @@ + @@ -12,6 +13,7 @@ + diff --git a/ur_gazebo/launch/ur16e.launch b/ur_gazebo/launch/ur16e.launch index 706251435..8fd2d5063 100644 --- a/ur_gazebo/launch/ur16e.launch +++ b/ur_gazebo/launch/ur16e.launch @@ -2,6 +2,7 @@ + @@ -11,6 +12,7 @@ + From 043c2c0a83484290cc280ea50671d8f8f5305036 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 15:47:27 +0200 Subject: [PATCH 016/133] description: align link and joint order with other ROS-I pkgs. Links first, then joints. --- ur_description/urdf/ur_robot.macro.xacro | 168 +++++++++++------------ 1 file changed, 78 insertions(+), 90 deletions(-) diff --git a/ur_description/urdf/ur_robot.macro.xacro b/ur_description/urdf/ur_robot.macro.xacro index 3a375b398..6ba02604e 100644 --- a/ur_description/urdf/ur_robot.macro.xacro +++ b/ur_description/urdf/ur_robot.macro.xacro @@ -17,9 +17,12 @@ physical_parameters_file="${physical_parameters_file}" visual_parameters_file="${visual_parameters_file}"/> + + + @@ -40,17 +43,6 @@ - - - - - - - - - - @@ -71,20 +63,6 @@ - - - - - - - - - - - - - @@ -105,20 +83,6 @@ - - - - - - - - - - - - - @@ -139,20 +103,6 @@ - - - - - - - - - - - - - @@ -174,20 +124,6 @@ - - - - - - - - - - - - - @@ -208,20 +144,6 @@ - - - - - - - - - - - - - @@ -242,13 +164,6 @@ - - - - - - - @@ -258,14 +173,87 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - From 4c07e48388ce558cfd4d4addc51fd21166729d2b Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 16:12:18 +0200 Subject: [PATCH 017/133] description: formatting and layout of xacro macro. --- ur_description/urdf/ur_robot.macro.xacro | 136 +++++++++++++++++------ 1 file changed, 100 insertions(+), 36 deletions(-) diff --git a/ur_description/urdf/ur_robot.macro.xacro b/ur_description/urdf/ur_robot.macro.xacro index 6ba02604e..96e95f3a2 100644 --- a/ur_description/urdf/ur_robot.macro.xacro +++ b/ur_description/urdf/ur_robot.macro.xacro @@ -1,25 +1,84 @@ + Base UR robot series xacro macro. + + NOTE: this is NOT a URDF. It cannot directly be loaded by consumers + expecting a flattened '.urdf' file. See the top-level '.xacro' for that + (but note: that .xacro must still be processed by the xacro command). + + For use in '.launch' files: use one of the 'urX_upload.launch' convenience + launch files. + + This file models the base kinematic chain of a UR robot, which then gets + parameterised by various configuration files to convert it into a UR3(3), + UR5(e), UR10(e) or UR16e. + + NOTE: the default kinematic parameters (ie: link lengths, frame locations, + offets, etc) do not correspond to any particular robot. They are defaults + only. There WILL be non-zero offsets between the Forward Kinematics results + in TF (ie: robot_state_publisher) and the values reported by the Teach + Pendant. + + For accurate (and robot-specific) transforms, the 'kinematics_parameters_file' + parameter MUST point to a .yaml file containing the appropriate values for + the targetted robot. - - + If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps + described in the readme to extract the kinematic calibration from the + controller and generate the required .yaml file. - + Main author of the migration to yaml configs: Ludovic Delval. - + Contributors to previous versions (in no particular order): + - Felix Messmer + - Kelsey Hawkins + - Wim Meeussen + - Shaun Edwards + - Nadia Hammoudeh Garcia + - Dave Hershberger + - G. vd. Hoorn + - Philip Long + - Dave Coleman + - Miguel Prada + - Marcel Schnirring + - Felix von Drigalski + - Felix Mauch + - Jimmy Da Silva + - Ajit Krisshna N L + - Muhammad Asif Rana + --> + + + + + + + + + - + @@ -40,7 +99,7 @@ - + @@ -60,7 +119,7 @@ - + @@ -121,7 +180,7 @@ - + @@ -141,7 +200,7 @@ - + @@ -165,6 +224,11 @@ + @@ -176,16 +240,16 @@ - + - + - + - + - + - + - + - + - + - + - + - + - - - - - - - + + @@ -268,5 +327,10 @@ + + + + + From f7174e2a6429736520f731aa0ceb6f0853963216 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 16:14:06 +0200 Subject: [PATCH 018/133] description: fix xacro filenames. Align them with other ROS-I support packages. --- ur_description/urdf/{ => inc}/ur.common.xacro | 0 ur_description/urdf/{ => inc}/ur.transmission.xacro | 0 ur_description/urdf/{ur_robot.urdf.xacro => ur.xacro} | 0 ur_description/urdf/{ur_robot.macro.xacro => ur_macro.xacro} | 0 4 files changed, 0 insertions(+), 0 deletions(-) rename ur_description/urdf/{ => inc}/ur.common.xacro (100%) rename ur_description/urdf/{ => inc}/ur.transmission.xacro (100%) rename ur_description/urdf/{ur_robot.urdf.xacro => ur.xacro} (100%) rename ur_description/urdf/{ur_robot.macro.xacro => ur_macro.xacro} (100%) diff --git a/ur_description/urdf/ur.common.xacro b/ur_description/urdf/inc/ur.common.xacro similarity index 100% rename from ur_description/urdf/ur.common.xacro rename to ur_description/urdf/inc/ur.common.xacro diff --git a/ur_description/urdf/ur.transmission.xacro b/ur_description/urdf/inc/ur.transmission.xacro similarity index 100% rename from ur_description/urdf/ur.transmission.xacro rename to ur_description/urdf/inc/ur.transmission.xacro diff --git a/ur_description/urdf/ur_robot.urdf.xacro b/ur_description/urdf/ur.xacro similarity index 100% rename from ur_description/urdf/ur_robot.urdf.xacro rename to ur_description/urdf/ur.xacro diff --git a/ur_description/urdf/ur_robot.macro.xacro b/ur_description/urdf/ur_macro.xacro similarity index 100% rename from ur_description/urdf/ur_robot.macro.xacro rename to ur_description/urdf/ur_macro.xacro From 3ae0fa6e15b68b68df8d9353a7be84062042e165 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 16:15:54 +0200 Subject: [PATCH 019/133] description: dots to underscores. --- ur_description/urdf/inc/{ur.common.xacro => ur_common.xacro} | 0 .../urdf/inc/{ur.transmission.xacro => ur_transmissions.xacro} | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename ur_description/urdf/inc/{ur.common.xacro => ur_common.xacro} (100%) rename ur_description/urdf/inc/{ur.transmission.xacro => ur_transmissions.xacro} (100%) diff --git a/ur_description/urdf/inc/ur.common.xacro b/ur_description/urdf/inc/ur_common.xacro similarity index 100% rename from ur_description/urdf/inc/ur.common.xacro rename to ur_description/urdf/inc/ur_common.xacro diff --git a/ur_description/urdf/inc/ur.transmission.xacro b/ur_description/urdf/inc/ur_transmissions.xacro similarity index 100% rename from ur_description/urdf/inc/ur.transmission.xacro rename to ur_description/urdf/inc/ur_transmissions.xacro From 4adc3c40c1442c42ba8b1dbe9b3cd71766527771 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 16:32:16 +0200 Subject: [PATCH 020/133] description: use new xacro macro filenames. --- ur_description/launch/ur_common.launch | 2 +- ur_description/urdf/ur.xacro | 2 +- ur_description/urdf/ur_macro.xacro | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/ur_description/launch/ur_common.launch b/ur_description/launch/ur_common.launch index 5ba2d750d..11dbf306d 100644 --- a/ur_description/launch/ur_common.launch +++ b/ur_description/launch/ur_common.launch @@ -11,7 +11,7 @@ - - + - - + + From e2aeae01ae5d91da05480088a22c659baf228037 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 16:33:38 +0200 Subject: [PATCH 022/133] description: use JSP GUI everywhere. avoid deprecation warnings. --- ur_description/launch/view_ur10.launch | 4 +--- ur_description/launch/view_ur10e.launch | 4 +--- ur_description/launch/view_ur16e.launch | 4 +--- ur_description/launch/view_ur3.launch | 4 +--- ur_description/launch/view_ur3e.launch | 4 +--- ur_description/launch/view_ur5.launch | 4 +--- ur_description/launch/view_ur5e.launch | 4 +--- ur_description/package.xml | 3 ++- 8 files changed, 9 insertions(+), 22 deletions(-) diff --git a/ur_description/launch/view_ur10.launch b/ur_description/launch/view_ur10.launch index 1d9a33bc0..4a93c6e60 100644 --- a/ur_description/launch/view_ur10.launch +++ b/ur_description/launch/view_ur10.launch @@ -2,9 +2,7 @@ - - - + diff --git a/ur_description/launch/view_ur10e.launch b/ur_description/launch/view_ur10e.launch index 6ef658af8..3c7af8849 100644 --- a/ur_description/launch/view_ur10e.launch +++ b/ur_description/launch/view_ur10e.launch @@ -2,9 +2,7 @@ - - - + diff --git a/ur_description/launch/view_ur16e.launch b/ur_description/launch/view_ur16e.launch index afce5408c..bc889d85c 100644 --- a/ur_description/launch/view_ur16e.launch +++ b/ur_description/launch/view_ur16e.launch @@ -2,9 +2,7 @@ - - - + diff --git a/ur_description/launch/view_ur3.launch b/ur_description/launch/view_ur3.launch index a35efcaa1..082365910 100644 --- a/ur_description/launch/view_ur3.launch +++ b/ur_description/launch/view_ur3.launch @@ -2,9 +2,7 @@ - - - + diff --git a/ur_description/launch/view_ur3e.launch b/ur_description/launch/view_ur3e.launch index e7c273e97..f52f9882b 100644 --- a/ur_description/launch/view_ur3e.launch +++ b/ur_description/launch/view_ur3e.launch @@ -2,9 +2,7 @@ - - - + diff --git a/ur_description/launch/view_ur5.launch b/ur_description/launch/view_ur5.launch index da9c56271..e4c0eda0e 100644 --- a/ur_description/launch/view_ur5.launch +++ b/ur_description/launch/view_ur5.launch @@ -2,9 +2,7 @@ - - - + diff --git a/ur_description/launch/view_ur5e.launch b/ur_description/launch/view_ur5e.launch index 802a9486e..fa0c56f53 100644 --- a/ur_description/launch/view_ur5e.launch +++ b/ur_description/launch/view_ur5e.launch @@ -2,9 +2,7 @@ - - - + diff --git a/ur_description/package.xml b/ur_description/package.xml index 0fc77915b..3a84d4aff 100644 --- a/ur_description/package.xml +++ b/ur_description/package.xml @@ -19,7 +19,8 @@ http://ros.org/wiki/ur_description catkin - joint_state_publisher + + joint_state_publisher_gui robot_state_publisher rviz urdf From c64922cde04ceee29ee8455e74d6177f22de88dc Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 16:34:05 +0200 Subject: [PATCH 023/133] description: ur16e: state_publisher is deprecated. Use new name. --- ur_description/launch/view_ur16e.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_description/launch/view_ur16e.launch b/ur_description/launch/view_ur16e.launch index bc889d85c..bfa5db9ce 100644 --- a/ur_description/launch/view_ur16e.launch +++ b/ur_description/launch/view_ur16e.launch @@ -2,7 +2,7 @@ - + From 279d337dc38c142aad27d62dff196b40c3bcf352 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 16:35:09 +0200 Subject: [PATCH 024/133] description: ur16e: limit elbow to +- 1 pi. Align with other models. For https://github.com/ros-industrial/universal_robot/issues/265. --- ur_description/config/ur16e/joints_limits_parameters.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ur_description/config/ur16e/joints_limits_parameters.yaml b/ur_description/config/ur16e/joints_limits_parameters.yaml index 17aafb26b..0a2d4cdf1 100644 --- a/ur_description/config/ur16e/joints_limits_parameters.yaml +++ b/ur_description/config/ur16e/joints_limits_parameters.yaml @@ -13,8 +13,8 @@ limits: velocity: 2.094 effort: 330.0 elbow_joint: - lower: -6.28318530718 - upper: 6.28318530718 + lower: -3.14159265359 + upper: 3.14159265359 velocity: 3.141 effort: 150.0 wrist_1: From 89a03fac5f6d4b920ba921176e35fb543e746ed8 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 16:35:31 +0200 Subject: [PATCH 025/133] description: explain why we limit elbow joints to +- 1 pi. --- .../config/ur10/joints_limits_parameters.yaml | 10 ++++++++++ .../config/ur10e/joints_limits_parameters.yaml | 10 ++++++++++ .../config/ur16e/joints_limits_parameters.yaml | 10 ++++++++++ .../config/ur3/joints_limits_parameters.yaml | 10 ++++++++++ .../config/ur3e/joints_limits_parameters.yaml | 10 ++++++++++ .../config/ur5/joints_limits_parameters.yaml | 10 ++++++++++ .../config/ur5e/joints_limits_parameters.yaml | 10 ++++++++++ 7 files changed, 70 insertions(+) diff --git a/ur_description/config/ur10/joints_limits_parameters.yaml b/ur_description/config/ur10/joints_limits_parameters.yaml index 377d49254..9b51eb29a 100644 --- a/ur_description/config/ur10/joints_limits_parameters.yaml +++ b/ur_description/config/ur10/joints_limits_parameters.yaml @@ -11,6 +11,16 @@ limits: velocity: 2.16 effort: 330.0 elbow_joint: + # we artificially limit this joint to half it's actual joint 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. lower: -3.14159265359 upper: 3.14159265359 velocity: 3.15 diff --git a/ur_description/config/ur10e/joints_limits_parameters.yaml b/ur_description/config/ur10e/joints_limits_parameters.yaml index 377d49254..9b51eb29a 100644 --- a/ur_description/config/ur10e/joints_limits_parameters.yaml +++ b/ur_description/config/ur10e/joints_limits_parameters.yaml @@ -11,6 +11,16 @@ limits: velocity: 2.16 effort: 330.0 elbow_joint: + # we artificially limit this joint to half it's actual joint 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. lower: -3.14159265359 upper: 3.14159265359 velocity: 3.15 diff --git a/ur_description/config/ur16e/joints_limits_parameters.yaml b/ur_description/config/ur16e/joints_limits_parameters.yaml index 0a2d4cdf1..6502c03bf 100644 --- a/ur_description/config/ur16e/joints_limits_parameters.yaml +++ b/ur_description/config/ur16e/joints_limits_parameters.yaml @@ -13,6 +13,16 @@ limits: velocity: 2.094 effort: 330.0 elbow_joint: + # we artificially limit this joint to half it's actual joint 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. lower: -3.14159265359 upper: 3.14159265359 velocity: 3.141 diff --git a/ur_description/config/ur3/joints_limits_parameters.yaml b/ur_description/config/ur3/joints_limits_parameters.yaml index ee55da0f0..acac1a420 100644 --- a/ur_description/config/ur3/joints_limits_parameters.yaml +++ b/ur_description/config/ur3/joints_limits_parameters.yaml @@ -12,6 +12,16 @@ limits: velocity: 2.16 effort: 330.0 elbow_joint: + # we artificially limit this joint to half it's actual joint 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. lower: -3.14159265359 upper: 3.14159265359 velocity: 3.15 diff --git a/ur_description/config/ur3e/joints_limits_parameters.yaml b/ur_description/config/ur3e/joints_limits_parameters.yaml index ee55da0f0..acac1a420 100644 --- a/ur_description/config/ur3e/joints_limits_parameters.yaml +++ b/ur_description/config/ur3e/joints_limits_parameters.yaml @@ -12,6 +12,16 @@ limits: velocity: 2.16 effort: 330.0 elbow_joint: + # we artificially limit this joint to half it's actual joint 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. lower: -3.14159265359 upper: 3.14159265359 velocity: 3.15 diff --git a/ur_description/config/ur5/joints_limits_parameters.yaml b/ur_description/config/ur5/joints_limits_parameters.yaml index ee55da0f0..acac1a420 100644 --- a/ur_description/config/ur5/joints_limits_parameters.yaml +++ b/ur_description/config/ur5/joints_limits_parameters.yaml @@ -12,6 +12,16 @@ limits: velocity: 2.16 effort: 330.0 elbow_joint: + # we artificially limit this joint to half it's actual joint 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. lower: -3.14159265359 upper: 3.14159265359 velocity: 3.15 diff --git a/ur_description/config/ur5e/joints_limits_parameters.yaml b/ur_description/config/ur5e/joints_limits_parameters.yaml index ee55da0f0..acac1a420 100644 --- a/ur_description/config/ur5e/joints_limits_parameters.yaml +++ b/ur_description/config/ur5e/joints_limits_parameters.yaml @@ -12,6 +12,16 @@ limits: velocity: 2.16 effort: 330.0 elbow_joint: + # we artificially limit this joint to half it's actual joint 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. lower: -3.14159265359 upper: 3.14159265359 velocity: 3.15 From 461181795947707e6b53a7e2e6a6eda5926b5b15 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 16:43:44 +0200 Subject: [PATCH 026/133] description: rename load launch files. Align them with other ROS-Industrial support packages. --- ur_description/launch/{ur_common.launch => load_ur.launch} | 0 ur_description/launch/{ur10_upload.launch => load_ur10.launch} | 0 ur_description/launch/{ur10e_upload.launch => load_ur10e.launch} | 0 ur_description/launch/{ur16e_upload.launch => load_ur16e.launch} | 0 ur_description/launch/{ur3_upload.launch => load_ur3.launch} | 0 ur_description/launch/{ur3e_upload.launch => load_ur3e.launch} | 0 ur_description/launch/{ur5_upload.launch => load_ur5.launch} | 0 ur_description/launch/{ur5e_upload.launch => load_ur5e.launch} | 0 8 files changed, 0 insertions(+), 0 deletions(-) rename ur_description/launch/{ur_common.launch => load_ur.launch} (100%) rename ur_description/launch/{ur10_upload.launch => load_ur10.launch} (100%) rename ur_description/launch/{ur10e_upload.launch => load_ur10e.launch} (100%) rename ur_description/launch/{ur16e_upload.launch => load_ur16e.launch} (100%) rename ur_description/launch/{ur3_upload.launch => load_ur3.launch} (100%) rename ur_description/launch/{ur3e_upload.launch => load_ur3e.launch} (100%) rename ur_description/launch/{ur5_upload.launch => load_ur5.launch} (100%) rename ur_description/launch/{ur5e_upload.launch => load_ur5e.launch} (100%) diff --git a/ur_description/launch/ur_common.launch b/ur_description/launch/load_ur.launch similarity index 100% rename from ur_description/launch/ur_common.launch rename to ur_description/launch/load_ur.launch diff --git a/ur_description/launch/ur10_upload.launch b/ur_description/launch/load_ur10.launch similarity index 100% rename from ur_description/launch/ur10_upload.launch rename to ur_description/launch/load_ur10.launch diff --git a/ur_description/launch/ur10e_upload.launch b/ur_description/launch/load_ur10e.launch similarity index 100% rename from ur_description/launch/ur10e_upload.launch rename to ur_description/launch/load_ur10e.launch diff --git a/ur_description/launch/ur16e_upload.launch b/ur_description/launch/load_ur16e.launch similarity index 100% rename from ur_description/launch/ur16e_upload.launch rename to ur_description/launch/load_ur16e.launch diff --git a/ur_description/launch/ur3_upload.launch b/ur_description/launch/load_ur3.launch similarity index 100% rename from ur_description/launch/ur3_upload.launch rename to ur_description/launch/load_ur3.launch diff --git a/ur_description/launch/ur3e_upload.launch b/ur_description/launch/load_ur3e.launch similarity index 100% rename from ur_description/launch/ur3e_upload.launch rename to ur_description/launch/load_ur3e.launch diff --git a/ur_description/launch/ur5_upload.launch b/ur_description/launch/load_ur5.launch similarity index 100% rename from ur_description/launch/ur5_upload.launch rename to ur_description/launch/load_ur5.launch diff --git a/ur_description/launch/ur5e_upload.launch b/ur_description/launch/load_ur5e.launch similarity index 100% rename from ur_description/launch/ur5e_upload.launch rename to ur_description/launch/load_ur5e.launch From f365defbeffaf4498fe8d00708c2a6b51b6b6d10 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 16:48:31 +0200 Subject: [PATCH 027/133] description: use new load launch files everywhere. --- ur_description/launch/load_ur10.launch | 2 +- ur_description/launch/load_ur10e.launch | 2 +- ur_description/launch/load_ur16e.launch | 2 +- ur_description/launch/load_ur3.launch | 2 +- ur_description/launch/load_ur3e.launch | 2 +- ur_description/launch/load_ur5.launch | 2 +- ur_description/launch/load_ur5e.launch | 2 +- ur_description/launch/view_ur10.launch | 2 +- ur_description/launch/view_ur10e.launch | 2 +- ur_description/launch/view_ur16e.launch | 2 +- ur_description/launch/view_ur3.launch | 2 +- ur_description/launch/view_ur3e.launch | 2 +- ur_description/launch/view_ur5.launch | 2 +- ur_description/launch/view_ur5e.launch | 2 +- 14 files changed, 14 insertions(+), 14 deletions(-) diff --git a/ur_description/launch/load_ur10.launch b/ur_description/launch/load_ur10.launch index 056765b10..64fa93b64 100644 --- a/ur_description/launch/load_ur10.launch +++ b/ur_description/launch/load_ur10.launch @@ -11,7 +11,7 @@ - + diff --git a/ur_description/launch/load_ur10e.launch b/ur_description/launch/load_ur10e.launch index af5779ced..309d82a2f 100644 --- a/ur_description/launch/load_ur10e.launch +++ b/ur_description/launch/load_ur10e.launch @@ -11,7 +11,7 @@ - + diff --git a/ur_description/launch/load_ur16e.launch b/ur_description/launch/load_ur16e.launch index 715ae88aa..6533c5e8e 100644 --- a/ur_description/launch/load_ur16e.launch +++ b/ur_description/launch/load_ur16e.launch @@ -11,7 +11,7 @@ - + diff --git a/ur_description/launch/load_ur3.launch b/ur_description/launch/load_ur3.launch index 1f72f6d58..9dc012b30 100644 --- a/ur_description/launch/load_ur3.launch +++ b/ur_description/launch/load_ur3.launch @@ -11,7 +11,7 @@ - + diff --git a/ur_description/launch/load_ur3e.launch b/ur_description/launch/load_ur3e.launch index 3cfbe8ef1..9aed2e91a 100644 --- a/ur_description/launch/load_ur3e.launch +++ b/ur_description/launch/load_ur3e.launch @@ -11,7 +11,7 @@ - + diff --git a/ur_description/launch/load_ur5.launch b/ur_description/launch/load_ur5.launch index 2fad487fc..3e6ccab6c 100644 --- a/ur_description/launch/load_ur5.launch +++ b/ur_description/launch/load_ur5.launch @@ -11,7 +11,7 @@ - + diff --git a/ur_description/launch/load_ur5e.launch b/ur_description/launch/load_ur5e.launch index e1f57c68e..e5d4ff71b 100644 --- a/ur_description/launch/load_ur5e.launch +++ b/ur_description/launch/load_ur5e.launch @@ -11,7 +11,7 @@ - + diff --git a/ur_description/launch/view_ur10.launch b/ur_description/launch/view_ur10.launch index 4a93c6e60..cabdbf5a0 100644 --- a/ur_description/launch/view_ur10.launch +++ b/ur_description/launch/view_ur10.launch @@ -1,6 +1,6 @@ - + diff --git a/ur_description/launch/view_ur10e.launch b/ur_description/launch/view_ur10e.launch index 3c7af8849..dc4c4e1b8 100644 --- a/ur_description/launch/view_ur10e.launch +++ b/ur_description/launch/view_ur10e.launch @@ -1,6 +1,6 @@ - + diff --git a/ur_description/launch/view_ur16e.launch b/ur_description/launch/view_ur16e.launch index bfa5db9ce..c9c604955 100644 --- a/ur_description/launch/view_ur16e.launch +++ b/ur_description/launch/view_ur16e.launch @@ -1,6 +1,6 @@ - + diff --git a/ur_description/launch/view_ur3.launch b/ur_description/launch/view_ur3.launch index 082365910..96d5dd222 100644 --- a/ur_description/launch/view_ur3.launch +++ b/ur_description/launch/view_ur3.launch @@ -1,6 +1,6 @@ - + diff --git a/ur_description/launch/view_ur3e.launch b/ur_description/launch/view_ur3e.launch index f52f9882b..c0b9f67a3 100644 --- a/ur_description/launch/view_ur3e.launch +++ b/ur_description/launch/view_ur3e.launch @@ -1,6 +1,6 @@ - + diff --git a/ur_description/launch/view_ur5.launch b/ur_description/launch/view_ur5.launch index e4c0eda0e..2428313a1 100644 --- a/ur_description/launch/view_ur5.launch +++ b/ur_description/launch/view_ur5.launch @@ -1,6 +1,6 @@ - + diff --git a/ur_description/launch/view_ur5e.launch b/ur_description/launch/view_ur5e.launch index fa0c56f53..1d1a08b76 100644 --- a/ur_description/launch/view_ur5e.launch +++ b/ur_description/launch/view_ur5e.launch @@ -1,6 +1,6 @@ - + From 487dcb876d922b4d50aece9bf64b8f563ea0599a Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 17:00:38 +0200 Subject: [PATCH 028/133] description: add roslaunch check tests. --- ur_description/CMakeLists.txt | 10 ++++++++++ ur_description/package.xml | 1 + ur_description/tests/roslaunch_test_ur10.xml | 10 ++++++++++ ur_description/tests/roslaunch_test_ur10e.xml | 10 ++++++++++ ur_description/tests/roslaunch_test_ur16e.xml | 10 ++++++++++ ur_description/tests/roslaunch_test_ur3.xml | 10 ++++++++++ ur_description/tests/roslaunch_test_ur3e.xml | 10 ++++++++++ ur_description/tests/roslaunch_test_ur5.xml | 10 ++++++++++ ur_description/tests/roslaunch_test_ur5e.xml | 10 ++++++++++ 9 files changed, 81 insertions(+) create mode 100644 ur_description/tests/roslaunch_test_ur10.xml create mode 100644 ur_description/tests/roslaunch_test_ur10e.xml create mode 100644 ur_description/tests/roslaunch_test_ur16e.xml create mode 100644 ur_description/tests/roslaunch_test_ur3.xml create mode 100644 ur_description/tests/roslaunch_test_ur3e.xml create mode 100644 ur_description/tests/roslaunch_test_ur5.xml create mode 100644 ur_description/tests/roslaunch_test_ur5e.xml diff --git a/ur_description/CMakeLists.txt b/ur_description/CMakeLists.txt index a3bda6691..1c8c7554c 100644 --- a/ur_description/CMakeLists.txt +++ b/ur_description/CMakeLists.txt @@ -9,6 +9,16 @@ find_package(catkin REQUIRED) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) +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() ## Uncomment this if the package has a setup.py. This macro ensures ## modules and global scripts declared therein get installed diff --git a/ur_description/package.xml b/ur_description/package.xml index 3a84d4aff..ab1363107 100644 --- a/ur_description/package.xml +++ b/ur_description/package.xml @@ -28,4 +28,5 @@ + 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 @@ + + + + + + + + + + From 8635400ad02fdf191846432cd973980ba5cd6098 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 17:00:56 +0200 Subject: [PATCH 029/133] description: minor manifest cleanup. --- ur_description/package.xml | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/ur_description/package.xml b/ur_description/package.xml index ab1363107..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 @@ -16,7 +16,7 @@ BSD - http://ros.org/wiki/ur_description + http://wiki.ros.org/ur_description catkin @@ -26,7 +26,5 @@ urdf xacro - - roslaunch From 5c4be1fd0deb9d60cdeb43f0873d190cc7b88dd0 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 17:01:35 +0200 Subject: [PATCH 030/133] description: build script cleanup. --- ur_description/CMakeLists.txt | 129 +--------------------------------- 1 file changed, 3 insertions(+), 126 deletions(-) diff --git a/ur_description/CMakeLists.txt b/ur_description/CMakeLists.txt index 1c8c7554c..17b3e3c20 100644 --- a/ur_description/CMakeLists.txt +++ b/ur_description/CMakeLists.txt @@ -1,13 +1,9 @@ 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) +catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) @@ -20,124 +16,5 @@ if (CATKIN_ENABLE_TESTING) roslaunch_add_file_check(tests/roslaunch_test_ur5.xml) endif() -## 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) +install(DIRECTORY cfg config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) From e3db3d647e3f413d6a2bbd5b28840dba5db560a1 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 17:11:08 +0200 Subject: [PATCH 031/133] description: format top-level xacro. --- ur_description/urdf/ur.xacro | 32 +++++++++++++++++++------------- 1 file changed, 19 insertions(+), 13 deletions(-) diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro index c6e32117d..9f55e1451 100644 --- a/ur_description/urdf/ur.xacro +++ b/ur_description/urdf/ur.xacro @@ -1,27 +1,33 @@ - + + + + + - - - - + From 4afff455420f0f22b3a6211543ff2aae243da423 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 18:44:30 +0200 Subject: [PATCH 032/133] bringup: use new load launch files. --- ur_bringup/launch/ur10_bringup.launch | 2 +- ur_bringup/launch/ur10e_bringup.launch | 2 +- ur_bringup/launch/ur3_bringup.launch | 2 +- ur_bringup/launch/ur3e_bringup.launch | 2 +- ur_bringup/launch/ur5_bringup.launch | 2 +- ur_bringup/launch/ur5e_bringup.launch | 2 +- 6 files changed, 6 insertions(+), 6 deletions(-) diff --git a/ur_bringup/launch/ur10_bringup.launch b/ur_bringup/launch/ur10_bringup.launch index 9969c79e8..7938129cf 100644 --- a/ur_bringup/launch/ur10_bringup.launch +++ b/ur_bringup/launch/ur10_bringup.launch @@ -19,7 +19,7 @@ - + diff --git a/ur_bringup/launch/ur10e_bringup.launch b/ur_bringup/launch/ur10e_bringup.launch index 0a1f8b4dd..d3c111487 100644 --- a/ur_bringup/launch/ur10e_bringup.launch +++ b/ur_bringup/launch/ur10e_bringup.launch @@ -19,7 +19,7 @@ - + diff --git a/ur_bringup/launch/ur3_bringup.launch b/ur_bringup/launch/ur3_bringup.launch index cb99c0a33..aed17f8ec 100644 --- a/ur_bringup/launch/ur3_bringup.launch +++ b/ur_bringup/launch/ur3_bringup.launch @@ -20,7 +20,7 @@ - + diff --git a/ur_bringup/launch/ur3e_bringup.launch b/ur_bringup/launch/ur3e_bringup.launch index 0cfeb93b6..d844875f8 100644 --- a/ur_bringup/launch/ur3e_bringup.launch +++ b/ur_bringup/launch/ur3e_bringup.launch @@ -20,7 +20,7 @@ - + diff --git a/ur_bringup/launch/ur5_bringup.launch b/ur_bringup/launch/ur5_bringup.launch index 10c76e6a5..4579b9f59 100644 --- a/ur_bringup/launch/ur5_bringup.launch +++ b/ur_bringup/launch/ur5_bringup.launch @@ -20,7 +20,7 @@ - + diff --git a/ur_bringup/launch/ur5e_bringup.launch b/ur_bringup/launch/ur5e_bringup.launch index 9c4805222..c30a99c9f 100644 --- a/ur_bringup/launch/ur5e_bringup.launch +++ b/ur_bringup/launch/ur5e_bringup.launch @@ -20,7 +20,7 @@ - + From ec56418232871f0adf9e92d961744725c628c176 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 18:45:01 +0200 Subject: [PATCH 033/133] gazebo: use new xacro macro file. --- ur_gazebo/urdf/ur_robot_gazebo.macro.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro b/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro index 15f2bcfe1..fce5c83b6 100644 --- a/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro +++ b/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro @@ -5,7 +5,7 @@ Contributor: Felix Messmer, Kelsey Hawkins, Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana --> - + Date: Sun, 7 Jun 2020 12:42:30 +0200 Subject: [PATCH 034/133] Update ur_description/urdf/ur_macro.xacro Co-authored-by: Felix Exner --- ur_description/urdf/ur_macro.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index ab813d5b0..5375da6a4 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -44,7 +44,7 @@ - Miguel Prada - Marcel Schnirring - Felix von Drigalski - - Felix Mauch + - Felix Exner - Jimmy Da Silva - Ajit Krisshna N L - Muhammad Asif Rana From 66a3d1b389757f63c7de1c2e8aef9a575d82332d Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 8 Jun 2020 18:50:03 +0200 Subject: [PATCH 035/133] =?UTF-8?q?description:=20recognise=20Mathias=20L?= =?UTF-8?q?=C3=BCdtke=20as=20contributor.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ur_description/urdf/ur_macro.xacro | 1 + 1 file changed, 1 insertion(+) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index 5375da6a4..1f20e88f7 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -42,6 +42,7 @@ - Philip Long - Dave Coleman - Miguel Prada + - Mathias Luedtke - Marcel Schnirring - Felix von Drigalski - Felix Exner From c68a2d93c95609510d4abf79c1720c31b662fa7f Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 8 Jun 2020 19:03:57 +0200 Subject: [PATCH 036/133] description: explain function of common load_ur launch file. --- ur_description/launch/load_ur.launch | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/ur_description/launch/load_ur.launch b/ur_description/launch/load_ur.launch index 3774d88b3..1d3898ab7 100644 --- a/ur_description/launch/load_ur.launch +++ b/ur_description/launch/load_ur.launch @@ -11,6 +11,23 @@ + - + From bf9052a16d8f989a9fde443f18ec56bed8803376 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 8 Jun 2020 19:04:32 +0200 Subject: [PATCH 038/133] description: clarify note on base_correction property. --- ur_description/urdf/ur_macro.xacro | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index 1f20e88f7..0ad77362d 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -75,10 +75,11 @@ - From 5823de09392c53a7d30e06fbeb578bb4fc7d7903 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 19:12:25 +0200 Subject: [PATCH 039/133] Remove ur_driver. For #448. It has been deprecated for years and should not be used any longer. Replaced by: - ur_modern_driver (CB1, CB2) - ur_robot_driver (CB3 and newer) --- ur_driver/CHANGELOG.rst | 85 -- ur_driver/CMakeLists.txt | 40 - ur_driver/cfg/URDriver.cfg | 10 - ur_driver/package.xml | 29 - ur_driver/prog | 228 ----- ur_driver/prog_reset | 3 - ur_driver/setup.py | 13 - ur_driver/src/ur_driver/__init__.py | 0 ur_driver/src/ur_driver/deserialize.py | 372 -------- ur_driver/src/ur_driver/deserializeRT.py | 418 --------- ur_driver/src/ur_driver/driver.py | 1018 ---------------------- ur_driver/src/ur_driver/io_interface.py | 79 -- ur_driver/src/ur_driver/testRT_comm.py | 98 --- ur_driver/src/ur_driver/test_comm.py | 120 --- ur_driver/test_io.py | 31 - ur_driver/test_move.py | 106 --- 16 files changed, 2650 deletions(-) delete mode 100644 ur_driver/CHANGELOG.rst delete mode 100644 ur_driver/CMakeLists.txt delete mode 100755 ur_driver/cfg/URDriver.cfg delete mode 100644 ur_driver/package.xml delete mode 100644 ur_driver/prog delete mode 100644 ur_driver/prog_reset delete mode 100644 ur_driver/setup.py delete mode 100644 ur_driver/src/ur_driver/__init__.py delete mode 100755 ur_driver/src/ur_driver/deserialize.py delete mode 100644 ur_driver/src/ur_driver/deserializeRT.py delete mode 100755 ur_driver/src/ur_driver/driver.py delete mode 100644 ur_driver/src/ur_driver/io_interface.py delete mode 100755 ur_driver/src/ur_driver/testRT_comm.py delete mode 100755 ur_driver/src/ur_driver/test_comm.py delete mode 100755 ur_driver/test_io.py delete mode 100755 ur_driver/test_move.py 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() From 406a6b76f55388ba6586280e51a58d3b3b0f567f Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 19:14:57 +0200 Subject: [PATCH 040/133] Remove ur_bringup. For #448. --- ur_bringup/CHANGELOG.rst | 58 -------------------------- ur_bringup/CMakeLists.txt | 14 ------- ur_bringup/launch/ur10_bringup.launch | 35 ---------------- ur_bringup/launch/ur10e_bringup.launch | 35 ---------------- ur_bringup/launch/ur3_bringup.launch | 37 ---------------- ur_bringup/launch/ur3e_bringup.launch | 37 ---------------- ur_bringup/launch/ur5_bringup.launch | 37 ---------------- ur_bringup/launch/ur5e_bringup.launch | 37 ---------------- ur_bringup/launch/ur_common.launch | 43 ------------------- ur_bringup/package.xml | 26 ------------ ur_bringup/tests/roslaunch_test.xml | 54 ------------------------ 11 files changed, 413 deletions(-) delete mode 100644 ur_bringup/CHANGELOG.rst delete mode 100644 ur_bringup/CMakeLists.txt delete mode 100644 ur_bringup/launch/ur10_bringup.launch delete mode 100644 ur_bringup/launch/ur10e_bringup.launch delete mode 100644 ur_bringup/launch/ur3_bringup.launch delete mode 100644 ur_bringup/launch/ur3e_bringup.launch delete mode 100644 ur_bringup/launch/ur5_bringup.launch delete mode 100644 ur_bringup/launch/ur5e_bringup.launch delete mode 100644 ur_bringup/launch/ur_common.launch delete mode 100644 ur_bringup/package.xml delete mode 100644 ur_bringup/tests/roslaunch_test.xml 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/CMakeLists.txt b/ur_bringup/CMakeLists.txt deleted file mode 100644 index 084a7d928..000000000 --- a/ur_bringup/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(ur_bringup) - -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 DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_bringup/launch/ur10_bringup.launch b/ur_bringup/launch/ur10_bringup.launch deleted file mode 100644 index 7938129cf..000000000 --- a/ur_bringup/launch/ur10_bringup.launch +++ /dev/null @@ -1,35 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur10e_bringup.launch b/ur_bringup/launch/ur10e_bringup.launch deleted file mode 100644 index d3c111487..000000000 --- a/ur_bringup/launch/ur10e_bringup.launch +++ /dev/null @@ -1,35 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur3_bringup.launch b/ur_bringup/launch/ur3_bringup.launch deleted file mode 100644 index aed17f8ec..000000000 --- a/ur_bringup/launch/ur3_bringup.launch +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur3e_bringup.launch b/ur_bringup/launch/ur3e_bringup.launch deleted file mode 100644 index d844875f8..000000000 --- a/ur_bringup/launch/ur3e_bringup.launch +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur5_bringup.launch b/ur_bringup/launch/ur5_bringup.launch deleted file mode 100644 index 4579b9f59..000000000 --- a/ur_bringup/launch/ur5_bringup.launch +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_bringup/launch/ur5e_bringup.launch b/ur_bringup/launch/ur5e_bringup.launch deleted file mode 100644 index c30a99c9f..000000000 --- a/ur_bringup/launch/ur5e_bringup.launch +++ /dev/null @@ -1,37 +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 adf41403b..000000000 --- a/ur_bringup/tests/roslaunch_test.xml +++ /dev/null @@ -1,54 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From 3b974d8ca666f74d2085cc2bab7486e0c2fa24e0 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 6 Jun 2020 19:16:16 +0200 Subject: [PATCH 041/133] meta: remove driver and bringup. --- universal_robots/package.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/universal_robots/package.xml b/universal_robots/package.xml index 4e123b298..e303be234 100644 --- a/universal_robots/package.xml +++ b/universal_robots/package.xml @@ -26,9 +26,7 @@ ur3_moveit_config ur5_e_moveit_config ur5_moveit_config - ur_bringup ur_description - ur_driver ur_gazebo ur_kinematics ur_msgs From 691480405348056d0f1c57b20999df955e1e7a22 Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Tue, 9 Jun 2020 12:11:46 +0200 Subject: [PATCH 042/133] Remove old meta package. For #448. (#499) Company is called Universal Robots (plural). --- universal_robot/CHANGELOG.rst | 48 ---------------------------------- universal_robot/CMakeLists.txt | 4 --- universal_robot/package.xml | 28 -------------------- 3 files changed, 80 deletions(-) delete mode 100644 universal_robot/CHANGELOG.rst delete mode 100644 universal_robot/CMakeLists.txt delete mode 100644 universal_robot/package.xml 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 - - - - - From 510edd9fdf1ca9403d3784a91eaac491bc0d24cd Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 9 Jun 2020 12:25:48 +0200 Subject: [PATCH 043/133] travis: switch to master. --- .travis.yml | 33 +++++++++++++++++++++------------ 1 file changed, 21 insertions(+), 12 deletions(-) diff --git a/.travis.yml b/.travis.yml index 13da30625..b0bd80b7d 100644 --- a/.travis.yml +++ b/.travis.yml @@ -2,24 +2,33 @@ 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 + - ROS_REPO=ros 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_DISTRO="kinetic" ROS_REPO=ros-shadow-fixed + - ROS_DISTRO="kinetic" PRERELEASE=true + - ROS_DISTRO="melodic" + - ROS_DISTRO="melodic" ROS_REPO=ros-shadow-fixed + - ROS_DISTRO="melodic" PRERELEASE=true + 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 + 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 .ci_config + script: - - source .ci_config/travis.sh + - .ci_config/travis.sh From ddbeb15f11998ee2320559aca5a9054ae4a24824 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 9 Jun 2020 12:29:11 +0200 Subject: [PATCH 044/133] travis: Melodic jobs should pass. We no longer allow those to fail. --- .travis.yml | 6 ------ 1 file changed, 6 deletions(-) diff --git a/.travis.yml b/.travis.yml index b0bd80b7d..d476e0c19 100644 --- a/.travis.yml +++ b/.travis.yml @@ -21,12 +21,6 @@ env: - ROS_DISTRO="melodic" ROS_REPO=ros-shadow-fixed - ROS_DISTRO="melodic" PRERELEASE=true -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 - install: - git clone --quiet --depth=1 -b master https://github.com/ros-industrial/industrial_ci.git .ci_config From 6b842d476327d8171f68fb08994bf9f68695305d Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 9 Jun 2020 12:34:08 +0200 Subject: [PATCH 045/133] travis: shadow-fixed is now testing. --- .travis.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index d476e0c19..e4a6d4b65 100644 --- a/.travis.yml +++ b/.travis.yml @@ -15,10 +15,10 @@ env: - ROS_REPO=ros matrix: - ROS_DISTRO="kinetic" - - ROS_DISTRO="kinetic" ROS_REPO=ros-shadow-fixed + - ROS_DISTRO="kinetic" ROS_REPO=ros-testing - ROS_DISTRO="kinetic" PRERELEASE=true - ROS_DISTRO="melodic" - - ROS_DISTRO="melodic" ROS_REPO=ros-shadow-fixed + - ROS_DISTRO="melodic" ROS_REPO=ros-testing - ROS_DISTRO="melodic" PRERELEASE=true install: From f0db86fd9e361889ffc793f456387c0200f9dd14 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 9 Jun 2020 12:43:48 +0200 Subject: [PATCH 046/133] travis: it's actually the 'main' repository. --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index e4a6d4b65..8dce0fac1 100644 --- a/.travis.yml +++ b/.travis.yml @@ -12,7 +12,7 @@ git: env: global: - CCACHE_DIR=$HOME/.ccache - - ROS_REPO=ros + - ROS_REPO=main matrix: - ROS_DISTRO="kinetic" - ROS_DISTRO="kinetic" ROS_REPO=ros-testing From c0bb19ce1c15fbe2ba77096f560cccda4a1da38d Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 9 Jun 2020 12:44:33 +0200 Subject: [PATCH 047/133] travis: update local name for cloned industrial_ci repo. Old name probably cargo-cult from way-back-when. --- .travis.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index 8dce0fac1..f988bea43 100644 --- a/.travis.yml +++ b/.travis.yml @@ -22,7 +22,7 @@ env: - ROS_DISTRO="melodic" PRERELEASE=true install: - - git clone --quiet --depth=1 -b master https://github.com/ros-industrial/industrial_ci.git .ci_config + - git clone --quiet --depth=1 -b master https://github.com/ros-industrial/industrial_ci.git .industrial_ci script: - - .ci_config/travis.sh + - .industrial_ci/travis.sh From 8eca417b2131a32cd3c1106416ec2314e2ac80a5 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 9 Jun 2020 12:51:23 +0200 Subject: [PATCH 048/133] travis: set repo on matrix row. Instead of as a global. Having it as part of the row increases visibility and avoids confusion. --- .travis.yml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/.travis.yml b/.travis.yml index f988bea43..bbed47d24 100644 --- a/.travis.yml +++ b/.travis.yml @@ -12,12 +12,11 @@ git: env: global: - CCACHE_DIR=$HOME/.ccache - - ROS_REPO=main matrix: - - ROS_DISTRO="kinetic" + - ROS_DISTRO="kinetic" ROS_REPO=main - ROS_DISTRO="kinetic" ROS_REPO=ros-testing - ROS_DISTRO="kinetic" PRERELEASE=true - - ROS_DISTRO="melodic" + - ROS_DISTRO="melodic" ROS_REPO=main - ROS_DISTRO="melodic" ROS_REPO=ros-testing - ROS_DISTRO="melodic" PRERELEASE=true From e34068f16a644b6dfa0785170231fa29ce27ca2c Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 9 Jun 2020 13:22:18 +0200 Subject: [PATCH 049/133] travis: use correct name for 'testing' repo. --- .travis.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index bbed47d24..e6b6f3eaa 100644 --- a/.travis.yml +++ b/.travis.yml @@ -14,10 +14,10 @@ env: - CCACHE_DIR=$HOME/.ccache matrix: - ROS_DISTRO="kinetic" ROS_REPO=main - - ROS_DISTRO="kinetic" ROS_REPO=ros-testing + - ROS_DISTRO="kinetic" ROS_REPO=testing - ROS_DISTRO="kinetic" PRERELEASE=true - ROS_DISTRO="melodic" ROS_REPO=main - - ROS_DISTRO="melodic" ROS_REPO=ros-testing + - ROS_DISTRO="melodic" ROS_REPO=testing - ROS_DISTRO="melodic" PRERELEASE=true install: From b58a5b756bfc91cd083389dc5406f223050cba58 Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Wed, 18 Sep 2019 11:02:41 -0700 Subject: [PATCH 050/133] Create CONTRIBUTING.md (#368) re: https://github.com/ros-industrial/ros_industrial_issues/issues/26 --- CONTRIBUTING.md | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 CONTRIBUTING.md 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). From d730bb5221a8da6e8782e711fee5e175331795d2 Mon Sep 17 00:00:00 2001 From: cclauss Date: Sun, 29 Sep 2019 10:58:26 +0200 Subject: [PATCH 051/133] Use print() function in both Python 2 and Python 3 Legacy __print__ statements are syntax errors in Python 3 but __print()__ function works as expected in both Python 2 and Python 3. --- .../src/ur_kinematics/test_analytical_ik.py | 21 ++++++++++--------- 1 file changed, 11 insertions(+), 10 deletions(-) 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: From 551c467ad07ca95850d003a02601b33cf7466de6 Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Fri, 12 Jun 2020 13:52:03 +0200 Subject: [PATCH 052/133] description: clarify status of 'inc' xacro files. (#507) As the way we model the robots may change in the future, users should consider these files as private. No guarantees are given as to the existence of these files or their contents. --- ur_description/urdf/inc/ur_common.xacro | 21 +++++++++++++++---- .../urdf/inc/ur_transmissions.xacro | 5 +++++ 2 files changed, 22 insertions(+), 4 deletions(-) diff --git a/ur_description/urdf/inc/ur_common.xacro b/ur_description/urdf/inc/ur_common.xacro index b453c4f3f..6846968b9 100644 --- a/ur_description/urdf/inc/ur_common.xacro +++ b/ur_description/urdf/inc/ur_common.xacro @@ -1,9 +1,13 @@ - + @@ -14,6 +18,15 @@ + + diff --git a/ur_description/urdf/inc/ur_transmissions.xacro b/ur_description/urdf/inc/ur_transmissions.xacro index b85cc6e77..fd44d69b9 100644 --- a/ur_description/urdf/inc/ur_transmissions.xacro +++ b/ur_description/urdf/inc/ur_transmissions.xacro @@ -1,5 +1,10 @@ + From 752cf9e4c234aa798ecf6cccc6ef146ad0ccd29c Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 11 Jun 2020 20:30:42 +0200 Subject: [PATCH 053/133] description: remove ee_link link. Also remove the tiny collision object, as it's no longer needed now that MoveIt has been fixed. --- ur_description/urdf/ur_macro.xacro | 18 ------------------ 1 file changed, 18 deletions(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index 0ad77362d..64c56a23c 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -225,19 +225,6 @@ - - - - - - - - - @@ -309,11 +296,6 @@ - - - - - From 2aea7d1c67ed9e60a4ca55603bcfa5305ed60d94 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 11 Jun 2020 20:32:41 +0200 Subject: [PATCH 054/133] description: introduce flange frame. This is the correct EEF attachment point: REP-103 aligned and no unwanted rotations (as tool0). --- ur_description/urdf/ur_macro.xacro | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index 64c56a23c..93ce00a4f 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -309,11 +309,19 @@ + + + + + + + + - + - + From 7a23910ec7d30b149c3343f1cba0bbbf844e3f56 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 11 Jun 2020 20:33:10 +0200 Subject: [PATCH 055/133] description: fix orientation of tool0. Now that flange is its parent. --- ur_description/urdf/ur_macro.xacro | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index 93ce00a4f..0fc4097cd 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -320,7 +320,8 @@ - + + From e78566e07c9c4c8077865c894b0aec63fcd6c873 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 11 Jun 2020 20:33:46 +0200 Subject: [PATCH 056/133] description: use standard comments for base and tool0 frames. Aligned with other ROS-Industrial robot support packages. --- ur_description/urdf/ur_macro.xacro | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index 0fc4097cd..12d1692b6 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -297,7 +297,7 @@ - + + From 7541e7b6fa1ae40f611f359554075b05859ad09f Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Tue, 16 Jun 2020 12:44:41 +0200 Subject: [PATCH 057/133] description: reduce verbosity: pass all args. (#508) These convenience wrappers only setup defaults, and all args are needed, so pass all of them. --- ur_description/launch/load_ur10.launch | 12 ++---------- ur_description/launch/load_ur10e.launch | 12 ++---------- ur_description/launch/load_ur16e.launch | 12 ++---------- ur_description/launch/load_ur3.launch | 12 ++---------- ur_description/launch/load_ur3e.launch | 12 ++---------- ur_description/launch/load_ur5.launch | 12 ++---------- ur_description/launch/load_ur5e.launch | 12 ++---------- 7 files changed, 14 insertions(+), 70 deletions(-) diff --git a/ur_description/launch/load_ur10.launch b/ur_description/launch/load_ur10.launch index 64fa93b64..8c2151adf 100644 --- a/ur_description/launch/load_ur10.launch +++ b/ur_description/launch/load_ur10.launch @@ -11,14 +11,6 @@ - - - - - - - - - - + + diff --git a/ur_description/launch/load_ur10e.launch b/ur_description/launch/load_ur10e.launch index 309d82a2f..00edc27b1 100644 --- a/ur_description/launch/load_ur10e.launch +++ b/ur_description/launch/load_ur10e.launch @@ -11,14 +11,6 @@ - - - - - - - - - - + + diff --git a/ur_description/launch/load_ur16e.launch b/ur_description/launch/load_ur16e.launch index 6533c5e8e..4c17cd956 100644 --- a/ur_description/launch/load_ur16e.launch +++ b/ur_description/launch/load_ur16e.launch @@ -11,14 +11,6 @@ - - - - - - - - - - + + diff --git a/ur_description/launch/load_ur3.launch b/ur_description/launch/load_ur3.launch index 9dc012b30..4766180fc 100644 --- a/ur_description/launch/load_ur3.launch +++ b/ur_description/launch/load_ur3.launch @@ -11,14 +11,6 @@ - - - - - - - - - - + + diff --git a/ur_description/launch/load_ur3e.launch b/ur_description/launch/load_ur3e.launch index 9aed2e91a..1e2dcac0b 100644 --- a/ur_description/launch/load_ur3e.launch +++ b/ur_description/launch/load_ur3e.launch @@ -11,14 +11,6 @@ - - - - - - - - - - + + diff --git a/ur_description/launch/load_ur5.launch b/ur_description/launch/load_ur5.launch index 3e6ccab6c..74365ce26 100644 --- a/ur_description/launch/load_ur5.launch +++ b/ur_description/launch/load_ur5.launch @@ -11,14 +11,6 @@ - - - - - - - - - - + + diff --git a/ur_description/launch/load_ur5e.launch b/ur_description/launch/load_ur5e.launch index e5d4ff71b..69cfa5e0f 100644 --- a/ur_description/launch/load_ur5e.launch +++ b/ur_description/launch/load_ur5e.launch @@ -11,14 +11,6 @@ - - - - - - - - - - + + From 8ca7b2ec7d48ef8b66dedf637d8d84f6a4013c68 Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Tue, 16 Jun 2020 12:45:07 +0200 Subject: [PATCH 058/133] description: use mat def from yaml for base_link. (#509) --- ur_description/urdf/ur_macro.xacro | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index 12d1692b6..30ca7aafb 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -90,8 +90,8 @@ - - + + From acccf59ed27b1242cc35954311b03368813156f5 Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Tue, 16 Jun 2020 18:03:25 +0200 Subject: [PATCH 059/133] description: assume -0==0. (#511) --- .../config/ur10/default_kinematics.yaml | 16 ++++++++-------- .../config/ur10e/default_kinematics.yaml | 16 ++++++++-------- .../config/ur16e/default_kinematics.yaml | 16 ++++++++-------- .../config/ur3/default_kinematics.yaml | 16 ++++++++-------- .../config/ur3e/default_kinematics.yaml | 16 ++++++++-------- .../config/ur5/default_kinematics.yaml | 16 ++++++++-------- .../config/ur5e/default_kinematics.yaml | 16 ++++++++-------- 7 files changed, 56 insertions(+), 56 deletions(-) diff --git a/ur_description/config/ur10/default_kinematics.yaml b/ur_description/config/ur10/default_kinematics.yaml index 7fb8752df..20a084f39 100644 --- a/ur_description/config/ur10/default_kinematics.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/ur10e/default_kinematics.yaml b/ur_description/config/ur10e/default_kinematics.yaml index 8fa1fea43..fca697c0d 100644 --- a/ur_description/config/ur10e/default_kinematics.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/ur16e/default_kinematics.yaml b/ur_description/config/ur16e/default_kinematics.yaml index 858d73969..d7bbeae04 100644 --- a/ur_description/config/ur16e/default_kinematics.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 diff --git a/ur_description/config/ur3/default_kinematics.yaml b/ur_description/config/ur3/default_kinematics.yaml index 1f083cabb..f7200ba61 100644 --- a/ur_description/config/ur3/default_kinematics.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/ur3e/default_kinematics.yaml b/ur_description/config/ur3e/default_kinematics.yaml index d9b6b0393..aa98e3cd2 100644 --- a/ur_description/config/ur3e/default_kinematics.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/ur5/default_kinematics.yaml b/ur_description/config/ur5/default_kinematics.yaml index fa4388bed..0173c2b67 100644 --- a/ur_description/config/ur5/default_kinematics.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/ur5e/default_kinematics.yaml b/ur_description/config/ur5e/default_kinematics.yaml index 5b1e9cb20..e89032eec 100644 --- a/ur_description/config/ur5e/default_kinematics.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 From 60deb688771511da37e9b0087504f64d34f5a66d Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 15 Jun 2020 20:06:54 +0200 Subject: [PATCH 060/133] description: remove the 'base_correction' property. There is an offset between 'base_link' and 'base', but it's a fixed one, known and does not need to be a property. Rectify the problem with the 'base_link' mesh in a follow-up commit. --- ur_description/urdf/ur_macro.xacro | 20 ++++---------------- 1 file changed, 4 insertions(+), 16 deletions(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index 30ca7aafb..d4de404e8 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -75,18 +75,10 @@ - - - - + @@ -95,7 +87,7 @@ - + @@ -230,7 +222,7 @@ - + @@ -300,11 +292,7 @@ - - + From 77abb0999db234b84233a9b65abac97fe733a0ac Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 15 Jun 2020 20:25:07 +0200 Subject: [PATCH 061/133] description: introduce base_link_inertia link. To work around the root-link-with-inertia limitation in KDL. --- ur_description/urdf/ur_macro.xacro | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index d4de404e8..22fe88e93 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -76,7 +76,8 @@ - + + @@ -219,8 +220,13 @@ - + + + + + + From e47d3f688897cded793b0d07ffd18e26ffb679a2 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 15 Jun 2020 20:26:46 +0200 Subject: [PATCH 062/133] description: rotate for UR internal frames. --- ur_description/urdf/ur_macro.xacro | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index 22fe88e93..da4405e01 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -223,7 +223,12 @@ - + + From 6c60ad76ec798062768a38a59382f51aa87cb5dd Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 15 Jun 2020 20:29:31 +0200 Subject: [PATCH 063/133] description: fix orientation of 'base' frame. So it's coincident with the robot's/controller's 'Base' frame. It's actually 180 degrees rotated over Z wrt 'base_link'. --- ur_description/urdf/ur_macro.xacro | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index da4405e01..d7a6f138e 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -303,7 +303,12 @@ - + + From 2b7cc5e696890f7de8110ae8104e43d173421bbf Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Mon, 15 Jun 2020 20:33:55 +0200 Subject: [PATCH 064/133] description: correct orientation of Base mesh. Connector should be aligned with Y+ of 'base' frame. --- ur_description/urdf/ur_macro.xacro | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index d7a6f138e..5e74fef00 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -79,7 +79,7 @@ - + @@ -88,7 +88,7 @@ - + From c39d2868a6a47f7dc5813b935f3f87b00eb94c90 Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Tue, 16 Jun 2020 20:02:34 +0200 Subject: [PATCH 065/133] description: fix main macro docs. (#512) --- ur_description/urdf/ur_macro.xacro | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index 5e74fef00..ca73488e9 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -7,11 +7,11 @@ expecting a flattened '.urdf' file. See the top-level '.xacro' for that (but note: that .xacro must still be processed by the xacro command). - For use in '.launch' files: use one of the 'urX_upload.launch' convenience + For use in '.launch' files: use one of the 'load_urX.launch' convenience launch files. This file models the base kinematic chain of a UR robot, which then gets - parameterised by various configuration files to convert it into a UR3(3), + parameterised by various configuration files to convert it into a UR3(e), UR5(e), UR10(e) or UR16e. NOTE: the default kinematic parameters (ie: link lengths, frame locations, @@ -25,8 +25,8 @@ the targetted robot. If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps - described in the readme to extract the kinematic calibration from the - controller and generate the required .yaml file. + described in the readme of that repository to extract the kinematic + calibration from the controller and generate the required .yaml file. Main author of the migration to yaml configs: Ludovic Delval. From 8e65c395c833627e4e7158a4472e11a3f770ca66 Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Wed, 17 Jun 2020 20:33:36 +0200 Subject: [PATCH 066/133] description: correct joint limits for all supported variants. (#513) Based on values from the User Manuals. --- .../config/ur10/joints_limits_parameters.yaml | 26 ++++++++++----- .../ur10e/joints_limits_parameters.yaml | 26 ++++++++++----- .../ur16e/joints_limits_parameters.yaml | 22 ++++++++----- .../config/ur3/joints_limits_parameters.yaml | 33 +++++++++++-------- .../config/ur3e/joints_limits_parameters.yaml | 33 +++++++++++-------- .../config/ur5/joints_limits_parameters.yaml | 31 ++++++++++------- .../config/ur5e/joints_limits_parameters.yaml | 31 ++++++++++------- 7 files changed, 126 insertions(+), 76 deletions(-) diff --git a/ur_description/config/ur10/joints_limits_parameters.yaml b/ur_description/config/ur10/joints_limits_parameters.yaml index 9b51eb29a..bdaad3343 100644 --- a/ur_description/config/ur10/joints_limits_parameters.yaml +++ b/ur_description/config/ur10/joints_limits_parameters.yaml @@ -1,14 +1,22 @@ # 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 limits: shoulder_pan: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 + velocity: 2.0943951 effort: 330.0 shoulder_lift: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 + velocity: 2.0943951 effort: 330.0 elbow_joint: # we artificially limit this joint to half it's actual joint limit to avoid @@ -23,20 +31,20 @@ limits: # more information. lower: -3.14159265359 upper: 3.14159265359 - velocity: 3.15 + velocity: 3.14159265359 effort: 150.0 wrist_1: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 3.14159265359 + effort: 56.0 wrist_2: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 3.14159265359 + effort: 56.0 wrist_3: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 \ No newline at end of file + velocity: 3.14159265359 + effort: 56.0 diff --git a/ur_description/config/ur10e/joints_limits_parameters.yaml b/ur_description/config/ur10e/joints_limits_parameters.yaml index 9b51eb29a..57a4dc43a 100644 --- a/ur_description/config/ur10e/joints_limits_parameters.yaml +++ b/ur_description/config/ur10e/joints_limits_parameters.yaml @@ -1,14 +1,22 @@ # 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 limits: shoulder_pan: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 + velocity: 2.0943951 effort: 330.0 shoulder_lift: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 + velocity: 2.0943951 effort: 330.0 elbow_joint: # we artificially limit this joint to half it's actual joint limit to avoid @@ -23,20 +31,20 @@ limits: # more information. lower: -3.14159265359 upper: 3.14159265359 - velocity: 3.15 + velocity: 3.14159265359 effort: 150.0 wrist_1: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 3.14159265359 + effort: 56.0 wrist_2: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 3.14159265359 + effort: 56.0 wrist_3: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 \ No newline at end of file + velocity: 3.14159265359 + effort: 56.0 diff --git a/ur_description/config/ur16e/joints_limits_parameters.yaml b/ur_description/config/ur16e/joints_limits_parameters.yaml index 6502c03bf..2a78995b6 100644 --- a/ur_description/config/ur16e/joints_limits_parameters.yaml +++ b/ur_description/config/ur16e/joints_limits_parameters.yaml @@ -1,16 +1,22 @@ # Joints limits -# According to https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/max-joint-torques-17260/ -# and ur16e fact sheet (e.g. https://cdn2.hubspot.net/hubfs/4316198/1_VENDOR-LITERATURE/Universal%20Robots/UR16e/UR16e_Fact%20Sheet_(2sided).pdf) +# +# 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 limits: shoulder_pan: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.094 + velocity: 2.0943951 effort: 330.0 shoulder_lift: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.094 + velocity: 2.0943951 effort: 330.0 elbow_joint: # we artificially limit this joint to half it's actual joint limit to avoid @@ -25,20 +31,20 @@ limits: # more information. lower: -3.14159265359 upper: 3.14159265359 - velocity: 3.141 + velocity: 3.14159265359 effort: 150.0 wrist_1: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.141 + velocity: 3.14159265359 effort: 56.0 wrist_2: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.141 + velocity: 3.14159265359 effort: 56.0 wrist_3: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.141 + velocity: 3.14159265359 effort: 56.0 diff --git a/ur_description/config/ur3/joints_limits_parameters.yaml b/ur_description/config/ur3/joints_limits_parameters.yaml index acac1a420..08c7dc4e5 100644 --- a/ur_description/config/ur3/joints_limits_parameters.yaml +++ b/ur_description/config/ur3/joints_limits_parameters.yaml @@ -1,16 +1,23 @@ # 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 limits: shoulder_pan: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 - effort: 330.0 + velocity: 3.14159265359 + effort: 56.0 shoulder_lift: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 - effort: 330.0 + velocity: 3.14159265359 + effort: 56.0 elbow_joint: # we artificially limit this joint to half it's actual joint limit to avoid # (MoveIt/OMPL) planning problems, as due to the physical construction of @@ -24,20 +31,20 @@ limits: # more information. lower: -3.14159265359 upper: 3.14159265359 - velocity: 3.15 - effort: 150.0 + velocity: 3.14159265359 + effort: 28.0 wrist_1: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 6.28318530718 + effort: 12.0 wrist_2: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 6.28318530718 + effort: 12.0 wrist_3: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 \ No newline at end of file + velocity: 6.28318530718 + effort: 12.0 diff --git a/ur_description/config/ur3e/joints_limits_parameters.yaml b/ur_description/config/ur3e/joints_limits_parameters.yaml index acac1a420..2b4564b59 100644 --- a/ur_description/config/ur3e/joints_limits_parameters.yaml +++ b/ur_description/config/ur3e/joints_limits_parameters.yaml @@ -1,16 +1,23 @@ # 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 limits: shoulder_pan: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 - effort: 330.0 + velocity: 3.14159265359 + effort: 56.0 shoulder_lift: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 - effort: 330.0 + velocity: 3.14159265359 + effort: 56.0 elbow_joint: # we artificially limit this joint to half it's actual joint limit to avoid # (MoveIt/OMPL) planning problems, as due to the physical construction of @@ -24,20 +31,20 @@ limits: # more information. lower: -3.14159265359 upper: 3.14159265359 - velocity: 3.15 - effort: 150.0 + velocity: 3.14159265359 + effort: 28.0 wrist_1: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 6.28318530718 + effort: 12.0 wrist_2: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 6.28318530718 + effort: 12.0 wrist_3: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 \ No newline at end of file + velocity: 6.28318530718 + effort: 12.0 diff --git a/ur_description/config/ur5/joints_limits_parameters.yaml b/ur_description/config/ur5/joints_limits_parameters.yaml index acac1a420..e420f5f11 100644 --- a/ur_description/config/ur5/joints_limits_parameters.yaml +++ b/ur_description/config/ur5/joints_limits_parameters.yaml @@ -1,16 +1,23 @@ # 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 limits: shoulder_pan: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 - effort: 330.0 + velocity: 3.14159265359 + effort: 150.0 shoulder_lift: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 - effort: 330.0 + velocity: 3.14159265359 + effort: 150.0 elbow_joint: # we artificially limit this joint to half it's actual joint limit to avoid # (MoveIt/OMPL) planning problems, as due to the physical construction of @@ -24,20 +31,20 @@ limits: # more information. lower: -3.14159265359 upper: 3.14159265359 - velocity: 3.15 + velocity: 3.14159265359 effort: 150.0 wrist_1: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 3.14159265359 + effort: 28.0 wrist_2: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 3.14159265359 + effort: 28.0 wrist_3: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 \ No newline at end of file + velocity: 3.14159265359 + effort: 28.0 diff --git a/ur_description/config/ur5e/joints_limits_parameters.yaml b/ur_description/config/ur5e/joints_limits_parameters.yaml index acac1a420..0f0e3f73d 100644 --- a/ur_description/config/ur5e/joints_limits_parameters.yaml +++ b/ur_description/config/ur5e/joints_limits_parameters.yaml @@ -1,16 +1,23 @@ # 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 limits: shoulder_pan: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 - effort: 330.0 + velocity: 3.14159265359 + effort: 150.0 shoulder_lift: lower: -6.28318530718 upper: 6.28318530718 - velocity: 2.16 - effort: 330.0 + velocity: 3.14159265359 + effort: 150.0 elbow_joint: # we artificially limit this joint to half it's actual joint limit to avoid # (MoveIt/OMPL) planning problems, as due to the physical construction of @@ -24,20 +31,20 @@ limits: # more information. lower: -3.14159265359 upper: 3.14159265359 - velocity: 3.15 + velocity: 3.14159265359 effort: 150.0 wrist_1: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 3.14159265359 + effort: 28.0 wrist_2: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 + velocity: 3.14159265359 + effort: 28.0 wrist_3: lower: -6.28318530718 upper: 6.28318530718 - velocity: 3.2 - effort: 54.0 \ No newline at end of file + velocity: 3.14159265359 + effort: 28.0 From 6711879db7d3bbe90d79f34f2a08ce3f7112d64a Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Thu, 18 Jun 2020 13:58:01 +0200 Subject: [PATCH 067/133] description: add missing safety_ctrlr for shoulder pan. (#514) --- ur_description/urdf/ur_macro.xacro | 3 +++ 1 file changed, 3 insertions(+) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro index ca73488e9..f23fd1186 100644 --- a/ur_description/urdf/ur_macro.xacro +++ b/ur_description/urdf/ur_macro.xacro @@ -237,6 +237,9 @@ + + + From 29a4fa09bd011f2bc0ab34d5270844a111be11c4 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 17 Jun 2020 20:11:27 +0200 Subject: [PATCH 068/133] description: rename limit files. Bring in-line with other joint limit files. --- .../ur10/{joints_limits_parameters.yaml => joint_limits.yaml} | 0 .../ur10e/{joints_limits_parameters.yaml => joint_limits.yaml} | 0 .../ur16e/{joints_limits_parameters.yaml => joint_limits.yaml} | 0 .../ur3/{joints_limits_parameters.yaml => joint_limits.yaml} | 0 .../ur3e/{joints_limits_parameters.yaml => joint_limits.yaml} | 0 .../ur5/{joints_limits_parameters.yaml => joint_limits.yaml} | 0 .../ur5e/{joints_limits_parameters.yaml => joint_limits.yaml} | 0 7 files changed, 0 insertions(+), 0 deletions(-) rename ur_description/config/ur10/{joints_limits_parameters.yaml => joint_limits.yaml} (100%) rename ur_description/config/ur10e/{joints_limits_parameters.yaml => joint_limits.yaml} (100%) rename ur_description/config/ur16e/{joints_limits_parameters.yaml => joint_limits.yaml} (100%) rename ur_description/config/ur3/{joints_limits_parameters.yaml => joint_limits.yaml} (100%) rename ur_description/config/ur3e/{joints_limits_parameters.yaml => joint_limits.yaml} (100%) rename ur_description/config/ur5/{joints_limits_parameters.yaml => joint_limits.yaml} (100%) rename ur_description/config/ur5e/{joints_limits_parameters.yaml => joint_limits.yaml} (100%) diff --git a/ur_description/config/ur10/joints_limits_parameters.yaml b/ur_description/config/ur10/joint_limits.yaml similarity index 100% rename from ur_description/config/ur10/joints_limits_parameters.yaml rename to ur_description/config/ur10/joint_limits.yaml diff --git a/ur_description/config/ur10e/joints_limits_parameters.yaml b/ur_description/config/ur10e/joint_limits.yaml similarity index 100% rename from ur_description/config/ur10e/joints_limits_parameters.yaml rename to ur_description/config/ur10e/joint_limits.yaml diff --git a/ur_description/config/ur16e/joints_limits_parameters.yaml b/ur_description/config/ur16e/joint_limits.yaml similarity index 100% rename from ur_description/config/ur16e/joints_limits_parameters.yaml rename to ur_description/config/ur16e/joint_limits.yaml diff --git a/ur_description/config/ur3/joints_limits_parameters.yaml b/ur_description/config/ur3/joint_limits.yaml similarity index 100% rename from ur_description/config/ur3/joints_limits_parameters.yaml rename to ur_description/config/ur3/joint_limits.yaml diff --git a/ur_description/config/ur3e/joints_limits_parameters.yaml b/ur_description/config/ur3e/joint_limits.yaml similarity index 100% rename from ur_description/config/ur3e/joints_limits_parameters.yaml rename to ur_description/config/ur3e/joint_limits.yaml diff --git a/ur_description/config/ur5/joints_limits_parameters.yaml b/ur_description/config/ur5/joint_limits.yaml similarity index 100% rename from ur_description/config/ur5/joints_limits_parameters.yaml rename to ur_description/config/ur5/joint_limits.yaml diff --git a/ur_description/config/ur5e/joints_limits_parameters.yaml b/ur_description/config/ur5e/joint_limits.yaml similarity index 100% rename from ur_description/config/ur5e/joints_limits_parameters.yaml rename to ur_description/config/ur5e/joint_limits.yaml From 616e7a9eecb33e9613aa7fa0ddfc939f6ce25694 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 17 Jun 2020 20:25:59 +0200 Subject: [PATCH 069/133] description: convert joint limit files to 'ros_control format'. This allows re-using them with MoveIt and ros_control hw interfaces. --- ur_description/config/ur10/joint_limits.yaml | 88 +++++++++++++------ ur_description/config/ur10e/joint_limits.yaml | 88 +++++++++++++------ ur_description/config/ur16e/joint_limits.yaml | 88 +++++++++++++------ ur_description/config/ur3/joint_limits.yaml | 88 +++++++++++++------ ur_description/config/ur3e/joint_limits.yaml | 88 +++++++++++++------ ur_description/config/ur5/joint_limits.yaml | 88 +++++++++++++------ ur_description/config/ur5e/joint_limits.yaml | 88 +++++++++++++------ 7 files changed, 413 insertions(+), 203 deletions(-) diff --git a/ur_description/config/ur10/joint_limits.yaml b/ur_description/config/ur10/joint_limits.yaml index bdaad3343..9778c2601 100644 --- a/ur_description/config/ur10/joint_limits.yaml +++ b/ur_description/config/ur10/joint_limits.yaml @@ -7,44 +7,74 @@ # - 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 -limits: +joint_limits: shoulder_pan: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 2.0943951 - effort: 330.0 + # 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: 6.28318530718 + max_velocity: 2.0943951 + min_position: -6.28318530718 shoulder_lift: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 2.0943951 - effort: 330.0 + # 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: 6.28318530718 + max_velocity: 2.0943951 + min_position: -6.28318530718 elbow_joint: - # we artificially limit this joint to half it's actual joint 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). + # 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. - lower: -3.14159265359 - upper: 3.14159265359 - velocity: 3.14159265359 - effort: 150.0 + max_position: 3.14159265359 + max_velocity: 3.14159265359 + min_position: -3.14159265359 wrist_1: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 wrist_2: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 wrist_3: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 diff --git a/ur_description/config/ur10e/joint_limits.yaml b/ur_description/config/ur10e/joint_limits.yaml index 57a4dc43a..0213e8406 100644 --- a/ur_description/config/ur10e/joint_limits.yaml +++ b/ur_description/config/ur10e/joint_limits.yaml @@ -7,44 +7,74 @@ # - 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 -limits: +joint_limits: shoulder_pan: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 2.0943951 - effort: 330.0 + # 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: 6.28318530718 + max_velocity: 2.0943951 + min_position: -6.28318530718 shoulder_lift: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 2.0943951 - effort: 330.0 + # 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: 6.28318530718 + max_velocity: 2.0943951 + min_position: -6.28318530718 elbow_joint: - # we artificially limit this joint to half it's actual joint 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). + # 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. - lower: -3.14159265359 - upper: 3.14159265359 - velocity: 3.14159265359 - effort: 150.0 + max_position: 3.14159265359 + max_velocity: 3.14159265359 + min_position: -3.14159265359 wrist_1: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 wrist_2: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 wrist_3: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 diff --git a/ur_description/config/ur16e/joint_limits.yaml b/ur_description/config/ur16e/joint_limits.yaml index 2a78995b6..65f7d56d3 100644 --- a/ur_description/config/ur16e/joint_limits.yaml +++ b/ur_description/config/ur16e/joint_limits.yaml @@ -7,44 +7,74 @@ # - 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 -limits: +joint_limits: shoulder_pan: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 2.0943951 - effort: 330.0 + # 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: 6.28318530718 + max_velocity: 2.0943951 + min_position: -6.28318530718 shoulder_lift: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 2.0943951 - effort: 330.0 + # 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: 6.28318530718 + max_velocity: 2.0943951 + min_position: -6.28318530718 elbow_joint: - # we artificially limit this joint to half it's actual joint 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). + # 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. - lower: -3.14159265359 - upper: 3.14159265359 - velocity: 3.14159265359 - effort: 150.0 + max_position: 3.14159265359 + max_velocity: 3.14159265359 + min_position: -3.14159265359 wrist_1: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 wrist_2: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 wrist_3: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 diff --git a/ur_description/config/ur3/joint_limits.yaml b/ur_description/config/ur3/joint_limits.yaml index 08c7dc4e5..e0ff1150b 100644 --- a/ur_description/config/ur3/joint_limits.yaml +++ b/ur_description/config/ur3/joint_limits.yaml @@ -7,44 +7,74 @@ # - 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 -limits: +joint_limits: shoulder_pan: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 shoulder_lift: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 elbow_joint: - # we artificially limit this joint to half it's actual joint 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). + # 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. - lower: -3.14159265359 - upper: 3.14159265359 - velocity: 3.14159265359 - effort: 28.0 + max_position: 3.14159265359 + max_velocity: 3.14159265359 + min_position: -3.14159265359 wrist_1: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 6.28318530718 - effort: 12.0 + # 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: 6.28318530718 + max_velocity: 6.28318530718 + min_position: -6.28318530718 wrist_2: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 6.28318530718 - effort: 12.0 + # 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: 6.28318530718 + max_velocity: 6.28318530718 + min_position: -6.28318530718 wrist_3: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 6.28318530718 - effort: 12.0 + # 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: 6.28318530718 + max_velocity: 6.28318530718 + min_position: -6.28318530718 diff --git a/ur_description/config/ur3e/joint_limits.yaml b/ur_description/config/ur3e/joint_limits.yaml index 2b4564b59..8d536c13b 100644 --- a/ur_description/config/ur3e/joint_limits.yaml +++ b/ur_description/config/ur3e/joint_limits.yaml @@ -7,44 +7,74 @@ # - 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 -limits: +joint_limits: shoulder_pan: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 shoulder_lift: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 56.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 elbow_joint: - # we artificially limit this joint to half it's actual joint 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). + # 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. - lower: -3.14159265359 - upper: 3.14159265359 - velocity: 3.14159265359 - effort: 28.0 + max_position: 3.14159265359 + max_velocity: 3.14159265359 + min_position: -3.14159265359 wrist_1: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 6.28318530718 - effort: 12.0 + # 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: 6.28318530718 + max_velocity: 6.28318530718 + min_position: -6.28318530718 wrist_2: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 6.28318530718 - effort: 12.0 + # 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: 6.28318530718 + max_velocity: 6.28318530718 + min_position: -6.28318530718 wrist_3: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 6.28318530718 - effort: 12.0 + # 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: 6.28318530718 + max_velocity: 6.28318530718 + min_position: -6.28318530718 diff --git a/ur_description/config/ur5/joint_limits.yaml b/ur_description/config/ur5/joint_limits.yaml index e420f5f11..493ea55ec 100644 --- a/ur_description/config/ur5/joint_limits.yaml +++ b/ur_description/config/ur5/joint_limits.yaml @@ -7,44 +7,74 @@ # - 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 -limits: +joint_limits: shoulder_pan: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 150.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 shoulder_lift: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 150.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 elbow_joint: - # we artificially limit this joint to half it's actual joint 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). + # 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. - lower: -3.14159265359 - upper: 3.14159265359 - velocity: 3.14159265359 - effort: 150.0 + max_position: 3.14159265359 + max_velocity: 3.14159265359 + min_position: -3.14159265359 wrist_1: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 28.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 wrist_2: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 28.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 wrist_3: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 28.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 diff --git a/ur_description/config/ur5e/joint_limits.yaml b/ur_description/config/ur5e/joint_limits.yaml index 0f0e3f73d..1e2404272 100644 --- a/ur_description/config/ur5e/joint_limits.yaml +++ b/ur_description/config/ur5e/joint_limits.yaml @@ -7,44 +7,74 @@ # - 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 -limits: +joint_limits: shoulder_pan: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 150.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 shoulder_lift: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 150.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 elbow_joint: - # we artificially limit this joint to half it's actual joint 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). + # 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. - lower: -3.14159265359 - upper: 3.14159265359 - velocity: 3.14159265359 - effort: 150.0 + max_position: 3.14159265359 + max_velocity: 3.14159265359 + min_position: -3.14159265359 wrist_1: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 28.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 wrist_2: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 28.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 wrist_3: - lower: -6.28318530718 - upper: 6.28318530718 - velocity: 3.14159265359 - effort: 28.0 + # 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: 6.28318530718 + max_velocity: 3.14159265359 + min_position: -6.28318530718 From ba5ac32299fcbe0a6fd7ca00ae1fa98046b2c59f Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 17 Jun 2020 20:59:57 +0200 Subject: [PATCH 070/133] description: load new joint limit files. --- ur_description/launch/load_ur10.launch | 2 +- ur_description/launch/load_ur10e.launch | 2 +- ur_description/launch/load_ur16e.launch | 2 +- ur_description/launch/load_ur3.launch | 2 +- ur_description/launch/load_ur3e.launch | 2 +- ur_description/launch/load_ur5.launch | 2 +- ur_description/launch/load_ur5e.launch | 2 +- 7 files changed, 7 insertions(+), 7 deletions(-) diff --git a/ur_description/launch/load_ur10.launch b/ur_description/launch/load_ur10.launch index 8c2151adf..1586bd8f9 100644 --- a/ur_description/launch/load_ur10.launch +++ b/ur_description/launch/load_ur10.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_description/launch/load_ur10e.launch b/ur_description/launch/load_ur10e.launch index 00edc27b1..29c7825c0 100644 --- a/ur_description/launch/load_ur10e.launch +++ b/ur_description/launch/load_ur10e.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_description/launch/load_ur16e.launch b/ur_description/launch/load_ur16e.launch index 4c17cd956..8a729b19f 100644 --- a/ur_description/launch/load_ur16e.launch +++ b/ur_description/launch/load_ur16e.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_description/launch/load_ur3.launch b/ur_description/launch/load_ur3.launch index 4766180fc..298121c67 100644 --- a/ur_description/launch/load_ur3.launch +++ b/ur_description/launch/load_ur3.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_description/launch/load_ur3e.launch b/ur_description/launch/load_ur3e.launch index 1e2dcac0b..e72da7e18 100644 --- a/ur_description/launch/load_ur3e.launch +++ b/ur_description/launch/load_ur3e.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_description/launch/load_ur5.launch b/ur_description/launch/load_ur5.launch index 74365ce26..86e709c19 100644 --- a/ur_description/launch/load_ur5.launch +++ b/ur_description/launch/load_ur5.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_description/launch/load_ur5e.launch b/ur_description/launch/load_ur5e.launch index 69cfa5e0f..06d347de3 100644 --- a/ur_description/launch/load_ur5e.launch +++ b/ur_description/launch/load_ur5e.launch @@ -1,7 +1,7 @@ - + From c86d01566971ed35a4857586cf894094428c8e09 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 17 Jun 2020 21:18:45 +0200 Subject: [PATCH 071/133] description: they're joint limits. Not joints limits. --- ur_description/launch/load_ur.launch | 4 ++-- ur_description/launch/load_ur10.launch | 2 +- ur_description/launch/load_ur10e.launch | 2 +- ur_description/launch/load_ur16e.launch | 2 +- ur_description/launch/load_ur3.launch | 2 +- ur_description/launch/load_ur3e.launch | 2 +- ur_description/launch/load_ur5.launch | 2 +- ur_description/launch/load_ur5e.launch | 2 +- ur_description/urdf/inc/ur_common.xacro | 4 ++-- ur_description/urdf/ur.xacro | 4 ++-- ur_description/urdf/ur_macro.xacro | 4 ++-- 11 files changed, 15 insertions(+), 15 deletions(-) diff --git a/ur_description/launch/load_ur.launch b/ur_description/launch/load_ur.launch index 92214fd74..3e459dd52 100644 --- a/ur_description/launch/load_ur.launch +++ b/ur_description/launch/load_ur.launch @@ -1,7 +1,7 @@ - + @@ -29,7 +29,7 @@ to load it onto the parameter server. --> - + diff --git a/ur_description/launch/load_ur10e.launch b/ur_description/launch/load_ur10e.launch index 29c7825c0..6c72e0b62 100644 --- a/ur_description/launch/load_ur10e.launch +++ b/ur_description/launch/load_ur10e.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_description/launch/load_ur16e.launch b/ur_description/launch/load_ur16e.launch index 8a729b19f..a633e4c1b 100644 --- a/ur_description/launch/load_ur16e.launch +++ b/ur_description/launch/load_ur16e.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_description/launch/load_ur3.launch b/ur_description/launch/load_ur3.launch index 298121c67..395545f90 100644 --- a/ur_description/launch/load_ur3.launch +++ b/ur_description/launch/load_ur3.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_description/launch/load_ur3e.launch b/ur_description/launch/load_ur3e.launch index e72da7e18..2567cb95d 100644 --- a/ur_description/launch/load_ur3e.launch +++ b/ur_description/launch/load_ur3e.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_description/launch/load_ur5.launch b/ur_description/launch/load_ur5.launch index 86e709c19..aa5be93ae 100644 --- a/ur_description/launch/load_ur5.launch +++ b/ur_description/launch/load_ur5.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_description/launch/load_ur5e.launch b/ur_description/launch/load_ur5e.launch index 06d347de3..b9368d1da 100644 --- a/ur_description/launch/load_ur5e.launch +++ b/ur_description/launch/load_ur5e.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_description/urdf/inc/ur_common.xacro b/ur_description/urdf/inc/ur_common.xacro index 6846968b9..71eadf027 100644 --- a/ur_description/urdf/inc/ur_common.xacro +++ b/ur_description/urdf/inc/ur_common.xacro @@ -27,8 +27,8 @@ This macro is NOT part of the public API of the ur_description pkg, and as such should be considered to be for internal use only. --> - - + + diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro index 9f55e1451..dadf5aa80 100644 --- a/ur_description/urdf/ur.xacro +++ b/ur_description/urdf/ur.xacro @@ -5,7 +5,7 @@ - + @@ -22,7 +22,7 @@ From 0c7538eb5e7084ee7a37a2369b46e5937cf07b17 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 17 Jun 2020 21:19:32 +0200 Subject: [PATCH 072/133] description: load values from new params. 'ros_control format' uses different names, so use them. --- ur_description/urdf/inc/ur_common.xacro | 50 ++++++++++++------------- 1 file changed, 25 insertions(+), 25 deletions(-) diff --git a/ur_description/urdf/inc/ur_common.xacro b/ur_description/urdf/inc/ur_common.xacro index 71eadf027..33bc54ecd 100644 --- a/ur_description/urdf/inc/ur_common.xacro +++ b/ur_description/urdf/inc/ur_common.xacro @@ -28,7 +28,7 @@ and as such should be considered to be for internal use only. --> - + @@ -36,30 +36,30 @@ - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + From f7af7aff3b94729e1c8ca8748830aae343766a62 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 18 Jun 2020 13:44:49 +0200 Subject: [PATCH 073/133] gazebo: update joint limit filename references. They were renamed (in c0f71ebb), so use the new names. --- ur_gazebo/launch/ur10.launch | 2 +- ur_gazebo/launch/ur10e.launch | 2 +- ur_gazebo/launch/ur16e.launch | 2 +- ur_gazebo/launch/ur3.launch | 2 +- ur_gazebo/launch/ur3e.launch | 2 +- ur_gazebo/launch/ur5.launch | 2 +- ur_gazebo/launch/ur5e.launch | 2 +- ur_gazebo/urdf/ur_robot.urdf.xacro | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10.launch index 5674291a0..5ef1622d8 100644 --- a/ur_gazebo/launch/ur10.launch +++ b/ur_gazebo/launch/ur10.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/launch/ur10e.launch b/ur_gazebo/launch/ur10e.launch index 21df8cd9c..4fa2a9d5c 100644 --- a/ur_gazebo/launch/ur10e.launch +++ b/ur_gazebo/launch/ur10e.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/launch/ur16e.launch b/ur_gazebo/launch/ur16e.launch index 8fd2d5063..d8da8b358 100644 --- a/ur_gazebo/launch/ur16e.launch +++ b/ur_gazebo/launch/ur16e.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/launch/ur3.launch b/ur_gazebo/launch/ur3.launch index 3ded46cb6..5cd48afec 100644 --- a/ur_gazebo/launch/ur3.launch +++ b/ur_gazebo/launch/ur3.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/launch/ur3e.launch b/ur_gazebo/launch/ur3e.launch index 525952b33..7acbc1e7d 100644 --- a/ur_gazebo/launch/ur3e.launch +++ b/ur_gazebo/launch/ur3e.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch index 8c45d5377..7fc1f349a 100644 --- a/ur_gazebo/launch/ur5.launch +++ b/ur_gazebo/launch/ur5.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/launch/ur5e.launch b/ur_gazebo/launch/ur5e.launch index 9c9017609..88c0d766c 100644 --- a/ur_gazebo/launch/ur5e.launch +++ b/ur_gazebo/launch/ur5e.launch @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/urdf/ur_robot.urdf.xacro b/ur_gazebo/urdf/ur_robot.urdf.xacro index 3fb327a78..8c509a5e9 100644 --- a/ur_gazebo/urdf/ur_robot.urdf.xacro +++ b/ur_gazebo/urdf/ur_robot.urdf.xacro @@ -3,7 +3,7 @@ name="ur" > - + From cbe4c86e48b696af3e14b105ae8cbb4af0eb16d7 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 18 Jun 2020 14:04:05 +0200 Subject: [PATCH 074/133] gazebo: use new arg names for joint limits. Renamed in ur_description, so use the new names here as well and pass the right values. --- ur_gazebo/urdf/ur_robot.urdf.xacro | 4 ++-- ur_gazebo/urdf/ur_robot_gazebo.macro.xacro | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/ur_gazebo/urdf/ur_robot.urdf.xacro b/ur_gazebo/urdf/ur_robot.urdf.xacro index 8c509a5e9..07a99e1e2 100644 --- a/ur_gazebo/urdf/ur_robot.urdf.xacro +++ b/ur_gazebo/urdf/ur_robot.urdf.xacro @@ -3,7 +3,7 @@ name="ur" > - + @@ -17,7 +17,7 @@ - - - Date: Sat, 20 Jun 2020 20:01:01 +0200 Subject: [PATCH 075/133] Moved ur_msgs to its own repository. See https://github.com/ros-industrial/ur_msgs. --- ur_msgs/CHANGELOG.rst | 38 ----------------- ur_msgs/CMakeLists.txt | 57 -------------------------- ur_msgs/msg/Analog.msg | 6 --- ur_msgs/msg/Digital.msg | 2 - ur_msgs/msg/IOStates.msg | 5 --- ur_msgs/msg/MasterboardDataMsg.msg | 27 ------------ ur_msgs/msg/RobotModeDataMsg.msg | 15 ------- ur_msgs/msg/RobotStateRTMsg.msg | 27 ------------ ur_msgs/msg/ToolDataMsg.msg | 20 --------- ur_msgs/package.xml | 22 ---------- ur_msgs/srv/SetIO.srv | 42 ------------------- ur_msgs/srv/SetPayload.srv | 3 -- ur_msgs/srv/SetSpeedSliderFraction.srv | 8 ---- 13 files changed, 272 deletions(-) delete mode 100644 ur_msgs/CHANGELOG.rst delete mode 100644 ur_msgs/CMakeLists.txt delete mode 100644 ur_msgs/msg/Analog.msg delete mode 100644 ur_msgs/msg/Digital.msg delete mode 100644 ur_msgs/msg/IOStates.msg delete mode 100644 ur_msgs/msg/MasterboardDataMsg.msg delete mode 100644 ur_msgs/msg/RobotModeDataMsg.msg delete mode 100644 ur_msgs/msg/RobotStateRTMsg.msg delete mode 100644 ur_msgs/msg/ToolDataMsg.msg delete mode 100644 ur_msgs/package.xml delete mode 100644 ur_msgs/srv/SetIO.srv delete mode 100644 ur_msgs/srv/SetPayload.srv delete mode 100644 ur_msgs/srv/SetSpeedSliderFraction.srv 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 84f715b46..000000000 --- a/ur_msgs/CMakeLists.txt +++ /dev/null @@ -1,57 +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) - - -## 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 -) - -################################### -## catkin specific configuration ## -################################### -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ur_msgs - CATKIN_DEPENDS message_runtime std_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 2a3375221..000000000 --- a/ur_msgs/msg/Analog.msg +++ /dev/null @@ -1,6 +0,0 @@ -uint8 VOLTAGE=0 -uint8 CURRENT=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 3b2b3c378..000000000 --- a/ur_msgs/package.xml +++ /dev/null @@ -1,22 +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 - 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 d68eb5c86..000000000 --- a/ur_msgs/srv/SetPayload.srv +++ /dev/null @@ -1,3 +0,0 @@ -float32 payload ------------------------ -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 From f50cb30da300f3fcec00556e6e26378dce4adc59 Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Wed, 24 Jun 2020 13:51:13 +0200 Subject: [PATCH 076/133] travis: use from-source ur_msgs on Melodic Until Melodic repositories have been synced again. --- .travis.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index e6b6f3eaa..d48e95ee3 100644 --- a/.travis.yml +++ b/.travis.yml @@ -16,9 +16,9 @@ env: - ROS_DISTRO="kinetic" ROS_REPO=main - ROS_DISTRO="kinetic" ROS_REPO=testing - ROS_DISTRO="kinetic" PRERELEASE=true - - ROS_DISTRO="melodic" ROS_REPO=main + - 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 + - ROS_DISTRO="melodic" PRERELEASE=true UPSTREAM_WORKSPACE='github:ros-industrial/ur_msgs@1.3.1' install: - git clone --quiet --depth=1 -b master https://github.com/ros-industrial/industrial_ci.git .industrial_ci From 20034f6fcbdc6444d30051dceeed501066a5e73e Mon Sep 17 00:00:00 2001 From: "G.A. vd. Hoorn" Date: Wed, 24 Jun 2020 21:53:14 +0200 Subject: [PATCH 077/133] travis: this branch primarily supports Melodic. (#519) So Kinetic CI builds are allowed to fail. --- .travis.yml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.travis.yml b/.travis.yml index d48e95ee3..9efb23ce0 100644 --- a/.travis.yml +++ b/.travis.yml @@ -20,6 +20,12 @@ env: - 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="kinetic" ROS_REPO=main + - env: ROS_DISTRO="kinetic" ROS_REPO=testing + - env: ROS_DISTRO="kinetic" PRERELEASE=true + install: - git clone --quiet --depth=1 -b master https://github.com/ros-industrial/industrial_ci.git .industrial_ci From 0d7ed5e955e79c9e1a9940bfabe9da30cb35d452 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 30 Jun 2020 14:27:51 +0200 Subject: [PATCH 078/133] description: delegate loading yaml files to read_model_data(..). This avoids having to 'remember' to load_yaml(..) the contents of those files in every user of the 'ur_robot' macro, and seems to conform to the idea behind the '*_parameters_file' naming of the parameters (they're paths to files, not yaml strings). --- ur_description/urdf/inc/ur_common.xacro | 19 +++++++++++++------ ur_description/urdf/ur.xacro | 8 ++++---- 2 files changed, 17 insertions(+), 10 deletions(-) diff --git a/ur_description/urdf/inc/ur_common.xacro b/ur_description/urdf/inc/ur_common.xacro index 33bc54ecd..c7902648a 100644 --- a/ur_description/urdf/inc/ur_common.xacro +++ b/ur_description/urdf/inc/ur_common.xacro @@ -28,12 +28,19 @@ and as such should be considered to be for internal use only. --> - - - - - - + + + + + + + + + + + + + diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro index dadf5aa80..0c376c5b7 100644 --- a/ur_description/urdf/ur.xacro +++ b/ur_description/urdf/ur.xacro @@ -22,10 +22,10 @@ Date: Tue, 30 Jun 2020 14:34:36 +0200 Subject: [PATCH 079/133] gazebo: pass parameter filenames, not their content. Aligns with similar changes in ur_description. --- ur_gazebo/urdf/ur_robot.urdf.xacro | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ur_gazebo/urdf/ur_robot.urdf.xacro b/ur_gazebo/urdf/ur_robot.urdf.xacro index 07a99e1e2..5ad8aad3c 100644 --- a/ur_gazebo/urdf/ur_robot.urdf.xacro +++ b/ur_gazebo/urdf/ur_robot.urdf.xacro @@ -17,10 +17,10 @@ - Date: Tue, 23 Jun 2020 10:54:18 +0200 Subject: [PATCH 080/133] gazebo: follow description xacro macro naming. Rename file to reflect name of macro or top-level entity. Include 'gazebo' reference as these files host content specific to Gazebo. --- ur_gazebo/urdf/{ur_robot.urdf.xacro => ur.xacro} | 0 ur_gazebo/urdf/{ur_robot_gazebo.macro.xacro => ur_macro.xacro} | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename ur_gazebo/urdf/{ur_robot.urdf.xacro => ur.xacro} (100%) rename ur_gazebo/urdf/{ur_robot_gazebo.macro.xacro => ur_macro.xacro} (100%) diff --git a/ur_gazebo/urdf/ur_robot.urdf.xacro b/ur_gazebo/urdf/ur.xacro similarity index 100% rename from ur_gazebo/urdf/ur_robot.urdf.xacro rename to ur_gazebo/urdf/ur.xacro diff --git a/ur_gazebo/urdf/ur_robot_gazebo.macro.xacro b/ur_gazebo/urdf/ur_macro.xacro similarity index 100% rename from ur_gazebo/urdf/ur_robot_gazebo.macro.xacro rename to ur_gazebo/urdf/ur_macro.xacro From 3157374b1f80b7b806c3d1eee63af016426a69f0 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 23 Jun 2020 11:07:59 +0200 Subject: [PATCH 081/133] gazebo: use new filenames. --- ur_gazebo/launch/ur_common.launch | 2 +- ur_gazebo/urdf/ur.xacro | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch index 6cd1fb1f2..b651ee7a5 100644 --- a/ur_gazebo/launch/ur_common.launch +++ b/ur_gazebo/launch/ur_common.launch @@ -25,7 +25,7 @@ - - + From 8222d6b039013250734c464a59affb1649760288 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 23 Jun 2020 10:57:21 +0200 Subject: [PATCH 082/133] gazebo: merge relevant content from common.gazebo.xacro into macro. Only the ros_control elements are retained. The UR doesn't have a battery, so no need to include that plugin. --- ur_gazebo/urdf/common.gazebo.xacro | 26 -------------------------- ur_gazebo/urdf/ur.xacro | 1 - ur_gazebo/urdf/ur_macro.xacro | 7 ++++++- 3 files changed, 6 insertions(+), 28 deletions(-) delete mode 100644 ur_gazebo/urdf/common.gazebo.xacro diff --git a/ur_gazebo/urdf/common.gazebo.xacro b/ur_gazebo/urdf/common.gazebo.xacro deleted file mode 100644 index e92df3fd0..000000000 --- a/ur_gazebo/urdf/common.gazebo.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - \ No newline at end of file diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro index 18c6a74b0..e00de2987 100644 --- a/ur_gazebo/urdf/ur.xacro +++ b/ur_gazebo/urdf/ur.xacro @@ -14,7 +14,6 @@ - true - + + + + + + From 3147a01ea095fddd42e35fd4545ae272580c0a9d Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 23 Jun 2020 11:12:24 +0200 Subject: [PATCH 083/133] gazebo: use new robot and macro name. Align with filenames and other ROS-Industrial Gazebo support packages. --- ur_gazebo/urdf/ur.xacro | 5 ++--- ur_gazebo/urdf/ur_macro.xacro | 2 +- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro index e00de2987..77e8b6e82 100644 --- a/ur_gazebo/urdf/ur.xacro +++ b/ur_gazebo/urdf/ur.xacro @@ -1,6 +1,5 @@ - + @@ -16,7 +15,7 @@ - - From a74b7ca8428765414a49d1b9a95aa0f71848a3a5 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 23 Jun 2020 11:39:08 +0200 Subject: [PATCH 084/133] gazebo: formatting and comments of xacros. --- ur_gazebo/urdf/ur.xacro | 69 ++++++++++++++++++++++++++--------- ur_gazebo/urdf/ur_macro.xacro | 40 ++++++++++++++------ 2 files changed, 80 insertions(+), 29 deletions(-) diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro index 77e8b6e82..cb5deb8e9 100644 --- a/ur_gazebo/urdf/ur.xacro +++ b/ur_gazebo/urdf/ur.xacro @@ -1,34 +1,67 @@ + + This file should be considered the Gazebo-specific variant of the file + with the same name in the ur_description package. It accepts the same + arguments, but instead of configuring everything for a real robot, will + generate a Gazebo-compatible URDF with a ros_control hardware_interface + attached to it. + + Only use this top-level xacro if you plan on spawning the robot in Gazebo + 'by itself', without any gripper or any other geometry attached. + + If you need to attach an end-effector, camera or need to integrate the + robot into a larger workcell and want to spawn that as a single entity in + Gazebo, DO NOT EDIT THIS FILE. + + Instead: create a new top-level xacro, give it a proper name, include the + required '.xacro' files, instantiate the models (ie: call the macros) and + connect everything by adding the appropriate joints. + --> + + + + + + - - + + - - - - + + - - - + + + - diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro index d5cb78672..e89d0a78a 100644 --- a/ur_gazebo/urdf/ur_macro.xacro +++ b/ur_gazebo/urdf/ur_macro.xacro @@ -1,3 +1,4 @@ + + - + + + true From a0477c23711da6688badb5fdadad97dcc3d727a9 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 23 Jun 2020 12:38:39 +0200 Subject: [PATCH 085/133] gazebo: 2-spaces per indent level. --- ur_gazebo/CMakeLists.txt | 3 +- ur_gazebo/controller/arm_controller_ur10.yaml | 43 ++++--- ur_gazebo/controller/arm_controller_ur16.yaml | 43 ++++--- ur_gazebo/controller/arm_controller_ur3.yaml | 43 ++++--- ur_gazebo/controller/arm_controller_ur5.yaml | 43 ++++--- .../controller/joint_state_controller.yaml | 4 +- ur_gazebo/launch/controller_utils.launch | 4 +- ur_gazebo/launch/ur_common.launch | 20 ++-- ur_gazebo/urdf/ur.xacro | 111 +++++++++--------- ur_gazebo/urdf/ur_macro.xacro | 38 +++--- 10 files changed, 174 insertions(+), 178 deletions(-) diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt index d390277f3..b38df3dc9 100644 --- a/ur_gazebo/CMakeLists.txt +++ b/ur_gazebo/CMakeLists.txt @@ -11,4 +11,5 @@ if (CATKIN_ENABLE_TESTING) roslaunch_add_file_check(tests/roslaunch_test.xml) endif() -install(DIRECTORY launch controller urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY launch controller urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/controller/arm_controller_ur10.yaml index fb7b3d4fe..de8f88d4a 100644 --- a/ur_gazebo/controller/arm_controller_ur10.yaml +++ b/ur_gazebo/controller/arm_controller_ur10.yaml @@ -1,31 +1,30 @@ arm_controller: type: position_controllers/JointTrajectoryController joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + - 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} + 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 + 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 - + - 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_ur16.yaml b/ur_gazebo/controller/arm_controller_ur16.yaml index fb7b3d4fe..de8f88d4a 100644 --- a/ur_gazebo/controller/arm_controller_ur16.yaml +++ b/ur_gazebo/controller/arm_controller_ur16.yaml @@ -1,31 +1,30 @@ arm_controller: type: position_controllers/JointTrajectoryController joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + - 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} + 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 + 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 - + - 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 index fb7b3d4fe..de8f88d4a 100644 --- a/ur_gazebo/controller/arm_controller_ur3.yaml +++ b/ur_gazebo/controller/arm_controller_ur3.yaml @@ -1,31 +1,30 @@ arm_controller: type: position_controllers/JointTrajectoryController joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + - 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} + 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 + 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 - + - 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 index fb7b3d4fe..de8f88d4a 100644 --- a/ur_gazebo/controller/arm_controller_ur5.yaml +++ b/ur_gazebo/controller/arm_controller_ur5.yaml @@ -1,31 +1,30 @@ arm_controller: type: position_controllers/JointTrajectoryController joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint + - 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} + 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 + 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 - + - 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 index 0cd5bb707..dfd2fcb37 100644 --- a/ur_gazebo/controller/joint_state_controller.yaml +++ b/ur_gazebo/controller/joint_state_controller.yaml @@ -1,3 +1,3 @@ joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 + type: joint_state_controller/JointStateController + publish_rate: 50 diff --git a/ur_gazebo/launch/controller_utils.launch b/ur_gazebo/launch/controller_utils.launch index f4cd9bab1..5371fa5ce 100644 --- a/ur_gazebo/launch/controller_utils.launch +++ b/ur_gazebo/launch/controller_utils.launch @@ -10,9 +10,9 @@ - + - + diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch index b651ee7a5..44c959b8f 100644 --- a/ur_gazebo/launch/ur_common.launch +++ b/ur_gazebo/launch/ur_common.launch @@ -25,16 +25,16 @@ - + diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro index cb5deb8e9..0eceaec11 100644 --- a/ur_gazebo/urdf/ur.xacro +++ b/ur_gazebo/urdf/ur.xacro @@ -1,67 +1,66 @@ - + Instead: create a new top-level xacro, give it a proper name, include the + required '.xacro' files, instantiate the models (ie: call the macros) and + connect everything by adding the appropriate joints. + --> - + - Note: this imports the Gazebo-wrapper main macro, NOT the regular - xacro macro (which is hosted by ur_description). - --> - + + + + + + + + + + - - - - - - - - - - + + - - - - - - - - - - + + + + + + + diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro index e89d0a78a..d1ab948ca 100644 --- a/ur_gazebo/urdf/ur_macro.xacro +++ b/ur_gazebo/urdf/ur_macro.xacro @@ -1,28 +1,28 @@ - + - - + Note: this imports the '_macro.xacro' from ur_description, as that + contains the definitions for the real robot. + --> + - + - - From 907058f7c58cfba5f5eb9f39a96c7ed1b0c64fa6 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 23 Jun 2020 12:43:06 +0200 Subject: [PATCH 087/133] gazebo: controller_utils isn't re-used anywhere else. So merge contents into 'ur_common.launch' and remove the file. --- ur_gazebo/launch/controller_utils.launch | 14 -------------- ur_gazebo/launch/ur_common.launch | 10 +++++++++- 2 files changed, 9 insertions(+), 15 deletions(-) delete mode 100644 ur_gazebo/launch/controller_utils.launch diff --git a/ur_gazebo/launch/controller_utils.launch b/ur_gazebo/launch/controller_utils.launch deleted file mode 100644 index 477c6daf9..000000000 --- a/ur_gazebo/launch/controller_utils.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch index 44c959b8f..8ab45e79f 100644 --- a/ur_gazebo/launch/ur_common.launch +++ b/ur_gazebo/launch/ur_common.launch @@ -39,7 +39,15 @@ - + + + + + + + + + From 3bdad683b943386e02568598df0d90db78b98786 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 23 Jun 2020 13:42:12 +0200 Subject: [PATCH 088/133] gazebo: introduce 'load_*.launch' helpers. These mimic the files with the same names as in ur_description, but load the Gazebo model instead of the real robot onto the parameter server. --- ur_gazebo/launch/load_ur.launch | 41 ++++++++++++++++++++++++++++++ ur_gazebo/launch/load_ur10.launch | 16 ++++++++++++ ur_gazebo/launch/load_ur10e.launch | 16 ++++++++++++ ur_gazebo/launch/load_ur16e.launch | 16 ++++++++++++ ur_gazebo/launch/load_ur3.launch | 16 ++++++++++++ ur_gazebo/launch/load_ur3e.launch | 16 ++++++++++++ ur_gazebo/launch/load_ur5.launch | 16 ++++++++++++ ur_gazebo/launch/load_ur5e.launch | 16 ++++++++++++ 8 files changed, 153 insertions(+) create mode 100644 ur_gazebo/launch/load_ur.launch create mode 100644 ur_gazebo/launch/load_ur10.launch create mode 100644 ur_gazebo/launch/load_ur10e.launch create mode 100644 ur_gazebo/launch/load_ur16e.launch create mode 100644 ur_gazebo/launch/load_ur3.launch create mode 100644 ur_gazebo/launch/load_ur3e.launch create mode 100644 ur_gazebo/launch/load_ur5.launch create mode 100644 ur_gazebo/launch/load_ur5e.launch diff --git a/ur_gazebo/launch/load_ur.launch b/ur_gazebo/launch/load_ur.launch new file mode 100644 index 000000000..127c5a17a --- /dev/null +++ b/ur_gazebo/launch/load_ur.launch @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/load_ur10.launch b/ur_gazebo/launch/load_ur10.launch new file mode 100644 index 000000000..13cdbcd03 --- /dev/null +++ b/ur_gazebo/launch/load_ur10.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/load_ur10e.launch b/ur_gazebo/launch/load_ur10e.launch new file mode 100644 index 000000000..fdf314a03 --- /dev/null +++ b/ur_gazebo/launch/load_ur10e.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/load_ur16e.launch b/ur_gazebo/launch/load_ur16e.launch new file mode 100644 index 000000000..31fbacc50 --- /dev/null +++ b/ur_gazebo/launch/load_ur16e.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/load_ur3.launch b/ur_gazebo/launch/load_ur3.launch new file mode 100644 index 000000000..bcab95b43 --- /dev/null +++ b/ur_gazebo/launch/load_ur3.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/load_ur3e.launch b/ur_gazebo/launch/load_ur3e.launch new file mode 100644 index 000000000..e03e375a5 --- /dev/null +++ b/ur_gazebo/launch/load_ur3e.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/load_ur5.launch b/ur_gazebo/launch/load_ur5.launch new file mode 100644 index 000000000..c162bcba1 --- /dev/null +++ b/ur_gazebo/launch/load_ur5.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/load_ur5e.launch b/ur_gazebo/launch/load_ur5e.launch new file mode 100644 index 000000000..83c011a94 --- /dev/null +++ b/ur_gazebo/launch/load_ur5e.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + From aac8d2db11fb6ea1f3064bb11a8e6a8636efec1e Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 23 Jun 2020 13:56:14 +0200 Subject: [PATCH 089/133] gazebo: use 'bringup' launch file name. These files will serve the same purpose as those provided by a/the driver (but instead of a driver, they will launch Gazebo). Give them the same name to make them recognisable. --- ur_gazebo/launch/{ur10.launch => ur10_bringup.launch} | 0 ur_gazebo/launch/{ur10e.launch => ur10e_bringup.launch} | 0 ur_gazebo/launch/{ur16e.launch => ur16e_bringup.launch} | 0 ur_gazebo/launch/{ur3.launch => ur3_bringup.launch} | 0 ur_gazebo/launch/{ur3e.launch => ur3e_bringup.launch} | 0 ur_gazebo/launch/{ur5.launch => ur5_bringup.launch} | 0 ur_gazebo/launch/{ur5e.launch => ur5e_bringup.launch} | 0 7 files changed, 0 insertions(+), 0 deletions(-) rename ur_gazebo/launch/{ur10.launch => ur10_bringup.launch} (100%) rename ur_gazebo/launch/{ur10e.launch => ur10e_bringup.launch} (100%) rename ur_gazebo/launch/{ur16e.launch => ur16e_bringup.launch} (100%) rename ur_gazebo/launch/{ur3.launch => ur3_bringup.launch} (100%) rename ur_gazebo/launch/{ur3e.launch => ur3e_bringup.launch} (100%) rename ur_gazebo/launch/{ur5.launch => ur5_bringup.launch} (100%) rename ur_gazebo/launch/{ur5e.launch => ur5e_bringup.launch} (100%) diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10_bringup.launch similarity index 100% rename from ur_gazebo/launch/ur10.launch rename to ur_gazebo/launch/ur10_bringup.launch diff --git a/ur_gazebo/launch/ur10e.launch b/ur_gazebo/launch/ur10e_bringup.launch similarity index 100% rename from ur_gazebo/launch/ur10e.launch rename to ur_gazebo/launch/ur10e_bringup.launch diff --git a/ur_gazebo/launch/ur16e.launch b/ur_gazebo/launch/ur16e_bringup.launch similarity index 100% rename from ur_gazebo/launch/ur16e.launch rename to ur_gazebo/launch/ur16e_bringup.launch diff --git a/ur_gazebo/launch/ur3.launch b/ur_gazebo/launch/ur3_bringup.launch similarity index 100% rename from ur_gazebo/launch/ur3.launch rename to ur_gazebo/launch/ur3_bringup.launch diff --git a/ur_gazebo/launch/ur3e.launch b/ur_gazebo/launch/ur3e_bringup.launch similarity index 100% rename from ur_gazebo/launch/ur3e.launch rename to ur_gazebo/launch/ur3e_bringup.launch diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5_bringup.launch similarity index 100% rename from ur_gazebo/launch/ur5.launch rename to ur_gazebo/launch/ur5_bringup.launch diff --git a/ur_gazebo/launch/ur5e.launch b/ur_gazebo/launch/ur5e_bringup.launch similarity index 100% rename from ur_gazebo/launch/ur5e.launch rename to ur_gazebo/launch/ur5e_bringup.launch From eb7b1f3a60d3dcdddc6da0539c4586a847b37043 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 24 Jun 2020 13:56:55 +0200 Subject: [PATCH 090/133] gazebo: don't default to UR3 parameter files. Top-level xacro should not default to any robot. --- ur_gazebo/urdf/ur.xacro | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro index 0eceaec11..e27220afa 100644 --- a/ur_gazebo/urdf/ur.xacro +++ b/ur_gazebo/urdf/ur.xacro @@ -30,10 +30,10 @@ - - - - + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - + diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch index 4fa2a9d5c..fe2618101 100644 --- a/ur_gazebo/launch/ur10e_bringup.launch +++ b/ur_gazebo/launch/ur10e_bringup.launch @@ -1,26 +1,20 @@ - + + + + + + + + + + + - - - - - - - - - - - - - - - - - + diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch index d8da8b358..5cfcb3a37 100644 --- a/ur_gazebo/launch/ur16e_bringup.launch +++ b/ur_gazebo/launch/ur16e_bringup.launch @@ -1,26 +1,20 @@ - + + + + + + + + + + + - - - - - - - - - - - - - - - - - + diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch index 5cd48afec..74b14bbd1 100644 --- a/ur_gazebo/launch/ur3_bringup.launch +++ b/ur_gazebo/launch/ur3_bringup.launch @@ -1,26 +1,20 @@ - + + + + + + + + + + + - - - - - - - - - - - - - - - - - + diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch index 7acbc1e7d..d39e6ae1e 100644 --- a/ur_gazebo/launch/ur3e_bringup.launch +++ b/ur_gazebo/launch/ur3e_bringup.launch @@ -1,26 +1,20 @@ - + + + + + + + + + + + - - - - - - - - - - - - - - - - - + diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch index 7fc1f349a..bc15f8478 100644 --- a/ur_gazebo/launch/ur5_bringup.launch +++ b/ur_gazebo/launch/ur5_bringup.launch @@ -1,26 +1,20 @@ - + + + + + + + + + + + - - - - - - - - - - - - - - - - - + diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch index 88c0d766c..4499a25fb 100644 --- a/ur_gazebo/launch/ur5e_bringup.launch +++ b/ur_gazebo/launch/ur5e_bringup.launch @@ -1,26 +1,20 @@ - + + + + + + + + + + + - - - - - - - - - - - - - - - - - + diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch index 8ab45e79f..5a1767769 100644 --- a/ur_gazebo/launch/ur_common.launch +++ b/ur_gazebo/launch/ur_common.launch @@ -1,55 +1,44 @@ - - - - - - - - + + + + + + + + + + + - - - - - - - - - - - - - + + + - - + + + + - + - - - - - - - + + + + + + + + diff --git a/ur_gazebo/launch/ur_control.launch b/ur_gazebo/launch/ur_control.launch new file mode 100644 index 000000000..797c31e77 --- /dev/null +++ b/ur_gazebo/launch/ur_control.launch @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 53c1247775d8147141582c7ba7cf2dabf3c372eb Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 24 Jun 2020 14:10:44 +0200 Subject: [PATCH 093/133] gazebo: clarify 'world' frame utility in top-level xacro. --- ur_gazebo/urdf/ur.xacro | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro index e27220afa..6a6b6d9c5 100644 --- a/ur_gazebo/urdf/ur.xacro +++ b/ur_gazebo/urdf/ur.xacro @@ -56,7 +56,13 @@ safety_pos_margin="$(arg safety_pos_margin)" safety_k_position="$(arg safety_k_position)"/> - + From 1752d1bfa8b1b2ed0ecc9e7b698335780738dfff Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 24 Jun 2020 14:12:19 +0200 Subject: [PATCH 094/133] gazebo: rename controller config files. Align with names in ur_robot_driver. --- .../arm_controller_ur10.yaml => config/ur10_controllers.yaml} | 0 .../arm_controller_ur16.yaml => config/ur16e_controllers.yaml} | 0 .../arm_controller_ur3.yaml => config/ur3_controllers.yaml} | 0 .../arm_controller_ur5.yaml => config/ur5_controllers.yaml} | 0 4 files changed, 0 insertions(+), 0 deletions(-) rename ur_gazebo/{controller/arm_controller_ur10.yaml => config/ur10_controllers.yaml} (100%) rename ur_gazebo/{controller/arm_controller_ur16.yaml => config/ur16e_controllers.yaml} (100%) rename ur_gazebo/{controller/arm_controller_ur3.yaml => config/ur3_controllers.yaml} (100%) rename ur_gazebo/{controller/arm_controller_ur5.yaml => config/ur5_controllers.yaml} (100%) diff --git a/ur_gazebo/controller/arm_controller_ur10.yaml b/ur_gazebo/config/ur10_controllers.yaml similarity index 100% rename from ur_gazebo/controller/arm_controller_ur10.yaml rename to ur_gazebo/config/ur10_controllers.yaml diff --git a/ur_gazebo/controller/arm_controller_ur16.yaml b/ur_gazebo/config/ur16e_controllers.yaml similarity index 100% rename from ur_gazebo/controller/arm_controller_ur16.yaml rename to ur_gazebo/config/ur16e_controllers.yaml diff --git a/ur_gazebo/controller/arm_controller_ur3.yaml b/ur_gazebo/config/ur3_controllers.yaml similarity index 100% rename from ur_gazebo/controller/arm_controller_ur3.yaml rename to ur_gazebo/config/ur3_controllers.yaml diff --git a/ur_gazebo/controller/arm_controller_ur5.yaml b/ur_gazebo/config/ur5_controllers.yaml similarity index 100% rename from ur_gazebo/controller/arm_controller_ur5.yaml rename to ur_gazebo/config/ur5_controllers.yaml From 004244cb30b91031940cdcf884b8bdb25c621063 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 24 Jun 2020 14:24:35 +0200 Subject: [PATCH 095/133] gazebo: use new controller config files. --- ur_gazebo/launch/ur10_bringup.launch | 2 +- ur_gazebo/launch/ur10e_bringup.launch | 2 +- ur_gazebo/launch/ur16e_bringup.launch | 2 +- ur_gazebo/launch/ur3_bringup.launch | 2 +- ur_gazebo/launch/ur3e_bringup.launch | 2 +- ur_gazebo/launch/ur5_bringup.launch | 2 +- ur_gazebo/launch/ur5e_bringup.launch | 2 +- 7 files changed, 7 insertions(+), 7 deletions(-) diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch index 4b261db61..ae97b96f9 100644 --- a/ur_gazebo/launch/ur10_bringup.launch +++ b/ur_gazebo/launch/ur10_bringup.launch @@ -6,7 +6,7 @@ - + diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch index fe2618101..aee963a32 100644 --- a/ur_gazebo/launch/ur10e_bringup.launch +++ b/ur_gazebo/launch/ur10e_bringup.launch @@ -6,7 +6,7 @@ - + diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch index 5cfcb3a37..4496136c5 100644 --- a/ur_gazebo/launch/ur16e_bringup.launch +++ b/ur_gazebo/launch/ur16e_bringup.launch @@ -6,7 +6,7 @@ - + diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch index 74b14bbd1..00d19e7b5 100644 --- a/ur_gazebo/launch/ur3_bringup.launch +++ b/ur_gazebo/launch/ur3_bringup.launch @@ -6,7 +6,7 @@ - + diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch index d39e6ae1e..7ec0fe48c 100644 --- a/ur_gazebo/launch/ur3e_bringup.launch +++ b/ur_gazebo/launch/ur3e_bringup.launch @@ -6,7 +6,7 @@ - + diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch index bc15f8478..cfa06428e 100644 --- a/ur_gazebo/launch/ur5_bringup.launch +++ b/ur_gazebo/launch/ur5_bringup.launch @@ -6,7 +6,7 @@ - + diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch index 4499a25fb..8e4b6d591 100644 --- a/ur_gazebo/launch/ur5e_bringup.launch +++ b/ur_gazebo/launch/ur5e_bringup.launch @@ -6,7 +6,7 @@ - + From 578730b24f84c6f5f76614a3c9d30b11254e0a8a Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 24 Jun 2020 14:29:37 +0200 Subject: [PATCH 096/133] gazebo: set controller pub rates to be like real hw. As we don't have separate controller config files for e-Series robots, they will still 'only' publish at 125 Hz. We might change this in the future. --- ur_gazebo/config/ur10_controllers.yaml | 4 ++-- ur_gazebo/config/ur16e_controllers.yaml | 4 ++-- ur_gazebo/config/ur3_controllers.yaml | 4 ++-- ur_gazebo/config/ur5_controllers.yaml | 4 ++-- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/ur_gazebo/config/ur10_controllers.yaml b/ur_gazebo/config/ur10_controllers.yaml index 3525e4e55..62653afa8 100644 --- a/ur_gazebo/config/ur10_controllers.yaml +++ b/ur_gazebo/config/ur10_controllers.yaml @@ -1,6 +1,6 @@ joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: 50 + publish_rate: &loop_hz 125 pos_traj_controller: type: position_controllers/JointTrajectoryController @@ -21,7 +21,7 @@ pos_traj_controller: 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 + state_publish_rate: *loop_hz action_monitor_rate: 10 joint_group_pos_controller: diff --git a/ur_gazebo/config/ur16e_controllers.yaml b/ur_gazebo/config/ur16e_controllers.yaml index 3525e4e55..071a4913a 100644 --- a/ur_gazebo/config/ur16e_controllers.yaml +++ b/ur_gazebo/config/ur16e_controllers.yaml @@ -1,6 +1,6 @@ joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: 50 + publish_rate: &loop_hz 500 pos_traj_controller: type: position_controllers/JointTrajectoryController @@ -21,7 +21,7 @@ pos_traj_controller: 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 + state_publish_rate: *loop_hz action_monitor_rate: 10 joint_group_pos_controller: diff --git a/ur_gazebo/config/ur3_controllers.yaml b/ur_gazebo/config/ur3_controllers.yaml index 3525e4e55..62653afa8 100644 --- a/ur_gazebo/config/ur3_controllers.yaml +++ b/ur_gazebo/config/ur3_controllers.yaml @@ -1,6 +1,6 @@ joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: 50 + publish_rate: &loop_hz 125 pos_traj_controller: type: position_controllers/JointTrajectoryController @@ -21,7 +21,7 @@ pos_traj_controller: 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 + state_publish_rate: *loop_hz action_monitor_rate: 10 joint_group_pos_controller: diff --git a/ur_gazebo/config/ur5_controllers.yaml b/ur_gazebo/config/ur5_controllers.yaml index 3525e4e55..62653afa8 100644 --- a/ur_gazebo/config/ur5_controllers.yaml +++ b/ur_gazebo/config/ur5_controllers.yaml @@ -1,6 +1,6 @@ joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: 50 + publish_rate: &loop_hz 125 pos_traj_controller: type: position_controllers/JointTrajectoryController @@ -21,7 +21,7 @@ pos_traj_controller: 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 + state_publish_rate: *loop_hz action_monitor_rate: 10 joint_group_pos_controller: From 8acfb54cf451c5b59bd08467a09b15203afd1506 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 24 Jun 2020 17:05:14 +0200 Subject: [PATCH 097/133] gazebo: fix install rule. --- ur_gazebo/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt index b38df3dc9..bde42804d 100644 --- a/ur_gazebo/CMakeLists.txt +++ b/ur_gazebo/CMakeLists.txt @@ -11,5 +11,5 @@ if (CATKIN_ENABLE_TESTING) roslaunch_add_file_check(tests/roslaunch_test.xml) endif() -install(DIRECTORY launch controller urdf +install(DIRECTORY config launch urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) From 5726c14b10c500e0024723eee97318d08b856041 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 24 Jun 2020 18:13:40 +0200 Subject: [PATCH 098/133] gazebo: test variants separately and also test bringup. --- ur_gazebo/CMakeLists.txt | 8 ++++++- ur_gazebo/tests/roslaunch_test.xml | 28 ------------------------ ur_gazebo/tests/roslaunch_test_ur10.xml | 10 +++++++++ ur_gazebo/tests/roslaunch_test_ur10e.xml | 10 +++++++++ ur_gazebo/tests/roslaunch_test_ur16e.xml | 10 +++++++++ ur_gazebo/tests/roslaunch_test_ur3.xml | 10 +++++++++ ur_gazebo/tests/roslaunch_test_ur3e.xml | 10 +++++++++ ur_gazebo/tests/roslaunch_test_ur5.xml | 10 +++++++++ ur_gazebo/tests/roslaunch_test_ur5e.xml | 10 +++++++++ 9 files changed, 77 insertions(+), 29 deletions(-) delete mode 100644 ur_gazebo/tests/roslaunch_test.xml create mode 100644 ur_gazebo/tests/roslaunch_test_ur10.xml create mode 100644 ur_gazebo/tests/roslaunch_test_ur10e.xml create mode 100644 ur_gazebo/tests/roslaunch_test_ur16e.xml create mode 100644 ur_gazebo/tests/roslaunch_test_ur3.xml create mode 100644 ur_gazebo/tests/roslaunch_test_ur3e.xml create mode 100644 ur_gazebo/tests/roslaunch_test_ur5.xml create mode 100644 ur_gazebo/tests/roslaunch_test_ur5e.xml diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt index bde42804d..9a077b51e 100644 --- a/ur_gazebo/CMakeLists.txt +++ b/ur_gazebo/CMakeLists.txt @@ -8,7 +8,13 @@ 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 config launch urdf diff --git a/ur_gazebo/tests/roslaunch_test.xml b/ur_gazebo/tests/roslaunch_test.xml deleted file mode 100644 index 4f28cb647..000000000 --- a/ur_gazebo/tests/roslaunch_test.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/ur_gazebo/tests/roslaunch_test_ur10.xml b/ur_gazebo/tests/roslaunch_test_ur10.xml new file mode 100644 index 000000000..13b5d8306 --- /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..8b009e882 --- /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..d24fd64e6 --- /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..7f4558f78 --- /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..b5232ff68 --- /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..89df2cb38 --- /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..67877fbd6 --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur5e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + From 93ee95ab84f0170c1aa801f1e34c2a57f3e7ab91 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 25 Jun 2020 13:13:21 +0200 Subject: [PATCH 099/133] gazebo: load URDF in bringup launch files. The main 'driver' launch file should not load the URDF, as it's not the task of the driver. This also removes one level of argument-forwarding (namely: the arguments for the xacro macro). Finally, it provides a nicer template for users to base their own launch files on, as they 'only' have to deal with these top-level bringup launch files. --- ur_gazebo/launch/ur10_bringup.launch | 17 +++++++++++++++-- ur_gazebo/launch/ur10e_bringup.launch | 17 +++++++++++++++-- ur_gazebo/launch/ur16e_bringup.launch | 17 +++++++++++++++-- ur_gazebo/launch/ur3_bringup.launch | 17 +++++++++++++++-- ur_gazebo/launch/ur3e_bringup.launch | 17 +++++++++++++++-- ur_gazebo/launch/ur5_bringup.launch | 17 +++++++++++++++-- ur_gazebo/launch/ur5e_bringup.launch | 17 +++++++++++++++-- ur_gazebo/launch/ur_common.launch | 13 ------------- 8 files changed, 105 insertions(+), 27 deletions(-) diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch index ae97b96f9..f1a02446a 100644 --- a/ur_gazebo/launch/ur10_bringup.launch +++ b/ur_gazebo/launch/ur10_bringup.launch @@ -7,14 +7,27 @@ - - + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch index aee963a32..f27e8c958 100644 --- a/ur_gazebo/launch/ur10e_bringup.launch +++ b/ur_gazebo/launch/ur10e_bringup.launch @@ -7,14 +7,27 @@ - - + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch index 4496136c5..f9b73fa87 100644 --- a/ur_gazebo/launch/ur16e_bringup.launch +++ b/ur_gazebo/launch/ur16e_bringup.launch @@ -7,14 +7,27 @@ - - + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch index 00d19e7b5..9f867ca3d 100644 --- a/ur_gazebo/launch/ur3_bringup.launch +++ b/ur_gazebo/launch/ur3_bringup.launch @@ -7,14 +7,27 @@ - - + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch index 7ec0fe48c..cc1593f04 100644 --- a/ur_gazebo/launch/ur3e_bringup.launch +++ b/ur_gazebo/launch/ur3e_bringup.launch @@ -7,14 +7,27 @@ - - + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch index cfa06428e..b69ab2d9a 100644 --- a/ur_gazebo/launch/ur5_bringup.launch +++ b/ur_gazebo/launch/ur5_bringup.launch @@ -7,14 +7,27 @@ - - + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch index 8e4b6d591..c8e792532 100644 --- a/ur_gazebo/launch/ur5e_bringup.launch +++ b/ur_gazebo/launch/ur5e_bringup.launch @@ -7,14 +7,27 @@ - - + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch index 5a1767769..06c13cba5 100644 --- a/ur_gazebo/launch/ur_common.launch +++ b/ur_gazebo/launch/ur_common.launch @@ -5,11 +5,9 @@ --> - - @@ -22,17 +20,6 @@ - - - - - - - - - - - From 91cf163ba6fae23a099f35aadd5b6371a2f9ae16 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 25 Jun 2020 13:14:02 +0200 Subject: [PATCH 100/133] gazebo: fix comments in bringup launch files. --- ur_gazebo/launch/load_ur.launch | 5 +++-- ur_gazebo/launch/load_ur10.launch | 7 ++++--- ur_gazebo/launch/load_ur10e.launch | 7 ++++--- ur_gazebo/launch/load_ur16e.launch | 7 ++++--- ur_gazebo/launch/load_ur3.launch | 7 ++++--- ur_gazebo/launch/load_ur3e.launch | 7 ++++--- ur_gazebo/launch/load_ur5.launch | 7 ++++--- ur_gazebo/launch/load_ur5e.launch | 7 ++++--- ur_gazebo/launch/ur10_bringup.launch | 4 ++-- ur_gazebo/launch/ur10e_bringup.launch | 4 ++-- ur_gazebo/launch/ur16e_bringup.launch | 4 ++-- ur_gazebo/launch/ur3_bringup.launch | 4 ++-- ur_gazebo/launch/ur3e_bringup.launch | 4 ++-- ur_gazebo/launch/ur5_bringup.launch | 4 ++-- ur_gazebo/launch/ur5e_bringup.launch | 4 ++-- 15 files changed, 45 insertions(+), 37 deletions(-) diff --git a/ur_gazebo/launch/load_ur.launch b/ur_gazebo/launch/load_ur.launch index 127c5a17a..a5509a2f9 100644 --- a/ur_gazebo/launch/load_ur.launch +++ b/ur_gazebo/launch/load_ur.launch @@ -1,11 +1,12 @@ - + - + + diff --git a/ur_gazebo/launch/load_ur10.launch b/ur_gazebo/launch/load_ur10.launch index 13cdbcd03..ec759dcc4 100644 --- a/ur_gazebo/launch/load_ur10.launch +++ b/ur_gazebo/launch/load_ur10.launch @@ -1,16 +1,17 @@ - + - + + - + diff --git a/ur_gazebo/launch/load_ur10e.launch b/ur_gazebo/launch/load_ur10e.launch index fdf314a03..dcb71ea39 100644 --- a/ur_gazebo/launch/load_ur10e.launch +++ b/ur_gazebo/launch/load_ur10e.launch @@ -1,16 +1,17 @@ - + - + + - + diff --git a/ur_gazebo/launch/load_ur16e.launch b/ur_gazebo/launch/load_ur16e.launch index 31fbacc50..a6c53c8bd 100644 --- a/ur_gazebo/launch/load_ur16e.launch +++ b/ur_gazebo/launch/load_ur16e.launch @@ -1,16 +1,17 @@ - + - + + - + diff --git a/ur_gazebo/launch/load_ur3.launch b/ur_gazebo/launch/load_ur3.launch index bcab95b43..2efe2b66b 100644 --- a/ur_gazebo/launch/load_ur3.launch +++ b/ur_gazebo/launch/load_ur3.launch @@ -1,16 +1,17 @@ - + - + + - + diff --git a/ur_gazebo/launch/load_ur3e.launch b/ur_gazebo/launch/load_ur3e.launch index e03e375a5..c50470edc 100644 --- a/ur_gazebo/launch/load_ur3e.launch +++ b/ur_gazebo/launch/load_ur3e.launch @@ -1,16 +1,17 @@ - + - + + - + diff --git a/ur_gazebo/launch/load_ur5.launch b/ur_gazebo/launch/load_ur5.launch index c162bcba1..bfb60aaac 100644 --- a/ur_gazebo/launch/load_ur5.launch +++ b/ur_gazebo/launch/load_ur5.launch @@ -1,16 +1,17 @@ - + - + + - + diff --git a/ur_gazebo/launch/load_ur5e.launch b/ur_gazebo/launch/load_ur5e.launch index 83c011a94..0f4473d65 100644 --- a/ur_gazebo/launch/load_ur5e.launch +++ b/ur_gazebo/launch/load_ur5e.launch @@ -1,16 +1,17 @@ - + - + + - + diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch index f1a02446a..3ef2b8159 100644 --- a/ur_gazebo/launch/ur10_bringup.launch +++ b/ur_gazebo/launch/ur10_bringup.launch @@ -1,6 +1,6 @@ - + @@ -9,7 +9,7 @@ - + diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch index f27e8c958..358222dea 100644 --- a/ur_gazebo/launch/ur10e_bringup.launch +++ b/ur_gazebo/launch/ur10e_bringup.launch @@ -1,6 +1,6 @@ - + @@ -9,7 +9,7 @@ - + diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch index f9b73fa87..d2863c928 100644 --- a/ur_gazebo/launch/ur16e_bringup.launch +++ b/ur_gazebo/launch/ur16e_bringup.launch @@ -1,6 +1,6 @@ - + @@ -9,7 +9,7 @@ - + diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch index 9f867ca3d..2fce3c24c 100644 --- a/ur_gazebo/launch/ur3_bringup.launch +++ b/ur_gazebo/launch/ur3_bringup.launch @@ -1,6 +1,6 @@ - + @@ -9,7 +9,7 @@ - + diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch index cc1593f04..6c9d5bc93 100644 --- a/ur_gazebo/launch/ur3e_bringup.launch +++ b/ur_gazebo/launch/ur3e_bringup.launch @@ -1,6 +1,6 @@ - + @@ -9,7 +9,7 @@ - + diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch index b69ab2d9a..24f0e6a10 100644 --- a/ur_gazebo/launch/ur5_bringup.launch +++ b/ur_gazebo/launch/ur5_bringup.launch @@ -1,6 +1,6 @@ - + @@ -9,7 +9,7 @@ - + diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch index c8e792532..ada7cbbd5 100644 --- a/ur_gazebo/launch/ur5e_bringup.launch +++ b/ur_gazebo/launch/ur5e_bringup.launch @@ -1,6 +1,6 @@ - + @@ -9,7 +9,7 @@ - + From 482f4c854633846d70f4afd0ed12af322efe233f Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 25 Jun 2020 13:14:23 +0200 Subject: [PATCH 101/133] gazebo: there is no 'vel_based_pos_traj_controller', so remove. --- ur_gazebo/launch/ur_common.launch | 1 - 1 file changed, 1 deletion(-) diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/ur_common.launch index 06c13cba5..580f7e4d4 100644 --- a/ur_gazebo/launch/ur_common.launch +++ b/ur_gazebo/launch/ur_common.launch @@ -5,7 +5,6 @@ --> - From 5255796d12651a35ef9d7ad30d2b9d4bd2f6d72d Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 25 Jun 2020 13:17:43 +0200 Subject: [PATCH 102/133] gazebo: hide non-entry-point launch files. These launch files are not meant to be started directly, so 'hide' them roslaunch's auto-complete. --- ur_gazebo/launch/{ur_common.launch => inc/ur_common.launch.xml} | 0 ur_gazebo/launch/{ur_control.launch => inc/ur_control.launch.xml} | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename ur_gazebo/launch/{ur_common.launch => inc/ur_common.launch.xml} (100%) rename ur_gazebo/launch/{ur_control.launch => inc/ur_control.launch.xml} (100%) diff --git a/ur_gazebo/launch/ur_common.launch b/ur_gazebo/launch/inc/ur_common.launch.xml similarity index 100% rename from ur_gazebo/launch/ur_common.launch rename to ur_gazebo/launch/inc/ur_common.launch.xml diff --git a/ur_gazebo/launch/ur_control.launch b/ur_gazebo/launch/inc/ur_control.launch.xml similarity index 100% rename from ur_gazebo/launch/ur_control.launch rename to ur_gazebo/launch/inc/ur_control.launch.xml From ab94498a65453c8f9fd8dc4fa8c8585c7551f55b Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 25 Jun 2020 13:22:07 +0200 Subject: [PATCH 103/133] gazebo: update paths to included launch files. Use 'dirname' substitution arg to express relative include. --- ur_gazebo/launch/inc/ur_common.launch.xml | 2 +- ur_gazebo/launch/ur10_bringup.launch | 2 +- ur_gazebo/launch/ur10e_bringup.launch | 2 +- ur_gazebo/launch/ur16e_bringup.launch | 2 +- ur_gazebo/launch/ur3_bringup.launch | 2 +- ur_gazebo/launch/ur3e_bringup.launch | 2 +- ur_gazebo/launch/ur5_bringup.launch | 2 +- ur_gazebo/launch/ur5e_bringup.launch | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/ur_gazebo/launch/inc/ur_common.launch.xml b/ur_gazebo/launch/inc/ur_common.launch.xml index 580f7e4d4..11a304cce 100644 --- a/ur_gazebo/launch/inc/ur_common.launch.xml +++ b/ur_gazebo/launch/inc/ur_common.launch.xml @@ -20,7 +20,7 @@ - + diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch index 3ef2b8159..2325d4735 100644 --- a/ur_gazebo/launch/ur10_bringup.launch +++ b/ur_gazebo/launch/ur10_bringup.launch @@ -29,5 +29,5 @@ - + diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch index 358222dea..d8487a9c1 100644 --- a/ur_gazebo/launch/ur10e_bringup.launch +++ b/ur_gazebo/launch/ur10e_bringup.launch @@ -29,5 +29,5 @@ - + diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch index d2863c928..76bf3c869 100644 --- a/ur_gazebo/launch/ur16e_bringup.launch +++ b/ur_gazebo/launch/ur16e_bringup.launch @@ -29,5 +29,5 @@ - + diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch index 2fce3c24c..d3bf50efb 100644 --- a/ur_gazebo/launch/ur3_bringup.launch +++ b/ur_gazebo/launch/ur3_bringup.launch @@ -29,5 +29,5 @@ - + diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch index 6c9d5bc93..a8b845b37 100644 --- a/ur_gazebo/launch/ur3e_bringup.launch +++ b/ur_gazebo/launch/ur3e_bringup.launch @@ -29,5 +29,5 @@ - + diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch index 24f0e6a10..a5d96c3b9 100644 --- a/ur_gazebo/launch/ur5_bringup.launch +++ b/ur_gazebo/launch/ur5_bringup.launch @@ -29,5 +29,5 @@ - + diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch index ada7cbbd5..bcbc857b4 100644 --- a/ur_gazebo/launch/ur5e_bringup.launch +++ b/ur_gazebo/launch/ur5e_bringup.launch @@ -29,5 +29,5 @@ - + From 5a8add1248f89568259ac8adc3d62f8c915ebe69 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 25 Jun 2020 13:23:39 +0200 Subject: [PATCH 104/133] gazebo: hide loaders as well. --- ur_gazebo/launch/{load_ur.launch => inc/load_ur.launch.xml} | 0 ur_gazebo/launch/{load_ur10.launch => inc/load_ur10.launch.xml} | 0 ur_gazebo/launch/{load_ur10e.launch => inc/load_ur10e.launch.xml} | 0 ur_gazebo/launch/{load_ur16e.launch => inc/load_ur16e.launch.xml} | 0 ur_gazebo/launch/{load_ur3.launch => inc/load_ur3.launch.xml} | 0 ur_gazebo/launch/{load_ur3e.launch => inc/load_ur3e.launch.xml} | 0 ur_gazebo/launch/{load_ur5.launch => inc/load_ur5.launch.xml} | 0 ur_gazebo/launch/{load_ur5e.launch => inc/load_ur5e.launch.xml} | 0 8 files changed, 0 insertions(+), 0 deletions(-) rename ur_gazebo/launch/{load_ur.launch => inc/load_ur.launch.xml} (100%) rename ur_gazebo/launch/{load_ur10.launch => inc/load_ur10.launch.xml} (100%) rename ur_gazebo/launch/{load_ur10e.launch => inc/load_ur10e.launch.xml} (100%) rename ur_gazebo/launch/{load_ur16e.launch => inc/load_ur16e.launch.xml} (100%) rename ur_gazebo/launch/{load_ur3.launch => inc/load_ur3.launch.xml} (100%) rename ur_gazebo/launch/{load_ur3e.launch => inc/load_ur3e.launch.xml} (100%) rename ur_gazebo/launch/{load_ur5.launch => inc/load_ur5.launch.xml} (100%) rename ur_gazebo/launch/{load_ur5e.launch => inc/load_ur5e.launch.xml} (100%) diff --git a/ur_gazebo/launch/load_ur.launch b/ur_gazebo/launch/inc/load_ur.launch.xml similarity index 100% rename from ur_gazebo/launch/load_ur.launch rename to ur_gazebo/launch/inc/load_ur.launch.xml diff --git a/ur_gazebo/launch/load_ur10.launch b/ur_gazebo/launch/inc/load_ur10.launch.xml similarity index 100% rename from ur_gazebo/launch/load_ur10.launch rename to ur_gazebo/launch/inc/load_ur10.launch.xml diff --git a/ur_gazebo/launch/load_ur10e.launch b/ur_gazebo/launch/inc/load_ur10e.launch.xml similarity index 100% rename from ur_gazebo/launch/load_ur10e.launch rename to ur_gazebo/launch/inc/load_ur10e.launch.xml diff --git a/ur_gazebo/launch/load_ur16e.launch b/ur_gazebo/launch/inc/load_ur16e.launch.xml similarity index 100% rename from ur_gazebo/launch/load_ur16e.launch rename to ur_gazebo/launch/inc/load_ur16e.launch.xml diff --git a/ur_gazebo/launch/load_ur3.launch b/ur_gazebo/launch/inc/load_ur3.launch.xml similarity index 100% rename from ur_gazebo/launch/load_ur3.launch rename to ur_gazebo/launch/inc/load_ur3.launch.xml diff --git a/ur_gazebo/launch/load_ur3e.launch b/ur_gazebo/launch/inc/load_ur3e.launch.xml similarity index 100% rename from ur_gazebo/launch/load_ur3e.launch rename to ur_gazebo/launch/inc/load_ur3e.launch.xml diff --git a/ur_gazebo/launch/load_ur5.launch b/ur_gazebo/launch/inc/load_ur5.launch.xml similarity index 100% rename from ur_gazebo/launch/load_ur5.launch rename to ur_gazebo/launch/inc/load_ur5.launch.xml diff --git a/ur_gazebo/launch/load_ur5e.launch b/ur_gazebo/launch/inc/load_ur5e.launch.xml similarity index 100% rename from ur_gazebo/launch/load_ur5e.launch rename to ur_gazebo/launch/inc/load_ur5e.launch.xml From 225b7729f0cdf2fa34477bc93c08f508e496dde4 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 25 Jun 2020 13:33:19 +0200 Subject: [PATCH 105/133] gazebo: include load launch file with relative include. --- ur_gazebo/launch/inc/load_ur10.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur10e.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur16e.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur3.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur3e.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur5.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur5e.launch.xml | 2 +- ur_gazebo/launch/ur10_bringup.launch | 2 +- ur_gazebo/launch/ur10e_bringup.launch | 2 +- ur_gazebo/launch/ur16e_bringup.launch | 2 +- ur_gazebo/launch/ur3_bringup.launch | 2 +- ur_gazebo/launch/ur3e_bringup.launch | 2 +- ur_gazebo/launch/ur5_bringup.launch | 2 +- ur_gazebo/launch/ur5e_bringup.launch | 2 +- 14 files changed, 14 insertions(+), 14 deletions(-) diff --git a/ur_gazebo/launch/inc/load_ur10.launch.xml b/ur_gazebo/launch/inc/load_ur10.launch.xml index ec759dcc4..42eb123f6 100644 --- a/ur_gazebo/launch/inc/load_ur10.launch.xml +++ b/ur_gazebo/launch/inc/load_ur10.launch.xml @@ -13,5 +13,5 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur10e.launch.xml b/ur_gazebo/launch/inc/load_ur10e.launch.xml index dcb71ea39..568b6c16c 100644 --- a/ur_gazebo/launch/inc/load_ur10e.launch.xml +++ b/ur_gazebo/launch/inc/load_ur10e.launch.xml @@ -13,5 +13,5 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur16e.launch.xml b/ur_gazebo/launch/inc/load_ur16e.launch.xml index a6c53c8bd..5b648003e 100644 --- a/ur_gazebo/launch/inc/load_ur16e.launch.xml +++ b/ur_gazebo/launch/inc/load_ur16e.launch.xml @@ -13,5 +13,5 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur3.launch.xml b/ur_gazebo/launch/inc/load_ur3.launch.xml index 2efe2b66b..09e853a02 100644 --- a/ur_gazebo/launch/inc/load_ur3.launch.xml +++ b/ur_gazebo/launch/inc/load_ur3.launch.xml @@ -13,5 +13,5 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur3e.launch.xml b/ur_gazebo/launch/inc/load_ur3e.launch.xml index c50470edc..13cf424ff 100644 --- a/ur_gazebo/launch/inc/load_ur3e.launch.xml +++ b/ur_gazebo/launch/inc/load_ur3e.launch.xml @@ -13,5 +13,5 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur5.launch.xml b/ur_gazebo/launch/inc/load_ur5.launch.xml index bfb60aaac..8ddf9a0ae 100644 --- a/ur_gazebo/launch/inc/load_ur5.launch.xml +++ b/ur_gazebo/launch/inc/load_ur5.launch.xml @@ -13,5 +13,5 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur5e.launch.xml b/ur_gazebo/launch/inc/load_ur5e.launch.xml index 0f4473d65..4b898a6f0 100644 --- a/ur_gazebo/launch/inc/load_ur5e.launch.xml +++ b/ur_gazebo/launch/inc/load_ur5e.launch.xml @@ -13,5 +13,5 @@ - + diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch index 2325d4735..12a939767 100644 --- a/ur_gazebo/launch/ur10_bringup.launch +++ b/ur_gazebo/launch/ur10_bringup.launch @@ -16,7 +16,7 @@ - + diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch index d8487a9c1..4c7e08818 100644 --- a/ur_gazebo/launch/ur10e_bringup.launch +++ b/ur_gazebo/launch/ur10e_bringup.launch @@ -16,7 +16,7 @@ - + diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch index 76bf3c869..de5a9ab71 100644 --- a/ur_gazebo/launch/ur16e_bringup.launch +++ b/ur_gazebo/launch/ur16e_bringup.launch @@ -16,7 +16,7 @@ - + diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch index d3bf50efb..c31201fac 100644 --- a/ur_gazebo/launch/ur3_bringup.launch +++ b/ur_gazebo/launch/ur3_bringup.launch @@ -16,7 +16,7 @@ - + diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch index a8b845b37..5f4e6ab97 100644 --- a/ur_gazebo/launch/ur3e_bringup.launch +++ b/ur_gazebo/launch/ur3e_bringup.launch @@ -16,7 +16,7 @@ - + diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch index a5d96c3b9..814812d07 100644 --- a/ur_gazebo/launch/ur5_bringup.launch +++ b/ur_gazebo/launch/ur5_bringup.launch @@ -16,7 +16,7 @@ - + diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch index bcbc857b4..e188cccbc 100644 --- a/ur_gazebo/launch/ur5e_bringup.launch +++ b/ur_gazebo/launch/ur5e_bringup.launch @@ -16,7 +16,7 @@ - + From b48781e0b018555053f4ef5277d94e0e7aa65811 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 25 Jun 2020 13:33:59 +0200 Subject: [PATCH 106/133] gazebo: update tests to load non-entry-point loaders. --- ur_gazebo/tests/roslaunch_test_ur10.xml | 2 +- ur_gazebo/tests/roslaunch_test_ur10e.xml | 2 +- ur_gazebo/tests/roslaunch_test_ur16e.xml | 2 +- ur_gazebo/tests/roslaunch_test_ur3.xml | 2 +- ur_gazebo/tests/roslaunch_test_ur3e.xml | 2 +- ur_gazebo/tests/roslaunch_test_ur5.xml | 2 +- ur_gazebo/tests/roslaunch_test_ur5e.xml | 2 +- 7 files changed, 7 insertions(+), 7 deletions(-) diff --git a/ur_gazebo/tests/roslaunch_test_ur10.xml b/ur_gazebo/tests/roslaunch_test_ur10.xml index 13b5d8306..02e6458c7 100644 --- a/ur_gazebo/tests/roslaunch_test_ur10.xml +++ b/ur_gazebo/tests/roslaunch_test_ur10.xml @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/tests/roslaunch_test_ur10e.xml b/ur_gazebo/tests/roslaunch_test_ur10e.xml index 8b009e882..8443ef3d4 100644 --- a/ur_gazebo/tests/roslaunch_test_ur10e.xml +++ b/ur_gazebo/tests/roslaunch_test_ur10e.xml @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/tests/roslaunch_test_ur16e.xml b/ur_gazebo/tests/roslaunch_test_ur16e.xml index d24fd64e6..566e1f1cd 100644 --- a/ur_gazebo/tests/roslaunch_test_ur16e.xml +++ b/ur_gazebo/tests/roslaunch_test_ur16e.xml @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/tests/roslaunch_test_ur3.xml b/ur_gazebo/tests/roslaunch_test_ur3.xml index 7f4558f78..d9c9c148d 100644 --- a/ur_gazebo/tests/roslaunch_test_ur3.xml +++ b/ur_gazebo/tests/roslaunch_test_ur3.xml @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/tests/roslaunch_test_ur3e.xml b/ur_gazebo/tests/roslaunch_test_ur3e.xml index b5232ff68..4a10cd48f 100644 --- a/ur_gazebo/tests/roslaunch_test_ur3e.xml +++ b/ur_gazebo/tests/roslaunch_test_ur3e.xml @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/tests/roslaunch_test_ur5.xml b/ur_gazebo/tests/roslaunch_test_ur5.xml index 89df2cb38..dae9deae7 100644 --- a/ur_gazebo/tests/roslaunch_test_ur5.xml +++ b/ur_gazebo/tests/roslaunch_test_ur5.xml @@ -1,7 +1,7 @@ - + diff --git a/ur_gazebo/tests/roslaunch_test_ur5e.xml b/ur_gazebo/tests/roslaunch_test_ur5e.xml index 67877fbd6..0cf392035 100644 --- a/ur_gazebo/tests/roslaunch_test_ur5e.xml +++ b/ur_gazebo/tests/roslaunch_test_ur5e.xml @@ -1,7 +1,7 @@ - + From a08b5654c0bdce08b98ca6bc5a8c7315a65900db Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 25 Jun 2020 13:50:59 +0200 Subject: [PATCH 107/133] gazebo: rostopic is no longer used. --- ur_gazebo/package.xml | 1 - 1 file changed, 1 deletion(-) 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 From 17235da4af029b7a6fb46a8c949bbb8e590a55e3 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 30 Jun 2020 11:35:55 +0200 Subject: [PATCH 108/133] gazebo: ur_control: allow more control over launch args. Over: - which world to load - whether to start Gazebo or not - from which parameter to (attempt to) load the urdf - what name to give to the spawned robot model (inside the simulation) --- ur_gazebo/launch/inc/ur_control.launch.xml | 28 +++++++++++++--------- 1 file changed, 17 insertions(+), 11 deletions(-) diff --git a/ur_gazebo/launch/inc/ur_control.launch.xml b/ur_gazebo/launch/inc/ur_control.launch.xml index 797c31e77..c30a3b0c4 100644 --- a/ur_gazebo/launch/inc/ur_control.launch.xml +++ b/ur_gazebo/launch/inc/ur_control.launch.xml @@ -10,36 +10,42 @@ Other parameters are specific to Gazebo. - Note: we spawn and start the ros_control controllers here as they are, + Note: we spawn and start the ros_control controllers here, as they are, together with gazebo_ros_control, essentially the replacement for the driver which would be used with a real robot. --> - + - - - + + + + + + + - - - + + + From e34872e671fd2a56421d43688249e4528598a8af Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 30 Jun 2020 11:42:33 +0200 Subject: [PATCH 109/133] gazebo: restructure bringup entry points. By lifting some of the nodes and parameters to the bringup files (from ur_common.launch.xml), they should be easier to use (and maintain). Anything specific to the use of a robot in a particular configuration (ie: a workcell or simulation) should exist at the bringup level, not in a common (ie: shared) file, as that will make it harder to change (as changes will be shared by many other setups). This restructuring makes ur_common.launch.xml redundant, so we also remove it. --- ur_gazebo/launch/inc/load_ur.launch.xml | 27 +++++----- ur_gazebo/launch/inc/ur_common.launch.xml | 30 ----------- ur_gazebo/launch/ur10_bringup.launch | 66 ++++++++++++++++++----- ur_gazebo/launch/ur10e_bringup.launch | 66 ++++++++++++++++++----- ur_gazebo/launch/ur16e_bringup.launch | 66 ++++++++++++++++++----- ur_gazebo/launch/ur3_bringup.launch | 66 ++++++++++++++++++----- ur_gazebo/launch/ur3e_bringup.launch | 66 ++++++++++++++++++----- ur_gazebo/launch/ur5_bringup.launch | 66 ++++++++++++++++++----- ur_gazebo/launch/ur5e_bringup.launch | 66 ++++++++++++++++++----- 9 files changed, 392 insertions(+), 127 deletions(-) delete mode 100644 ur_gazebo/launch/inc/ur_common.launch.xml diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/inc/load_ur.launch.xml index a5509a2f9..254c82f36 100644 --- a/ur_gazebo/launch/inc/load_ur.launch.xml +++ b/ur_gazebo/launch/inc/load_ur.launch.xml @@ -1,22 +1,10 @@ - - - - - - - - - - - - + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch index 12a939767..5d07a7a39 100644 --- a/ur_gazebo/launch/ur10_bringup.launch +++ b/ur_gazebo/launch/ur10_bringup.launch @@ -1,22 +1,57 @@ - - - + - + + - - + + + + + + + + + + + + + + + @@ -25,9 +60,16 @@ - + - + + + + + + + + diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch index 4c7e08818..f2731e628 100644 --- a/ur_gazebo/launch/ur10e_bringup.launch +++ b/ur_gazebo/launch/ur10e_bringup.launch @@ -1,22 +1,57 @@ - - - + - + + - - + + + + + + + + + + + + + + + @@ -25,9 +60,16 @@ - + - + + + + + + + + diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch index de5a9ab71..2e6a51ef0 100644 --- a/ur_gazebo/launch/ur16e_bringup.launch +++ b/ur_gazebo/launch/ur16e_bringup.launch @@ -1,22 +1,57 @@ - - - + - + + - - + + + + + + + + + + + + + + + @@ -25,9 +60,16 @@ - + - + + + + + + + + diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch index c31201fac..86c8e02e4 100644 --- a/ur_gazebo/launch/ur3_bringup.launch +++ b/ur_gazebo/launch/ur3_bringup.launch @@ -1,22 +1,57 @@ - - - + - + + - - + + + + + + + + + + + + + + + @@ -25,9 +60,16 @@ - + - + + + + + + + + diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch index 5f4e6ab97..2bbbb71a5 100644 --- a/ur_gazebo/launch/ur3e_bringup.launch +++ b/ur_gazebo/launch/ur3e_bringup.launch @@ -1,22 +1,57 @@ - - - + - + + - - + + + + + + + + + + + + + + + @@ -25,9 +60,16 @@ - + - + + + + + + + + diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch index 814812d07..6f33db7d7 100644 --- a/ur_gazebo/launch/ur5_bringup.launch +++ b/ur_gazebo/launch/ur5_bringup.launch @@ -1,22 +1,57 @@ - - - + - + + - - + + + + + + + + + + + + + + + @@ -25,9 +60,16 @@ - + - + + + + + + + + diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch index e188cccbc..97b55f081 100644 --- a/ur_gazebo/launch/ur5e_bringup.launch +++ b/ur_gazebo/launch/ur5e_bringup.launch @@ -1,22 +1,57 @@ - - - + - + + - - + + + + + + + + + + + + + + + @@ -25,9 +60,16 @@ - + - + + + + + + + + From 4ebb070728bb502150ece9ac217bf59d9e19a35f Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 30 Jun 2020 12:18:07 +0200 Subject: [PATCH 110/133] gazebo: give e-Series variants their own controller configs. --- ur_gazebo/config/ur10e_controllers.yaml | 29 +++++++++++++++++++++++++ ur_gazebo/config/ur3e_controllers.yaml | 29 +++++++++++++++++++++++++ ur_gazebo/config/ur5e_controllers.yaml | 29 +++++++++++++++++++++++++ ur_gazebo/launch/ur10e_bringup.launch | 2 +- ur_gazebo/launch/ur3e_bringup.launch | 2 +- ur_gazebo/launch/ur5e_bringup.launch | 2 +- 6 files changed, 90 insertions(+), 3 deletions(-) create mode 100644 ur_gazebo/config/ur10e_controllers.yaml create mode 100644 ur_gazebo/config/ur3e_controllers.yaml create mode 100644 ur_gazebo/config/ur5e_controllers.yaml diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/config/ur10e_controllers.yaml new file mode 100644 index 000000000..62653afa8 --- /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 125 + +pos_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..62653afa8 --- /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 125 + +pos_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..62653afa8 --- /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 125 + +pos_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/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch index f2731e628..8ff46de79 100644 --- a/ur_gazebo/launch/ur10e_bringup.launch +++ b/ur_gazebo/launch/ur10e_bringup.launch @@ -38,7 +38,7 @@ - + diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch index 2bbbb71a5..985fba604 100644 --- a/ur_gazebo/launch/ur3e_bringup.launch +++ b/ur_gazebo/launch/ur3e_bringup.launch @@ -38,7 +38,7 @@ - + diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch index 97b55f081..4106d4bb9 100644 --- a/ur_gazebo/launch/ur5e_bringup.launch +++ b/ur_gazebo/launch/ur5e_bringup.launch @@ -38,7 +38,7 @@ - + From 8732d0f3b9bfc4c8a8dd91375cb8bc00699f82ae Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 30 Jun 2020 12:18:53 +0200 Subject: [PATCH 111/133] gazebo: run e-Series controllers at 500 Hz. Same rate as the real controller. --- ur_gazebo/config/ur10e_controllers.yaml | 2 +- ur_gazebo/config/ur3e_controllers.yaml | 2 +- ur_gazebo/config/ur5e_controllers.yaml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/config/ur10e_controllers.yaml index 62653afa8..071a4913a 100644 --- a/ur_gazebo/config/ur10e_controllers.yaml +++ b/ur_gazebo/config/ur10e_controllers.yaml @@ -1,6 +1,6 @@ joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: &loop_hz 125 + publish_rate: &loop_hz 500 pos_traj_controller: type: position_controllers/JointTrajectoryController diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/config/ur3e_controllers.yaml index 62653afa8..071a4913a 100644 --- a/ur_gazebo/config/ur3e_controllers.yaml +++ b/ur_gazebo/config/ur3e_controllers.yaml @@ -1,6 +1,6 @@ joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: &loop_hz 125 + publish_rate: &loop_hz 500 pos_traj_controller: type: position_controllers/JointTrajectoryController diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/config/ur5e_controllers.yaml index 62653afa8..071a4913a 100644 --- a/ur_gazebo/config/ur5e_controllers.yaml +++ b/ur_gazebo/config/ur5e_controllers.yaml @@ -1,6 +1,6 @@ joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: &loop_hz 125 + publish_rate: &loop_hz 500 pos_traj_controller: type: position_controllers/JointTrajectoryController From 36b2eae701cec0cca7f651b8e7f4c21928595209 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 30 Jun 2020 12:41:24 +0200 Subject: [PATCH 112/133] gazebo: update comments in xacros. --- ur_gazebo/urdf/ur.xacro | 28 +++++++++------ ur_gazebo/urdf/ur_macro.xacro | 64 ++++++++++++++++++++++++++++------- 2 files changed, 70 insertions(+), 22 deletions(-) diff --git a/ur_gazebo/urdf/ur.xacro b/ur_gazebo/urdf/ur.xacro index 6a6b6d9c5..3975c83e2 100644 --- a/ur_gazebo/urdf/ur.xacro +++ b/ur_gazebo/urdf/ur.xacro @@ -23,9 +23,11 @@ connect everything by adding the appropriate joints. --> - @@ -34,10 +36,14 @@ - @@ -54,14 +60,16 @@ transmission_hw_interface="$(arg transmission_hw_interface)" safety_limits="$(arg safety_limits)" safety_pos_margin="$(arg safety_pos_margin)" - safety_k_position="$(arg safety_k_position)"/> + safety_k_position="$(arg safety_k_position)" + /> - diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro index d1ab948ca..2e32a2136 100644 --- a/ur_gazebo/urdf/ur_macro.xacro +++ b/ur_gazebo/urdf/ur_macro.xacro @@ -1,19 +1,55 @@ - - + + - + + safety_k_position="${safety_k_position}" + /> + true @@ -59,6 +94,11 @@ true + + From 3f1f0347e656bac998e8f71b5f91664b40d6cf4a Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 30 Jun 2020 12:42:50 +0200 Subject: [PATCH 113/133] gazebo: move include to scope of ur_robot_gazebo macro. Prevent potential clashes with symbols outside of that scope. --- ur_gazebo/urdf/ur_macro.xacro | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro index 2e32a2136..1f049c692 100644 --- a/ur_gazebo/urdf/ur_macro.xacro +++ b/ur_gazebo/urdf/ur_macro.xacro @@ -39,16 +39,6 @@ --> - - - - + + + + Date: Wed, 1 Jul 2020 10:52:19 +0200 Subject: [PATCH 114/133] gazebo: clarify we load a position joint trajectory controller. So include that in the name. --- ur_gazebo/config/ur10_controllers.yaml | 2 +- ur_gazebo/config/ur10e_controllers.yaml | 2 +- ur_gazebo/config/ur16e_controllers.yaml | 2 +- ur_gazebo/config/ur3_controllers.yaml | 2 +- ur_gazebo/config/ur3e_controllers.yaml | 2 +- ur_gazebo/config/ur5_controllers.yaml | 2 +- ur_gazebo/config/ur5e_controllers.yaml | 2 +- ur_gazebo/launch/inc/ur_control.launch.xml | 2 +- ur_gazebo/launch/ur10_bringup.launch | 2 +- ur_gazebo/launch/ur10e_bringup.launch | 2 +- ur_gazebo/launch/ur16e_bringup.launch | 2 +- ur_gazebo/launch/ur3_bringup.launch | 2 +- ur_gazebo/launch/ur3e_bringup.launch | 2 +- ur_gazebo/launch/ur5_bringup.launch | 2 +- ur_gazebo/launch/ur5e_bringup.launch | 2 +- 15 files changed, 15 insertions(+), 15 deletions(-) diff --git a/ur_gazebo/config/ur10_controllers.yaml b/ur_gazebo/config/ur10_controllers.yaml index 62653afa8..7b6ab9c2c 100644 --- a/ur_gazebo/config/ur10_controllers.yaml +++ b/ur_gazebo/config/ur10_controllers.yaml @@ -2,7 +2,7 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: &loop_hz 125 -pos_traj_controller: +pos_joint_traj_controller: type: position_controllers/JointTrajectoryController joints: &robot_joints - shoulder_pan_joint diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/config/ur10e_controllers.yaml index 071a4913a..3599c8e7d 100644 --- a/ur_gazebo/config/ur10e_controllers.yaml +++ b/ur_gazebo/config/ur10e_controllers.yaml @@ -2,7 +2,7 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: &loop_hz 500 -pos_traj_controller: +pos_joint_traj_controller: type: position_controllers/JointTrajectoryController joints: &robot_joints - shoulder_pan_joint diff --git a/ur_gazebo/config/ur16e_controllers.yaml b/ur_gazebo/config/ur16e_controllers.yaml index 071a4913a..3599c8e7d 100644 --- a/ur_gazebo/config/ur16e_controllers.yaml +++ b/ur_gazebo/config/ur16e_controllers.yaml @@ -2,7 +2,7 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: &loop_hz 500 -pos_traj_controller: +pos_joint_traj_controller: type: position_controllers/JointTrajectoryController joints: &robot_joints - shoulder_pan_joint diff --git a/ur_gazebo/config/ur3_controllers.yaml b/ur_gazebo/config/ur3_controllers.yaml index 62653afa8..7b6ab9c2c 100644 --- a/ur_gazebo/config/ur3_controllers.yaml +++ b/ur_gazebo/config/ur3_controllers.yaml @@ -2,7 +2,7 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: &loop_hz 125 -pos_traj_controller: +pos_joint_traj_controller: type: position_controllers/JointTrajectoryController joints: &robot_joints - shoulder_pan_joint diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/config/ur3e_controllers.yaml index 071a4913a..3599c8e7d 100644 --- a/ur_gazebo/config/ur3e_controllers.yaml +++ b/ur_gazebo/config/ur3e_controllers.yaml @@ -2,7 +2,7 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: &loop_hz 500 -pos_traj_controller: +pos_joint_traj_controller: type: position_controllers/JointTrajectoryController joints: &robot_joints - shoulder_pan_joint diff --git a/ur_gazebo/config/ur5_controllers.yaml b/ur_gazebo/config/ur5_controllers.yaml index 62653afa8..7b6ab9c2c 100644 --- a/ur_gazebo/config/ur5_controllers.yaml +++ b/ur_gazebo/config/ur5_controllers.yaml @@ -2,7 +2,7 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: &loop_hz 125 -pos_traj_controller: +pos_joint_traj_controller: type: position_controllers/JointTrajectoryController joints: &robot_joints - shoulder_pan_joint diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/config/ur5e_controllers.yaml index 071a4913a..3599c8e7d 100644 --- a/ur_gazebo/config/ur5e_controllers.yaml +++ b/ur_gazebo/config/ur5e_controllers.yaml @@ -2,7 +2,7 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: &loop_hz 500 -pos_traj_controller: +pos_joint_traj_controller: type: position_controllers/JointTrajectoryController joints: &robot_joints - shoulder_pan_joint diff --git a/ur_gazebo/launch/inc/ur_control.launch.xml b/ur_gazebo/launch/inc/ur_control.launch.xml index c30a3b0c4..d8b487fb7 100644 --- a/ur_gazebo/launch/inc/ur_control.launch.xml +++ b/ur_gazebo/launch/inc/ur_control.launch.xml @@ -17,7 +17,7 @@ - + diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch index 5d07a7a39..acd6c96fe 100644 --- a/ur_gazebo/launch/ur10_bringup.launch +++ b/ur_gazebo/launch/ur10_bringup.launch @@ -39,7 +39,7 @@ - + diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch index 8ff46de79..7d39bda8c 100644 --- a/ur_gazebo/launch/ur10e_bringup.launch +++ b/ur_gazebo/launch/ur10e_bringup.launch @@ -39,7 +39,7 @@ - + diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch index 2e6a51ef0..d0f193ed6 100644 --- a/ur_gazebo/launch/ur16e_bringup.launch +++ b/ur_gazebo/launch/ur16e_bringup.launch @@ -39,7 +39,7 @@ - + diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch index 86c8e02e4..035d156db 100644 --- a/ur_gazebo/launch/ur3_bringup.launch +++ b/ur_gazebo/launch/ur3_bringup.launch @@ -39,7 +39,7 @@ - + diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch index 985fba604..8e3ec545d 100644 --- a/ur_gazebo/launch/ur3e_bringup.launch +++ b/ur_gazebo/launch/ur3e_bringup.launch @@ -39,7 +39,7 @@ - + diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch index 6f33db7d7..bff4f9323 100644 --- a/ur_gazebo/launch/ur5_bringup.launch +++ b/ur_gazebo/launch/ur5_bringup.launch @@ -39,7 +39,7 @@ - + diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch index 4106d4bb9..24c884a6c 100644 --- a/ur_gazebo/launch/ur5e_bringup.launch +++ b/ur_gazebo/launch/ur5e_bringup.launch @@ -39,7 +39,7 @@ - + From 61a1aed2f0ef832a7d741706c478554eca6fac7d Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 1 Jul 2020 16:56:57 +0200 Subject: [PATCH 115/133] gazebo: list valid values for 'transmission_hw_interface'. For some reason this was not yet documented. --- ur_gazebo/launch/inc/load_ur.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur10.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur10e.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur16e.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur3.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur3e.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur5.launch.xml | 2 +- ur_gazebo/launch/inc/load_ur5e.launch.xml | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/inc/load_ur.launch.xml index 254c82f36..b93d55603 100644 --- a/ur_gazebo/launch/inc/load_ur.launch.xml +++ b/ur_gazebo/launch/inc/load_ur.launch.xml @@ -25,7 +25,7 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur10.launch.xml b/ur_gazebo/launch/inc/load_ur10.launch.xml index 42eb123f6..dc2de3537 100644 --- a/ur_gazebo/launch/inc/load_ur10.launch.xml +++ b/ur_gazebo/launch/inc/load_ur10.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur10e.launch.xml b/ur_gazebo/launch/inc/load_ur10e.launch.xml index 568b6c16c..65ee47278 100644 --- a/ur_gazebo/launch/inc/load_ur10e.launch.xml +++ b/ur_gazebo/launch/inc/load_ur10e.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur16e.launch.xml b/ur_gazebo/launch/inc/load_ur16e.launch.xml index 5b648003e..e0a8a17dc 100644 --- a/ur_gazebo/launch/inc/load_ur16e.launch.xml +++ b/ur_gazebo/launch/inc/load_ur16e.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur3.launch.xml b/ur_gazebo/launch/inc/load_ur3.launch.xml index 09e853a02..1128e1bdd 100644 --- a/ur_gazebo/launch/inc/load_ur3.launch.xml +++ b/ur_gazebo/launch/inc/load_ur3.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur3e.launch.xml b/ur_gazebo/launch/inc/load_ur3e.launch.xml index 13cf424ff..f9555dfab 100644 --- a/ur_gazebo/launch/inc/load_ur3e.launch.xml +++ b/ur_gazebo/launch/inc/load_ur3e.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur5.launch.xml b/ur_gazebo/launch/inc/load_ur5.launch.xml index 8ddf9a0ae..d9b4dc10c 100644 --- a/ur_gazebo/launch/inc/load_ur5.launch.xml +++ b/ur_gazebo/launch/inc/load_ur5.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/ur_gazebo/launch/inc/load_ur5e.launch.xml b/ur_gazebo/launch/inc/load_ur5e.launch.xml index 4b898a6f0..4ed014cff 100644 --- a/ur_gazebo/launch/inc/load_ur5e.launch.xml +++ b/ur_gazebo/launch/inc/load_ur5e.launch.xml @@ -7,7 +7,7 @@ - + From be7d39210d91d2748859212a2e9f1c9cb5de4701 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 1 Jul 2020 16:57:28 +0200 Subject: [PATCH 116/133] gazebo: in-order is the default on Melodic. And we've broken Kinetic-compatibility quite a few commits ago. --- ur_gazebo/launch/inc/load_ur.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/inc/load_ur.launch.xml index b93d55603..02efc2fb8 100644 --- a/ur_gazebo/launch/inc/load_ur.launch.xml +++ b/ur_gazebo/launch/inc/load_ur.launch.xml @@ -30,7 +30,7 @@ - - + From 50269d12523f6d11e4c36313f0ffb5caaf24e2d1 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 13 Aug 2020 13:37:11 +0200 Subject: [PATCH 118/133] description: spec limits in degrees. Use rosparam's and xacro's support for these special constructors to convert to radians on-the-fly. --- ur_description/config/ur10/joint_limits.yaml | 36 +++++++++---------- ur_description/config/ur10e/joint_limits.yaml | 36 +++++++++---------- ur_description/config/ur16e/joint_limits.yaml | 36 +++++++++---------- ur_description/config/ur3/joint_limits.yaml | 36 +++++++++---------- ur_description/config/ur3e/joint_limits.yaml | 36 +++++++++---------- ur_description/config/ur5/joint_limits.yaml | 36 +++++++++---------- ur_description/config/ur5e/joint_limits.yaml | 36 +++++++++---------- 7 files changed, 126 insertions(+), 126 deletions(-) diff --git a/ur_description/config/ur10/joint_limits.yaml b/ur_description/config/ur10/joint_limits.yaml index 9778c2601..9e55c53cb 100644 --- a/ur_description/config/ur10/joint_limits.yaml +++ b/ur_description/config/ur10/joint_limits.yaml @@ -15,9 +15,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 330.0 - max_position: 6.28318530718 - max_velocity: 2.0943951 - min_position: -6.28318530718 + 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 @@ -25,9 +25,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 330.0 - max_position: 6.28318530718 - max_velocity: 2.0943951 - min_position: -6.28318530718 + 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 @@ -45,9 +45,9 @@ joint_limits: # # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for # more information. - max_position: 3.14159265359 - max_velocity: 3.14159265359 - min_position: -3.14159265359 + 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 @@ -55,9 +55,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -65,9 +65,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -75,6 +75,6 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur10e/joint_limits.yaml b/ur_description/config/ur10e/joint_limits.yaml index 0213e8406..983a43ce1 100644 --- a/ur_description/config/ur10e/joint_limits.yaml +++ b/ur_description/config/ur10e/joint_limits.yaml @@ -15,9 +15,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 330.0 - max_position: 6.28318530718 - max_velocity: 2.0943951 - min_position: -6.28318530718 + 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 @@ -25,9 +25,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 330.0 - max_position: 6.28318530718 - max_velocity: 2.0943951 - min_position: -6.28318530718 + 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 @@ -45,9 +45,9 @@ joint_limits: # # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for # more information. - max_position: 3.14159265359 - max_velocity: 3.14159265359 - min_position: -3.14159265359 + 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 @@ -55,9 +55,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -65,9 +65,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -75,6 +75,6 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur16e/joint_limits.yaml b/ur_description/config/ur16e/joint_limits.yaml index 65f7d56d3..272bb4843 100644 --- a/ur_description/config/ur16e/joint_limits.yaml +++ b/ur_description/config/ur16e/joint_limits.yaml @@ -15,9 +15,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 330.0 - max_position: 6.28318530718 - max_velocity: 2.0943951 - min_position: -6.28318530718 + 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 @@ -25,9 +25,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 330.0 - max_position: 6.28318530718 - max_velocity: 2.0943951 - min_position: -6.28318530718 + 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 @@ -45,9 +45,9 @@ joint_limits: # # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for # more information. - max_position: 3.14159265359 - max_velocity: 3.14159265359 - min_position: -3.14159265359 + 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 @@ -55,9 +55,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -65,9 +65,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -75,6 +75,6 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur3/joint_limits.yaml b/ur_description/config/ur3/joint_limits.yaml index e0ff1150b..461288abf 100644 --- a/ur_description/config/ur3/joint_limits.yaml +++ b/ur_description/config/ur3/joint_limits.yaml @@ -15,9 +15,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -25,9 +25,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -45,9 +45,9 @@ joint_limits: # # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for # more information. - max_position: 3.14159265359 - max_velocity: 3.14159265359 - min_position: -3.14159265359 + 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 @@ -55,9 +55,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 12.0 - max_position: 6.28318530718 - max_velocity: 6.28318530718 - min_position: -6.28318530718 + 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 @@ -65,9 +65,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 12.0 - max_position: 6.28318530718 - max_velocity: 6.28318530718 - min_position: -6.28318530718 + 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 @@ -75,6 +75,6 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 12.0 - max_position: 6.28318530718 - max_velocity: 6.28318530718 - min_position: -6.28318530718 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur3e/joint_limits.yaml b/ur_description/config/ur3e/joint_limits.yaml index 8d536c13b..85b6f644f 100644 --- a/ur_description/config/ur3e/joint_limits.yaml +++ b/ur_description/config/ur3e/joint_limits.yaml @@ -15,9 +15,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -25,9 +25,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -45,9 +45,9 @@ joint_limits: # # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for # more information. - max_position: 3.14159265359 - max_velocity: 3.14159265359 - min_position: -3.14159265359 + 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 @@ -55,9 +55,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 12.0 - max_position: 6.28318530718 - max_velocity: 6.28318530718 - min_position: -6.28318530718 + 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 @@ -65,9 +65,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 12.0 - max_position: 6.28318530718 - max_velocity: 6.28318530718 - min_position: -6.28318530718 + 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 @@ -75,6 +75,6 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 12.0 - max_position: 6.28318530718 - max_velocity: 6.28318530718 - min_position: -6.28318530718 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur5/joint_limits.yaml b/ur_description/config/ur5/joint_limits.yaml index 493ea55ec..28eacc3d9 100644 --- a/ur_description/config/ur5/joint_limits.yaml +++ b/ur_description/config/ur5/joint_limits.yaml @@ -15,9 +15,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 150.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -25,9 +25,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 150.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -45,9 +45,9 @@ joint_limits: # # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for # more information. - max_position: 3.14159265359 - max_velocity: 3.14159265359 - min_position: -3.14159265359 + 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 @@ -55,9 +55,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 28.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -65,9 +65,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 28.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -75,6 +75,6 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 28.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur5e/joint_limits.yaml b/ur_description/config/ur5e/joint_limits.yaml index 1e2404272..dddc059a8 100644 --- a/ur_description/config/ur5e/joint_limits.yaml +++ b/ur_description/config/ur5e/joint_limits.yaml @@ -15,9 +15,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 150.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -25,9 +25,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 150.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -45,9 +45,9 @@ joint_limits: # # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for # more information. - max_position: 3.14159265359 - max_velocity: 3.14159265359 - min_position: -3.14159265359 + 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 @@ -55,9 +55,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 28.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -65,9 +65,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 28.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + 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 @@ -75,6 +75,6 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 28.0 - max_position: 6.28318530718 - max_velocity: 3.14159265359 - min_position: -6.28318530718 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 From e8234318cc94dd287617fc196c1b32bf6e4074a9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Nadia=20Hammoudeh=20Garc=C3=ADa?= Date: Thu, 8 Oct 2020 11:59:43 +0200 Subject: [PATCH 119/133] Remove ur_msgs package from the metapackage (#542) There are no direct dependants any more in this repository. --- universal_robots/package.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/universal_robots/package.xml b/universal_robots/package.xml index e303be234..5854f0a9b 100644 --- a/universal_robots/package.xml +++ b/universal_robots/package.xml @@ -29,7 +29,6 @@ ur_description ur_gazebo ur_kinematics - ur_msgs From 700bb72b7860b6e698f4a007bf5e93307a510b43 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 2 Jul 2020 21:38:32 +0200 Subject: [PATCH 120/133] description: main macro xacro is not a top-level. So move to include directory. --- ur_description/urdf/{ => inc}/ur_macro.xacro | 0 ur_description/urdf/ur.xacro | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) rename ur_description/urdf/{ => inc}/ur_macro.xacro (100%) diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/inc/ur_macro.xacro similarity index 100% rename from ur_description/urdf/ur_macro.xacro rename to ur_description/urdf/inc/ur_macro.xacro diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro index 0c376c5b7..5e0664646 100644 --- a/ur_description/urdf/ur.xacro +++ b/ur_description/urdf/ur.xacro @@ -2,7 +2,7 @@ - + From 580fd4a9480ec9fa33ca92b9e22b1423b3b8f350 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 2 Jul 2020 21:59:39 +0200 Subject: [PATCH 121/133] description: provide convenience top-levels and macros. These avoid users having to provide values for *all* arguments of the 'ur_robot' macro. In many cases, users will want to keep the default files for the joint limits, physical and visual parameters, and only override the default kinematics (to use extracted calibration fi). With the provided wrapper macros, this is possible, as variant-specific defaults are provided for all arguments, requiring only to override the required ones. Users looking to include a UR into a larger scene or composite xacro macro should 'xacro:include' these '_macro.xacro' files. The top-levels are only useful when loading a stand-alone UR in an otherwise empty scene. They do not allow access to any arguments and only use the defaults. --- ur_description/urdf/inc/ur10_macro.xacro | 47 +++++++++++++++++++++++ ur_description/urdf/inc/ur10e_macro.xacro | 47 +++++++++++++++++++++++ ur_description/urdf/inc/ur16e_macro.xacro | 47 +++++++++++++++++++++++ ur_description/urdf/inc/ur3_macro.xacro | 47 +++++++++++++++++++++++ ur_description/urdf/inc/ur3e_macro.xacro | 47 +++++++++++++++++++++++ ur_description/urdf/inc/ur5_macro.xacro | 47 +++++++++++++++++++++++ ur_description/urdf/inc/ur5e_macro.xacro | 47 +++++++++++++++++++++++ ur_description/urdf/ur10.xacro | 22 +++++++++++ ur_description/urdf/ur10e.xacro | 22 +++++++++++ ur_description/urdf/ur16e.xacro | 22 +++++++++++ ur_description/urdf/ur3.xacro | 22 +++++++++++ ur_description/urdf/ur3e.xacro | 22 +++++++++++ ur_description/urdf/ur5.xacro | 22 +++++++++++ ur_description/urdf/ur5e.xacro | 22 +++++++++++ 14 files changed, 483 insertions(+) create mode 100644 ur_description/urdf/inc/ur10_macro.xacro create mode 100644 ur_description/urdf/inc/ur10e_macro.xacro create mode 100644 ur_description/urdf/inc/ur16e_macro.xacro create mode 100644 ur_description/urdf/inc/ur3_macro.xacro create mode 100644 ur_description/urdf/inc/ur3e_macro.xacro create mode 100644 ur_description/urdf/inc/ur5_macro.xacro create mode 100644 ur_description/urdf/inc/ur5e_macro.xacro create mode 100644 ur_description/urdf/ur10.xacro create mode 100644 ur_description/urdf/ur10e.xacro create mode 100644 ur_description/urdf/ur16e.xacro create mode 100644 ur_description/urdf/ur3.xacro create mode 100644 ur_description/urdf/ur3e.xacro create mode 100644 ur_description/urdf/ur5.xacro create mode 100644 ur_description/urdf/ur5e.xacro 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/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/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.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/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.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/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 @@ + + + + + + From 0ccfabfcdc1470f613768ad83b8bf2131b38d8e6 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 17 Mar 2021 14:26:16 +0100 Subject: [PATCH 122/133] Fix ur_gazebo urdf generation --- ur_gazebo/urdf/ur_macro.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_gazebo/urdf/ur_macro.xacro b/ur_gazebo/urdf/ur_macro.xacro index 1f049c692..96146ac13 100644 --- a/ur_gazebo/urdf/ur_macro.xacro +++ b/ur_gazebo/urdf/ur_macro.xacro @@ -56,7 +56,7 @@ NOTE: this imports the '_macro.xacro' from ur_description, as that contains the definitions for the real robot. --> - + From 0d95e9e4cefc9b4b724d9dcc6250fbff6656a39d Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 17 Mar 2021 11:50:56 +0100 Subject: [PATCH 123/133] Rename version flag for ur_msgs --- .travis.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index 9efb23ce0..cd55a0275 100644 --- a/.travis.yml +++ b/.travis.yml @@ -16,9 +16,9 @@ env: - 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=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' + - ROS_DISTRO="melodic" PRERELEASE=true UPSTREAM_WORKSPACE='github:ros-industrial/ur_msgs#1.3.1' matrix: allow_failures: From aeefd86ecd8455244c5237de06b74b227aa9e093 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 20 Jan 2021 21:46:16 +0100 Subject: [PATCH 124/133] Recreate ur10_moveit_config package using current setup-assistant This commit makes the moveit_config work with the description from melodic-devel-staging. --- ur10_moveit_config/.setup_assistant | 7 +- ur10_moveit_config/config/chomp_planning.yaml | 18 + ur10_moveit_config/config/controllers.yaml | 11 - .../config/fake_controllers.yaml | 5 +- ur10_moveit_config/config/joint_limits.yaml | 40 +- ur10_moveit_config/config/ompl_planning.yaml | 165 +++-- .../config/ros_controllers.yaml | 34 + ur10_moveit_config/config/ur10.srdf | 17 +- .../launch/chomp_planning_pipeline.launch.xml | 20 + .../launch/default_warehouse_db.launch | 6 +- ur10_moveit_config/launch/demo.launch | 51 +- ur10_moveit_config/launch/move_group.launch | 51 +- ur10_moveit_config/launch/moveit.rviz | 615 +++++++++++++++--- ur10_moveit_config/launch/moveit_rviz.launch | 11 +- .../launch/ompl_planning_pipeline.launch.xml | 2 +- .../launch/planning_context.launch | 11 +- .../launch/planning_pipeline.launch.xml | 4 +- .../launch/ros_controllers.launch | 11 + .../launch/setup_assistant.launch | 8 +- .../ur10_moveit_controller_manager.launch.xml | 2 +- .../ur10_moveit_planning_execution.launch | 6 +- ...robot_moveit_controller_manager.launch.xml | 10 + ...r10_robot_moveit_sensor_manager.launch.xml | 3 + ur10_moveit_config/launch/warehouse.launch | 6 +- .../launch/warehouse_settings.launch.xml | 9 +- ur10_moveit_config/package.xml | 1 + .../tests/moveit_planning_execution.xml | 7 +- 27 files changed, 866 insertions(+), 265 deletions(-) create mode 100644 ur10_moveit_config/config/chomp_planning.yaml delete mode 100644 ur10_moveit_config/config/controllers.yaml create mode 100644 ur10_moveit_config/config/ros_controllers.yaml create mode 100644 ur10_moveit_config/launch/chomp_planning_pipeline.launch.xml create mode 100644 ur10_moveit_config/launch/ros_controllers.launch create mode 100644 ur10_moveit_config/launch/ur10_robot_moveit_controller_manager.launch.xml create mode 100644 ur10_moveit_config/launch/ur10_robot_moveit_sensor_manager.launch.xml 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..f0fd46f7b --- /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: "" + 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..596ecb835 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_moveit_config/launch/ur10_robot_moveit_sensor_manager.launch.xml b/ur10_moveit_config/launch/ur10_robot_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur10_moveit_config/launch/ur10_robot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + 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..0d5f8c672 100644 --- a/ur10_moveit_config/tests/moveit_planning_execution.xml +++ b/ur10_moveit_config/tests/moveit_planning_execution.xml @@ -2,14 +2,13 @@ - - + - - + + From ccb785b1644f8186f7f8f43009c9de996ca1df4a Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 17 Mar 2021 13:52:07 +0100 Subject: [PATCH 125/133] Set default controller --- ur10_moveit_config/config/ros_controllers.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur10_moveit_config/config/ros_controllers.yaml b/ur10_moveit_config/config/ros_controllers.yaml index f0fd46f7b..0ecf90959 100644 --- a/ur10_moveit_config/config/ros_controllers.yaml +++ b/ur10_moveit_config/config/ros_controllers.yaml @@ -22,7 +22,7 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 controller_list: -- name: "" +- name: "scaled_pos_joint_traj_controller" action_ns: follow_joint_trajectory type: FollowJointTrajectory joints: From 1d46b3a0e3fb828858c4486da822164373488440 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 17 Mar 2021 11:43:29 +0100 Subject: [PATCH 126/133] Updated ur10e moveit config package --- universal_robots/package.xml | 2 +- ur10_e_moveit_config/.setup_assistant | 8 - ur10_e_moveit_config/CHANGELOG.rst | 10 - ur10_e_moveit_config/config/controllers.yaml | 11 - .../config/ompl_planning.yaml | 84 --- .../launch/default_warehouse_db.launch | 13 - ur10_e_moveit_config/launch/demo.launch | 46 -- ur10_e_moveit_config/launch/moveit.rviz | 290 -------- .../launch/moveit_rviz.launch | 16 - .../tests/moveit_planning_execution.xml | 16 - ur10e_moveit_config/.setup_assistant | 11 + ur10e_moveit_config/CHANGELOG.rst | 63 ++ .../CMakeLists.txt | 2 +- .../config/chomp_planning.yaml | 18 + .../config/fake_controllers.yaml | 5 +- .../config/joint_limits.yaml | 40 +- .../config/kinematics.yaml | 5 + ur10e_moveit_config/config/ompl_planning.yaml | 172 +++++ .../config/ros_controllers.yaml | 34 + .../config/ur10e.srdf | 17 +- .../launch/chomp_planning_pipeline.launch.xml | 20 + .../launch/default_warehouse_db.launch | 15 + ur10e_moveit_config/launch/demo.launch | 63 ++ .../fake_moveit_controller_manager.launch.xml | 2 +- .../launch/move_group.launch | 59 +- ur10e_moveit_config/launch/moveit.rviz | 689 ++++++++++++++++++ ur10e_moveit_config/launch/moveit_rviz.launch | 15 + .../launch/ompl_planning_pipeline.launch.xml | 4 +- .../launch/planning_context.launch | 17 +- .../launch/planning_pipeline.launch.xml | 6 +- .../launch/ros_controllers.launch | 11 + .../launch/run_benchmark_ompl.launch | 8 +- .../launch/sensor_manager.launch.xml | 8 +- .../launch/setup_assistant.launch | 8 +- .../launch/trajectory_execution.launch.xml | 4 +- ...ur10e_moveit_controller_manager.launch.xml | 2 +- .../ur10e_moveit_planning_execution.launch | 8 +- .../ur10e_moveit_sensor_manager.launch.xml | 0 ...robot_moveit_controller_manager.launch.xml | 10 + ...10e_robot_moveit_sensor_manager.launch.xml | 3 + .../launch/warehouse.launch | 8 +- .../launch/warehouse_settings.launch.xml | 9 +- .../package.xml | 7 +- .../tests/moveit_planning_execution.xml | 16 + 44 files changed, 1257 insertions(+), 598 deletions(-) delete mode 100644 ur10_e_moveit_config/.setup_assistant delete mode 100644 ur10_e_moveit_config/CHANGELOG.rst delete mode 100644 ur10_e_moveit_config/config/controllers.yaml delete mode 100644 ur10_e_moveit_config/config/ompl_planning.yaml delete mode 100644 ur10_e_moveit_config/launch/default_warehouse_db.launch delete mode 100644 ur10_e_moveit_config/launch/demo.launch delete mode 100644 ur10_e_moveit_config/launch/moveit.rviz delete mode 100644 ur10_e_moveit_config/launch/moveit_rviz.launch delete mode 100644 ur10_e_moveit_config/tests/moveit_planning_execution.xml create mode 100644 ur10e_moveit_config/.setup_assistant create mode 100644 ur10e_moveit_config/CHANGELOG.rst rename {ur10_e_moveit_config => ur10e_moveit_config}/CMakeLists.txt (92%) create mode 100644 ur10e_moveit_config/config/chomp_planning.yaml rename {ur10_e_moveit_config => ur10e_moveit_config}/config/fake_controllers.yaml (75%) rename {ur10_e_moveit_config => ur10e_moveit_config}/config/joint_limits.yaml (51%) rename {ur10_e_moveit_config => ur10e_moveit_config}/config/kinematics.yaml (50%) create mode 100644 ur10e_moveit_config/config/ompl_planning.yaml create mode 100644 ur10e_moveit_config/config/ros_controllers.yaml rename {ur10_e_moveit_config => ur10e_moveit_config}/config/ur10e.srdf (83%) create mode 100644 ur10e_moveit_config/launch/chomp_planning_pipeline.launch.xml create mode 100644 ur10e_moveit_config/launch/default_warehouse_db.launch create mode 100644 ur10e_moveit_config/launch/demo.launch rename {ur10_e_moveit_config => ur10e_moveit_config}/launch/fake_moveit_controller_manager.launch.xml (78%) rename {ur10_e_moveit_config => ur10e_moveit_config}/launch/move_group.launch (54%) create mode 100644 ur10e_moveit_config/launch/moveit.rviz create mode 100644 ur10e_moveit_config/launch/moveit_rviz.launch rename {ur10_e_moveit_config => ur10e_moveit_config}/launch/ompl_planning_pipeline.launch.xml (90%) rename {ur10_e_moveit_config => ur10e_moveit_config}/launch/planning_context.launch (54%) rename {ur10_e_moveit_config => ur10e_moveit_config}/launch/planning_pipeline.launch.xml (57%) create mode 100644 ur10e_moveit_config/launch/ros_controllers.launch rename {ur10_e_moveit_config => ur10e_moveit_config}/launch/run_benchmark_ompl.launch (63%) rename {ur10_e_moveit_config => ur10e_moveit_config}/launch/sensor_manager.launch.xml (70%) rename {ur10_e_moveit_config => ur10e_moveit_config}/launch/setup_assistant.launch (60%) rename {ur10_e_moveit_config => ur10e_moveit_config}/launch/trajectory_execution.launch.xml (83%) rename ur10_e_moveit_config/launch/ur10_e_moveit_controller_manager.launch.xml => ur10e_moveit_config/launch/ur10e_moveit_controller_manager.launch.xml (77%) rename ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch => ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch (65%) rename ur10_e_moveit_config/launch/ur10_e_moveit_sensor_manager.launch.xml => ur10e_moveit_config/launch/ur10e_moveit_sensor_manager.launch.xml (100%) create mode 100644 ur10e_moveit_config/launch/ur10e_robot_moveit_controller_manager.launch.xml create mode 100644 ur10e_moveit_config/launch/ur10e_robot_moveit_sensor_manager.launch.xml rename {ur10_e_moveit_config => ur10e_moveit_config}/launch/warehouse.launch (67%) rename {ur10_e_moveit_config => ur10e_moveit_config}/launch/warehouse_settings.launch.xml (64%) rename {ur10_e_moveit_config => ur10e_moveit_config}/package.xml (94%) create mode 100644 ur10e_moveit_config/tests/moveit_planning_execution.xml diff --git a/universal_robots/package.xml b/universal_robots/package.xml index 5854f0a9b..2a4a0b082 100644 --- a/universal_robots/package.xml +++ b/universal_robots/package.xml @@ -20,7 +20,7 @@ catkin - ur10_e_moveit_config + ur10e_moveit_config ur10_moveit_config ur3_e_moveit_config ur3_moveit_config 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: 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- 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/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/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/ur10_e_moveit_config/CMakeLists.txt b/ur10e_moveit_config/CMakeLists.txt similarity index 92% rename from ur10_e_moveit_config/CMakeLists.txt rename to ur10e_moveit_config/CMakeLists.txt index 0e8b09a98..b9f52c6fe 100644 --- a/ur10_e_moveit_config/CMakeLists.txt +++ b/ur10e_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(ur10_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/ur10_e_moveit_config/config/fake_controllers.yaml b/ur10e_moveit_config/config/fake_controllers.yaml similarity index 75% rename from ur10_e_moveit_config/config/fake_controllers.yaml rename to ur10e_moveit_config/config/fake_controllers.yaml index 5e24f9451..e328e94d4 100644 --- a/ur10_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/ur10_e_moveit_config/config/joint_limits.yaml b/ur10e_moveit_config/config/joint_limits.yaml similarity index 51% rename from ur10_e_moveit_config/config/joint_limits.yaml rename to ur10e_moveit_config/config/joint_limits.yaml index 991719a66..633b7bbce 100644 --- a/ur10_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/ur10_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur10e_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 ur10e_moveit_config/launch/fake_moveit_controller_manager.launch.xml index 1f3f4de92..ed8eb47d5 100644 --- a/ur10_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/ur10_e_moveit_config/launch/move_group.launch b/ur10e_moveit_config/launch/move_group.launch similarity index 54% rename from ur10_e_moveit_config/launch/move_group.launch rename to ur10e_moveit_config/launch/move_group.launch index efeb0a045..0dc118e8e 100644 --- a/ur10_e_moveit_config/launch/move_group.launch +++ b/ur10e_moveit_config/launch/move_group.launch @@ -1,14 +1,10 @@ - - - - - - + @@ -16,27 +12,52 @@ + + + + + + + + + + + + + + + - - + + - + - + - - + + @@ -47,19 +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/ur10_e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur10e_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 ur10e_moveit_config/launch/ompl_planning_pipeline.launch.xml index 2a6b4c1a7..a52a7c101 100644 --- a/ur10_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/ur10_e_moveit_config/launch/planning_context.launch b/ur10e_moveit_config/launch/planning_context.launch similarity index 54% rename from ur10_e_moveit_config/launch/planning_context.launch rename to ur10e_moveit_config/launch/planning_context.launch index a87b942d1..a0121a8de 100644 --- a/ur10_e_moveit_config/launch/planning_context.launch +++ b/ur10e_moveit_config/launch/planning_context.launch @@ -1,28 +1,25 @@ - - - - - + - - + + - + - + + - + diff --git a/ur10_e_moveit_config/launch/planning_pipeline.launch.xml b/ur10e_moveit_config/launch/planning_pipeline.launch.xml similarity index 57% rename from ur10_e_moveit_config/launch/planning_pipeline.launch.xml rename to ur10e_moveit_config/launch/planning_pipeline.launch.xml index a0d6c2960..277b80706 100644 --- a/ur10_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/ur10_e_moveit_config/launch/run_benchmark_ompl.launch b/ur10e_moveit_config/launch/run_benchmark_ompl.launch similarity index 63% rename from ur10_e_moveit_config/launch/run_benchmark_ompl.launch rename to ur10e_moveit_config/launch/run_benchmark_ompl.launch index 9c4615c8d..3553a913f 100644 --- a/ur10_e_moveit_config/launch/run_benchmark_ompl.launch +++ b/ur10e_moveit_config/launch/run_benchmark_ompl.launch @@ -4,19 +4,19 @@ - + - + - - + + diff --git a/ur10_e_moveit_config/launch/sensor_manager.launch.xml b/ur10e_moveit_config/launch/sensor_manager.launch.xml similarity index 70% rename from ur10_e_moveit_config/launch/sensor_manager.launch.xml rename to ur10e_moveit_config/launch/sensor_manager.launch.xml index 90cf60d85..7140a9f3f 100644 --- a/ur10_e_moveit_config/launch/sensor_manager.launch.xml +++ b/ur10e_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/ur10e_moveit_config/launch/setup_assistant.launch similarity index 60% rename from ur10_e_moveit_config/launch/setup_assistant.launch rename to ur10e_moveit_config/launch/setup_assistant.launch index f35f15b87..6fc48197b 100644 --- a/ur10_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/ur10_e_moveit_config/launch/trajectory_execution.launch.xml b/ur10e_moveit_config/launch/trajectory_execution.launch.xml similarity index 83% rename from ur10_e_moveit_config/launch/trajectory_execution.launch.xml rename to ur10e_moveit_config/launch/trajectory_execution.launch.xml index 2dfb6e8bf..3c25c0689 100644 --- a/ur10_e_moveit_config/launch/trajectory_execution.launch.xml +++ b/ur10e_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/ur10e_moveit_config/launch/ur10e_moveit_controller_manager.launch.xml similarity index 77% rename from ur10_e_moveit_config/launch/ur10_e_moveit_controller_manager.launch.xml rename to ur10e_moveit_config/launch/ur10e_moveit_controller_manager.launch.xml index ac361c10a..114ae0a28 100644 --- a/ur10_e_moveit_config/launch/ur10_e_moveit_controller_manager.launch.xml +++ b/ur10e_moveit_config/launch/ur10e_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch b/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch similarity index 65% rename from ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch rename to ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch index b701ce754..e7240f802 100644 --- a/ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch +++ b/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch @@ -1,14 +1,12 @@ - - + - + - - + diff --git a/ur10_e_moveit_config/launch/ur10_e_moveit_sensor_manager.launch.xml b/ur10e_moveit_config/launch/ur10e_moveit_sensor_manager.launch.xml similarity index 100% rename from ur10_e_moveit_config/launch/ur10_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/ur10e_moveit_config/launch/ur10e_robot_moveit_sensor_manager.launch.xml b/ur10e_moveit_config/launch/ur10e_robot_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur10e_moveit_config/launch/ur10e_robot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur10_e_moveit_config/launch/warehouse.launch b/ur10e_moveit_config/launch/warehouse.launch similarity index 67% rename from ur10_e_moveit_config/launch/warehouse.launch rename to ur10e_moveit_config/launch/warehouse.launch index b0c8eeefe..c6548b5d4 100644 --- a/ur10_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..910165b8b --- /dev/null +++ b/ur10e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + From a6924d38c2bcc6d9a066f930690a93759ebc0ed7 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 17 Mar 2021 12:00:11 +0100 Subject: [PATCH 127/133] Updated ur3 moveit config --- ur3_moveit_config/.setup_assistant | 7 +- ur3_moveit_config/config/chomp_planning.yaml | 18 + ur3_moveit_config/config/controllers.yaml | 11 - .../config/fake_controllers.yaml | 5 +- ur3_moveit_config/config/joint_limits.yaml | 40 +- ur3_moveit_config/config/kinematics.yaml | 2 +- ur3_moveit_config/config/ompl_planning.yaml | 165 +++-- ur3_moveit_config/config/ros_controllers.yaml | 34 + ur3_moveit_config/config/ur3.srdf | 16 +- .../launch/chomp_planning_pipeline.launch.xml | 20 + .../launch/default_warehouse_db.launch | 6 +- ur3_moveit_config/launch/demo.launch | 51 +- .../launch/joystick_control.launch | 17 - ur3_moveit_config/launch/move_group.launch | 48 +- ur3_moveit_config/launch/moveit.rviz | 615 +++++++++++++++--- ur3_moveit_config/launch/moveit_rviz.launch | 11 +- .../launch/ompl_planning_pipeline.launch.xml | 2 +- .../launch/planning_context.launch | 11 +- .../launch/planning_pipeline.launch.xml | 4 +- .../launch/ros_controllers.launch | 11 + .../launch/setup_assistant.launch | 8 +- .../ur3_moveit_controller_manager.launch.xml | 2 +- .../ur3_moveit_planning_execution.launch | 6 +- ...robot_moveit_controller_manager.launch.xml | 10 + ...ur3_robot_moveit_sensor_manager.launch.xml | 3 + ur3_moveit_config/launch/warehouse.launch | 6 +- .../launch/warehouse_settings.launch.xml | 9 +- ur3_moveit_config/package.xml | 1 + .../tests/moveit_planning_execution.xml | 8 +- 29 files changed, 865 insertions(+), 282 deletions(-) create mode 100644 ur3_moveit_config/config/chomp_planning.yaml delete mode 100644 ur3_moveit_config/config/controllers.yaml create mode 100644 ur3_moveit_config/config/ros_controllers.yaml create mode 100644 ur3_moveit_config/launch/chomp_planning_pipeline.launch.xml delete mode 100644 ur3_moveit_config/launch/joystick_control.launch create mode 100644 ur3_moveit_config/launch/ros_controllers.launch create mode 100644 ur3_moveit_config/launch/ur3_robot_moveit_controller_manager.launch.xml create mode 100644 ur3_moveit_config/launch/ur3_robot_moveit_sensor_manager.launch.xml 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..633b7bbce 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: 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/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..2631567cc 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..3c6c18d7f 100644 --- a/ur3_moveit_config/tests/moveit_planning_execution.xml +++ b/ur3_moveit_config/tests/moveit_planning_execution.xml @@ -1,16 +1,14 @@ - - - + - - + + From b8e4704a0d07c0cb4413880419e5eafb1f13a830 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 17 Mar 2021 13:46:05 +0100 Subject: [PATCH 128/133] Updated ur3e moveit config --- universal_robots/package.xml | 2 +- ur3_e_moveit_config/.setup_assistant | 8 - ur3_e_moveit_config/CHANGELOG.rst | 10 - ur3_e_moveit_config/config/controllers.yaml | 11 - ur3_e_moveit_config/config/ompl_planning.yaml | 84 --- .../launch/default_warehouse_db.launch | 13 - ur3_e_moveit_config/launch/demo.launch | 46 -- .../launch/joystick_control.launch | 17 - ur3_e_moveit_config/launch/moveit.rviz | 290 -------- ur3_e_moveit_config/launch/moveit_rviz.launch | 16 - .../tests/moveit_planning_execution.xml | 18 - ur3e_moveit_config/.setup_assistant | 11 + ur3e_moveit_config/CHANGELOG.rst | 63 ++ .../CMakeLists.txt | 2 +- ur3e_moveit_config/config/chomp_planning.yaml | 18 + .../config/fake_controllers.yaml | 5 +- .../config/joint_limits.yaml | 40 +- .../config/kinematics.yaml | 5 + ur3e_moveit_config/config/ompl_planning.yaml | 172 +++++ .../config/ros_controllers.yaml | 34 + .../config/ur3e.srdf | 16 +- .../launch/chomp_planning_pipeline.launch.xml | 20 + .../launch/default_warehouse_db.launch | 15 + ur3e_moveit_config/launch/demo.launch | 63 ++ .../fake_moveit_controller_manager.launch.xml | 2 +- .../launch/move_group.launch | 58 +- ur3e_moveit_config/launch/moveit.rviz | 689 ++++++++++++++++++ ur3e_moveit_config/launch/moveit_rviz.launch | 15 + .../launch/ompl_planning_pipeline.launch.xml | 4 +- .../launch/planning_context.launch | 17 +- .../launch/planning_pipeline.launch.xml | 6 +- .../launch/ros_controllers.launch | 11 + .../launch/run_benchmark_ompl.launch | 8 +- .../launch/sensor_manager.launch.xml | 4 +- .../launch/setup_assistant.launch | 8 +- .../launch/trajectory_execution.launch.xml | 10 +- .../ur3e_moveit_controller_manager.launch.xml | 2 +- .../ur3e_moveit_planning_execution.launch | 8 +- .../ur3e_moveit_sensor_manager.launch.xml | 0 ...robot_moveit_controller_manager.launch.xml | 10 + ...r3e_robot_moveit_sensor_manager.launch.xml | 3 + .../launch/warehouse.launch | 8 +- .../launch/warehouse_settings.launch.xml | 9 +- .../package.xml | 7 +- .../tests/moveit_planning_execution.xml | 16 + 45 files changed, 1257 insertions(+), 617 deletions(-) delete mode 100644 ur3_e_moveit_config/.setup_assistant delete mode 100644 ur3_e_moveit_config/CHANGELOG.rst delete mode 100644 ur3_e_moveit_config/config/controllers.yaml delete mode 100644 ur3_e_moveit_config/config/ompl_planning.yaml delete mode 100644 ur3_e_moveit_config/launch/default_warehouse_db.launch delete mode 100644 ur3_e_moveit_config/launch/demo.launch delete mode 100644 ur3_e_moveit_config/launch/joystick_control.launch delete mode 100644 ur3_e_moveit_config/launch/moveit.rviz delete mode 100644 ur3_e_moveit_config/launch/moveit_rviz.launch delete mode 100644 ur3_e_moveit_config/tests/moveit_planning_execution.xml create mode 100644 ur3e_moveit_config/.setup_assistant create mode 100644 ur3e_moveit_config/CHANGELOG.rst rename {ur3_e_moveit_config => ur3e_moveit_config}/CMakeLists.txt (92%) create mode 100644 ur3e_moveit_config/config/chomp_planning.yaml rename {ur3_e_moveit_config => ur3e_moveit_config}/config/fake_controllers.yaml (75%) rename {ur3_e_moveit_config => ur3e_moveit_config}/config/joint_limits.yaml (51%) rename {ur3_e_moveit_config => ur3e_moveit_config}/config/kinematics.yaml (50%) create mode 100644 ur3e_moveit_config/config/ompl_planning.yaml create mode 100644 ur3e_moveit_config/config/ros_controllers.yaml rename {ur3_e_moveit_config => ur3e_moveit_config}/config/ur3e.srdf (84%) create mode 100644 ur3e_moveit_config/launch/chomp_planning_pipeline.launch.xml create mode 100644 ur3e_moveit_config/launch/default_warehouse_db.launch create mode 100644 ur3e_moveit_config/launch/demo.launch rename {ur3_e_moveit_config => ur3e_moveit_config}/launch/fake_moveit_controller_manager.launch.xml (78%) rename {ur3_e_moveit_config => ur3e_moveit_config}/launch/move_group.launch (56%) create mode 100644 ur3e_moveit_config/launch/moveit.rviz create mode 100644 ur3e_moveit_config/launch/moveit_rviz.launch rename {ur3_e_moveit_config => ur3e_moveit_config}/launch/ompl_planning_pipeline.launch.xml (90%) rename {ur3_e_moveit_config => ur3e_moveit_config}/launch/planning_context.launch (55%) rename {ur3_e_moveit_config => ur3e_moveit_config}/launch/planning_pipeline.launch.xml (57%) create mode 100644 ur3e_moveit_config/launch/ros_controllers.launch rename {ur3_e_moveit_config => ur3e_moveit_config}/launch/run_benchmark_ompl.launch (63%) rename {ur3_e_moveit_config => ur3e_moveit_config}/launch/sensor_manager.launch.xml (73%) rename {ur3_e_moveit_config => ur3e_moveit_config}/launch/setup_assistant.launch (60%) rename {ur3_e_moveit_config => ur3e_moveit_config}/launch/trajectory_execution.launch.xml (80%) rename ur3_e_moveit_config/launch/ur3_e_moveit_controller_manager.launch.xml => ur3e_moveit_config/launch/ur3e_moveit_controller_manager.launch.xml (78%) rename ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch => ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch (65%) rename ur3_e_moveit_config/launch/ur3_e_moveit_sensor_manager.launch.xml => ur3e_moveit_config/launch/ur3e_moveit_sensor_manager.launch.xml (100%) create mode 100644 ur3e_moveit_config/launch/ur3e_robot_moveit_controller_manager.launch.xml create mode 100644 ur3e_moveit_config/launch/ur3e_robot_moveit_sensor_manager.launch.xml rename {ur3_e_moveit_config => ur3e_moveit_config}/launch/warehouse.launch (67%) rename {ur3_e_moveit_config => ur3e_moveit_config}/launch/warehouse_settings.launch.xml (64%) rename {ur3_e_moveit_config => ur3e_moveit_config}/package.xml (94%) create mode 100644 ur3e_moveit_config/tests/moveit_planning_execution.xml diff --git a/universal_robots/package.xml b/universal_robots/package.xml index 2a4a0b082..26caecd0c 100644 --- a/universal_robots/package.xml +++ b/universal_robots/package.xml @@ -22,7 +22,7 @@ ur10e_moveit_config ur10_moveit_config - ur3_e_moveit_config + ur3e_moveit_config ur3_moveit_config ur5_e_moveit_config ur5_moveit_config 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: 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- 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/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/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/ur3_e_moveit_config/CMakeLists.txt b/ur3e_moveit_config/CMakeLists.txt similarity index 92% rename from ur3_e_moveit_config/CMakeLists.txt rename to ur3e_moveit_config/CMakeLists.txt index 6787fcbfe..a84bbc4ce 100644 --- a/ur3_e_moveit_config/CMakeLists.txt +++ b/ur3e_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(ur3_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/ur3_e_moveit_config/config/fake_controllers.yaml b/ur3e_moveit_config/config/fake_controllers.yaml similarity index 75% rename from ur3_e_moveit_config/config/fake_controllers.yaml rename to ur3e_moveit_config/config/fake_controllers.yaml index 5e24f9451..e328e94d4 100644 --- a/ur3_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/ur3_e_moveit_config/config/joint_limits.yaml b/ur3e_moveit_config/config/joint_limits.yaml similarity index 51% rename from ur3_e_moveit_config/config/joint_limits.yaml rename to ur3e_moveit_config/config/joint_limits.yaml index 991719a66..633b7bbce 100644 --- a/ur3_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: 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/ur3e_moveit_config/config/kinematics.yaml similarity index 50% rename from ur3_e_moveit_config/config/kinematics.yaml rename to ur3e_moveit_config/config/kinematics.yaml index 5d492ac1f..e37d336c3 100644 --- a/ur3_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/ur3_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 ur3_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml rename to ur3e_moveit_config/launch/fake_moveit_controller_manager.launch.xml index 630203a59..8789fd70c 100644 --- a/ur3_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/ur3_e_moveit_config/launch/move_group.launch b/ur3e_moveit_config/launch/move_group.launch similarity index 56% rename from ur3_e_moveit_config/launch/move_group.launch rename to ur3e_moveit_config/launch/move_group.launch index de6d39dd3..5c2ab7ade 100644 --- a/ur3_e_moveit_config/launch/move_group.launch +++ b/ur3e_moveit_config/launch/move_group.launch @@ -1,15 +1,10 @@ - - - - - + value="gdb -x $(find ur3e_moveit_config)/launch/gdb_settings.gdb --ex run --args" /> @@ -17,27 +12,52 @@ + + + + + + + + + + + + + + + - - + + - + - + - - + + @@ -48,19 +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/ur3_e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur3e_moveit_config/launch/ompl_planning_pipeline.launch.xml similarity index 90% rename from ur3_e_moveit_config/launch/ompl_planning_pipeline.launch.xml rename to ur3e_moveit_config/launch/ompl_planning_pipeline.launch.xml index 71475878e..bf3b34698 100644 --- a/ur3_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/ur3_e_moveit_config/launch/planning_context.launch b/ur3e_moveit_config/launch/planning_context.launch similarity index 55% rename from ur3_e_moveit_config/launch/planning_context.launch rename to ur3e_moveit_config/launch/planning_context.launch index d1a1618ac..49ef7dfeb 100644 --- a/ur3_e_moveit_config/launch/planning_context.launch +++ b/ur3e_moveit_config/launch/planning_context.launch @@ -1,28 +1,25 @@ - - - - - + - - + + - + - + + - + diff --git a/ur3_e_moveit_config/launch/planning_pipeline.launch.xml b/ur3e_moveit_config/launch/planning_pipeline.launch.xml similarity index 57% rename from ur3_e_moveit_config/launch/planning_pipeline.launch.xml rename to ur3e_moveit_config/launch/planning_pipeline.launch.xml index 40f9e8d96..5dfab7d5a 100644 --- a/ur3_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/ur3_e_moveit_config/launch/run_benchmark_ompl.launch b/ur3e_moveit_config/launch/run_benchmark_ompl.launch similarity index 63% rename from ur3_e_moveit_config/launch/run_benchmark_ompl.launch rename to ur3e_moveit_config/launch/run_benchmark_ompl.launch index e84b5312f..46f8cb9f3 100644 --- a/ur3_e_moveit_config/launch/run_benchmark_ompl.launch +++ b/ur3e_moveit_config/launch/run_benchmark_ompl.launch @@ -4,19 +4,19 @@ - + - + - - + + diff --git a/ur3_e_moveit_config/launch/sensor_manager.launch.xml b/ur3e_moveit_config/launch/sensor_manager.launch.xml similarity index 73% rename from ur3_e_moveit_config/launch/sensor_manager.launch.xml rename to ur3e_moveit_config/launch/sensor_manager.launch.xml index 8f17c237b..c6a1afaae 100644 --- a/ur3_e_moveit_config/launch/sensor_manager.launch.xml +++ b/ur3e_moveit_config/launch/sensor_manager.launch.xml @@ -8,7 +8,7 @@ - - + + diff --git a/ur3_e_moveit_config/launch/setup_assistant.launch b/ur3e_moveit_config/launch/setup_assistant.launch similarity index 60% rename from ur3_e_moveit_config/launch/setup_assistant.launch rename to ur3e_moveit_config/launch/setup_assistant.launch index ca7e28b0f..215c93dce 100644 --- a/ur3_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/ur3_e_moveit_config/launch/trajectory_execution.launch.xml b/ur3e_moveit_config/launch/trajectory_execution.launch.xml similarity index 80% rename from ur3_e_moveit_config/launch/trajectory_execution.launch.xml rename to ur3e_moveit_config/launch/trajectory_execution.launch.xml index 6786cca12..aadaeb14c 100644 --- a/ur3_e_moveit_config/launch/trajectory_execution.launch.xml +++ b/ur3e_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/ur3e_moveit_config/launch/ur3e_moveit_controller_manager.launch.xml similarity index 78% rename from ur3_e_moveit_config/launch/ur3_e_moveit_controller_manager.launch.xml rename to ur3e_moveit_config/launch/ur3e_moveit_controller_manager.launch.xml index f54839f4e..ec00c74b6 100644 --- a/ur3_e_moveit_config/launch/ur3_e_moveit_controller_manager.launch.xml +++ b/ur3e_moveit_config/launch/ur3e_moveit_controller_manager.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch b/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch similarity index 65% rename from ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch rename to ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch index 75b83fee8..91de984ad 100644 --- a/ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch +++ b/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch @@ -1,14 +1,12 @@ - - + - + - - + diff --git a/ur3_e_moveit_config/launch/ur3_e_moveit_sensor_manager.launch.xml b/ur3e_moveit_config/launch/ur3e_moveit_sensor_manager.launch.xml similarity index 100% rename from ur3_e_moveit_config/launch/ur3_e_moveit_sensor_manager.launch.xml rename to ur3e_moveit_config/launch/ur3e_moveit_sensor_manager.launch.xml 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/ur3_e_moveit_config/launch/warehouse.launch b/ur3e_moveit_config/launch/warehouse.launch similarity index 67% rename from ur3_e_moveit_config/launch/warehouse.launch rename to ur3e_moveit_config/launch/warehouse.launch index 918a58717..8916787cb 100644 --- a/ur3_e_moveit_config/launch/warehouse.launch +++ b/ur3e_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - - + + - + diff --git a/ur3_e_moveit_config/launch/warehouse_settings.launch.xml b/ur3e_moveit_config/launch/warehouse_settings.launch.xml similarity index 64% rename from ur3_e_moveit_config/launch/warehouse_settings.launch.xml rename to ur3e_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur3_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..81c4302af --- /dev/null +++ b/ur3e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + From 8e196568b59d1320613ff4d5ac7b73a871237c08 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 17 Mar 2021 13:47:46 +0100 Subject: [PATCH 129/133] Updated ur5 moveit config --- ur5_moveit_config/.setup_assistant | 7 +- ur5_moveit_config/config/chomp_planning.yaml | 18 + ur5_moveit_config/config/controllers.yaml | 11 - .../config/fake_controllers.yaml | 5 +- ur5_moveit_config/config/joint_limits.yaml | 40 +- ur5_moveit_config/config/kinematics.yaml | 2 +- ur5_moveit_config/config/ompl_planning.yaml | 165 +++-- ur5_moveit_config/config/ros_controllers.yaml | 34 + ur5_moveit_config/config/ur5.srdf | 17 +- .../launch/chomp_planning_pipeline.launch.xml | 20 + .../launch/default_warehouse_db.launch | 6 +- ur5_moveit_config/launch/demo.launch | 51 +- ur5_moveit_config/launch/move_group.launch | 51 +- ur5_moveit_config/launch/moveit.rviz | 615 +++++++++++++++--- ur5_moveit_config/launch/moveit_rviz.launch | 11 +- .../launch/ompl_planning_pipeline.launch.xml | 2 +- .../launch/planning_context.launch | 11 +- .../launch/planning_pipeline.launch.xml | 4 +- .../launch/ros_controllers.launch | 11 + .../launch/setup_assistant.launch | 8 +- .../launch/trajectory_execution.launch.xml | 6 +- .../ur5_moveit_controller_manager.launch.xml | 2 +- .../ur5_moveit_planning_execution.launch | 6 +- ...robot_moveit_controller_manager.launch.xml | 10 + ...ur5_robot_moveit_sensor_manager.launch.xml | 3 + ur5_moveit_config/launch/warehouse.launch | 6 +- .../launch/warehouse_settings.launch.xml | 9 +- ur5_moveit_config/package.xml | 1 + .../tests/moveit_planning_execution.xml | 8 +- 29 files changed, 872 insertions(+), 268 deletions(-) create mode 100644 ur5_moveit_config/config/chomp_planning.yaml delete mode 100644 ur5_moveit_config/config/controllers.yaml create mode 100644 ur5_moveit_config/config/ros_controllers.yaml create mode 100644 ur5_moveit_config/launch/chomp_planning_pipeline.launch.xml create mode 100644 ur5_moveit_config/launch/ros_controllers.launch create mode 100644 ur5_moveit_config/launch/ur5_robot_moveit_controller_manager.launch.xml create mode 100644 ur5_moveit_config/launch/ur5_robot_moveit_sensor_manager.launch.xml 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..633b7bbce 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: 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/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..e1c225159 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..e3f3ae0ad 100644 --- a/ur5_moveit_config/tests/moveit_planning_execution.xml +++ b/ur5_moveit_config/tests/moveit_planning_execution.xml @@ -1,16 +1,14 @@ - - - + - - + + From 09a637d534dd958dda47d6d56b077dda7e67eef8 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 17 Mar 2021 13:49:14 +0100 Subject: [PATCH 130/133] Updated ur5e moveit config --- universal_robots/package.xml | 2 +- ur5_e_moveit_config/.setup_assistant | 8 - ur5_e_moveit_config/config/controllers.yaml | 11 - ur5_e_moveit_config/config/ompl_planning.yaml | 84 --- .../launch/default_warehouse_db.launch | 13 - ur5_e_moveit_config/launch/demo.launch | 46 -- ur5_e_moveit_config/launch/moveit.rviz | 290 -------- ur5_e_moveit_config/launch/moveit_rviz.launch | 16 - .../tests/moveit_planning_execution.xml | 18 - ur5e_moveit_config/.setup_assistant | 11 + ur5e_moveit_config/CHANGELOG.rst | 63 ++ .../CMakeLists.txt | 2 +- ur5e_moveit_config/config/chomp_planning.yaml | 18 + .../config/fake_controllers.yaml | 5 +- .../config/joint_limits.yaml | 40 +- .../config/kinematics.yaml | 5 + ur5e_moveit_config/config/ompl_planning.yaml | 172 +++++ .../config/ros_controllers.yaml | 34 + .../config/ur5e.srdf | 17 +- .../launch/chomp_planning_pipeline.launch.xml | 20 + .../launch/default_warehouse_db.launch | 15 + ur5e_moveit_config/launch/demo.launch | 63 ++ .../fake_moveit_controller_manager.launch.xml | 2 +- .../launch/move_group.launch | 59 +- ur5e_moveit_config/launch/moveit.rviz | 689 ++++++++++++++++++ ur5e_moveit_config/launch/moveit_rviz.launch | 15 + .../launch/ompl_planning_pipeline.launch.xml | 4 +- .../launch/planning_context.launch | 17 +- .../launch/planning_pipeline.launch.xml | 6 +- .../launch/ros_controllers.launch | 11 + .../launch/run_benchmark_ompl.launch | 8 +- .../launch/sensor_manager.launch.xml | 4 +- .../launch/setup_assistant.launch | 8 +- .../launch/trajectory_execution.launch.xml | 10 +- .../ur5e_moveit_controller_manager.launch.xml | 2 +- .../ur5e_moveit_planning_execution.launch | 8 +- .../ur5e_moveit_sensor_manager.launch.xml | 0 ...robot_moveit_controller_manager.launch.xml | 10 + ...r5e_robot_moveit_sensor_manager.launch.xml | 3 + .../launch/warehouse.launch | 8 +- .../launch/warehouse_settings.launch.xml | 9 +- .../package.xml | 7 +- .../tests/moveit_planning_execution.xml | 16 + 43 files changed, 1260 insertions(+), 589 deletions(-) delete mode 100644 ur5_e_moveit_config/.setup_assistant delete mode 100644 ur5_e_moveit_config/config/controllers.yaml delete mode 100644 ur5_e_moveit_config/config/ompl_planning.yaml delete mode 100644 ur5_e_moveit_config/launch/default_warehouse_db.launch delete mode 100644 ur5_e_moveit_config/launch/demo.launch delete mode 100644 ur5_e_moveit_config/launch/moveit.rviz delete mode 100644 ur5_e_moveit_config/launch/moveit_rviz.launch delete mode 100644 ur5_e_moveit_config/tests/moveit_planning_execution.xml create mode 100644 ur5e_moveit_config/.setup_assistant create mode 100644 ur5e_moveit_config/CHANGELOG.rst rename {ur5_e_moveit_config => ur5e_moveit_config}/CMakeLists.txt (92%) create mode 100644 ur5e_moveit_config/config/chomp_planning.yaml rename {ur5_e_moveit_config => ur5e_moveit_config}/config/fake_controllers.yaml (75%) rename {ur5_e_moveit_config => ur5e_moveit_config}/config/joint_limits.yaml (51%) rename {ur5_e_moveit_config => ur5e_moveit_config}/config/kinematics.yaml (50%) create mode 100644 ur5e_moveit_config/config/ompl_planning.yaml create mode 100644 ur5e_moveit_config/config/ros_controllers.yaml rename {ur5_e_moveit_config => ur5e_moveit_config}/config/ur5e.srdf (83%) create mode 100644 ur5e_moveit_config/launch/chomp_planning_pipeline.launch.xml create mode 100644 ur5e_moveit_config/launch/default_warehouse_db.launch create mode 100644 ur5e_moveit_config/launch/demo.launch rename {ur5_e_moveit_config => ur5e_moveit_config}/launch/fake_moveit_controller_manager.launch.xml (78%) rename {ur5_e_moveit_config => ur5e_moveit_config}/launch/move_group.launch (54%) create mode 100644 ur5e_moveit_config/launch/moveit.rviz create mode 100644 ur5e_moveit_config/launch/moveit_rviz.launch rename {ur5_e_moveit_config => ur5e_moveit_config}/launch/ompl_planning_pipeline.launch.xml (90%) rename {ur5_e_moveit_config => ur5e_moveit_config}/launch/planning_context.launch (55%) rename {ur5_e_moveit_config => ur5e_moveit_config}/launch/planning_pipeline.launch.xml (57%) create mode 100644 ur5e_moveit_config/launch/ros_controllers.launch rename {ur5_e_moveit_config => ur5e_moveit_config}/launch/run_benchmark_ompl.launch (63%) rename {ur5_e_moveit_config => ur5e_moveit_config}/launch/sensor_manager.launch.xml (73%) rename {ur5_e_moveit_config => ur5e_moveit_config}/launch/setup_assistant.launch (60%) rename {ur5_e_moveit_config => ur5e_moveit_config}/launch/trajectory_execution.launch.xml (80%) rename ur5_e_moveit_config/launch/ur5_e_moveit_controller_manager.launch.xml => ur5e_moveit_config/launch/ur5e_moveit_controller_manager.launch.xml (78%) rename ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch => ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch (65%) rename ur5_e_moveit_config/launch/ur5_e_moveit_sensor_manager.launch.xml => ur5e_moveit_config/launch/ur5e_moveit_sensor_manager.launch.xml (100%) create mode 100644 ur5e_moveit_config/launch/ur5e_robot_moveit_controller_manager.launch.xml create mode 100644 ur5e_moveit_config/launch/ur5e_robot_moveit_sensor_manager.launch.xml rename {ur5_e_moveit_config => ur5e_moveit_config}/launch/warehouse.launch (67%) rename {ur5_e_moveit_config => ur5e_moveit_config}/launch/warehouse_settings.launch.xml (64%) rename {ur5_e_moveit_config => ur5e_moveit_config}/package.xml (94%) create mode 100644 ur5e_moveit_config/tests/moveit_planning_execution.xml diff --git a/universal_robots/package.xml b/universal_robots/package.xml index 26caecd0c..0593da5df 100644 --- a/universal_robots/package.xml +++ b/universal_robots/package.xml @@ -24,7 +24,7 @@ ur10_moveit_config ur3e_moveit_config ur3_moveit_config - ur5_e_moveit_config + ur5e_moveit_config ur5_moveit_config ur_description ur_gazebo 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: 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- 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/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/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/ur5_e_moveit_config/CMakeLists.txt b/ur5e_moveit_config/CMakeLists.txt similarity index 92% rename from ur5_e_moveit_config/CMakeLists.txt rename to ur5e_moveit_config/CMakeLists.txt index 9bb160b82..3934cf1c7 100644 --- a/ur5_e_moveit_config/CMakeLists.txt +++ b/ur5e_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(ur5_e_moveit_config) +project(ur5e_moveit_config) find_package(catkin REQUIRED) 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/ur5_e_moveit_config/config/fake_controllers.yaml b/ur5e_moveit_config/config/fake_controllers.yaml similarity index 75% rename from ur5_e_moveit_config/config/fake_controllers.yaml rename to ur5e_moveit_config/config/fake_controllers.yaml index 5e24f9451..e328e94d4 100644 --- a/ur5_e_moveit_config/config/fake_controllers.yaml +++ b/ur5e_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/ur5e_moveit_config/config/joint_limits.yaml similarity index 51% rename from ur5_e_moveit_config/config/joint_limits.yaml rename to ur5e_moveit_config/config/joint_limits.yaml index 991719a66..633b7bbce 100644 --- a/ur5_e_moveit_config/config/joint_limits.yaml +++ b/ur5e_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/ur5_e_moveit_config/config/kinematics.yaml b/ur5e_moveit_config/config/kinematics.yaml similarity index 50% rename from ur5_e_moveit_config/config/kinematics.yaml rename to ur5e_moveit_config/config/kinematics.yaml index 5d492ac1f..e37d336c3 100644 --- a/ur5_e_moveit_config/config/kinematics.yaml +++ b/ur5e_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/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/ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur5e_moveit_config/launch/fake_moveit_controller_manager.launch.xml similarity index 78% rename from ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml rename to ur5e_moveit_config/launch/fake_moveit_controller_manager.launch.xml index 8a8e020d7..0e7d73907 100644 --- a/ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml +++ b/ur5e_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/ur5e_moveit_config/launch/move_group.launch similarity index 54% rename from ur5_e_moveit_config/launch/move_group.launch rename to ur5e_moveit_config/launch/move_group.launch index d39c94716..764c400bf 100644 --- a/ur5_e_moveit_config/launch/move_group.launch +++ b/ur5e_moveit_config/launch/move_group.launch @@ -1,14 +1,10 @@ - - - - - - + @@ -16,27 +12,52 @@ + + + + + + + + + + + + + + + - - + + - + - + - - + + @@ -47,19 +68,9 @@ + + - - 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/ur5_e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur5e_moveit_config/launch/ompl_planning_pipeline.launch.xml similarity index 90% rename from ur5_e_moveit_config/launch/ompl_planning_pipeline.launch.xml rename to ur5e_moveit_config/launch/ompl_planning_pipeline.launch.xml index eb0ef8926..7ec6880f1 100644 --- a/ur5_e_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/ur5e_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -3,7 +3,7 @@ - - + diff --git a/ur5_e_moveit_config/launch/planning_context.launch b/ur5e_moveit_config/launch/planning_context.launch similarity index 55% rename from ur5_e_moveit_config/launch/planning_context.launch rename to ur5e_moveit_config/launch/planning_context.launch index 63109be0a..9052fd96f 100644 --- a/ur5_e_moveit_config/launch/planning_context.launch +++ b/ur5e_moveit_config/launch/planning_context.launch @@ -1,28 +1,25 @@ - - - - - + - - + + - + - + + - + diff --git a/ur5_e_moveit_config/launch/planning_pipeline.launch.xml b/ur5e_moveit_config/launch/planning_pipeline.launch.xml similarity index 57% rename from ur5_e_moveit_config/launch/planning_pipeline.launch.xml rename to ur5e_moveit_config/launch/planning_pipeline.launch.xml index 12211f9d8..caf1be307 100644 --- a/ur5_e_moveit_config/launch/planning_pipeline.launch.xml +++ b/ur5e_moveit_config/launch/planning_pipeline.launch.xml @@ -1,10 +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/ur5_e_moveit_config/launch/run_benchmark_ompl.launch b/ur5e_moveit_config/launch/run_benchmark_ompl.launch similarity index 63% rename from ur5_e_moveit_config/launch/run_benchmark_ompl.launch rename to ur5e_moveit_config/launch/run_benchmark_ompl.launch index d37513d82..757bc9c52 100644 --- a/ur5_e_moveit_config/launch/run_benchmark_ompl.launch +++ b/ur5e_moveit_config/launch/run_benchmark_ompl.launch @@ -4,19 +4,19 @@ - + - + - - + + diff --git a/ur5_e_moveit_config/launch/sensor_manager.launch.xml b/ur5e_moveit_config/launch/sensor_manager.launch.xml similarity index 73% rename from ur5_e_moveit_config/launch/sensor_manager.launch.xml rename to ur5e_moveit_config/launch/sensor_manager.launch.xml index 172eb87be..97df2bd8f 100644 --- a/ur5_e_moveit_config/launch/sensor_manager.launch.xml +++ b/ur5e_moveit_config/launch/sensor_manager.launch.xml @@ -8,7 +8,7 @@ - - + + diff --git a/ur5_e_moveit_config/launch/setup_assistant.launch b/ur5e_moveit_config/launch/setup_assistant.launch similarity index 60% rename from ur5_e_moveit_config/launch/setup_assistant.launch rename to ur5e_moveit_config/launch/setup_assistant.launch index 3d712d563..6e0054587 100644 --- a/ur5_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/ur5_e_moveit_config/launch/trajectory_execution.launch.xml b/ur5e_moveit_config/launch/trajectory_execution.launch.xml similarity index 80% rename from ur5_e_moveit_config/launch/trajectory_execution.launch.xml rename to ur5e_moveit_config/launch/trajectory_execution.launch.xml index 3513753a6..bbad585bf 100644 --- a/ur5_e_moveit_config/launch/trajectory_execution.launch.xml +++ b/ur5e_moveit_config/launch/trajectory_execution.launch.xml @@ -1,6 +1,6 @@ - + @@ -10,9 +10,9 @@ - + - - - + + + 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/ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch b/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch similarity index 65% rename from ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch rename to ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch index 148c40e4b..e73b32cc3 100644 --- a/ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch +++ b/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch @@ -1,14 +1,12 @@ - - + - + - - + diff --git a/ur5_e_moveit_config/launch/ur5_e_moveit_sensor_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_moveit_sensor_manager.launch.xml similarity index 100% rename from ur5_e_moveit_config/launch/ur5_e_moveit_sensor_manager.launch.xml rename to ur5e_moveit_config/launch/ur5e_moveit_sensor_manager.launch.xml 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/ur5_e_moveit_config/launch/warehouse.launch b/ur5e_moveit_config/launch/warehouse.launch similarity index 67% rename from ur5_e_moveit_config/launch/warehouse.launch rename to ur5e_moveit_config/launch/warehouse.launch index 3ac1ddf6a..4ec8b7786 100644 --- a/ur5_e_moveit_config/launch/warehouse.launch +++ b/ur5e_moveit_config/launch/warehouse.launch @@ -1,13 +1,13 @@ - + - - + + - + diff --git a/ur5_e_moveit_config/launch/warehouse_settings.launch.xml b/ur5e_moveit_config/launch/warehouse_settings.launch.xml similarity index 64% rename from ur5_e_moveit_config/launch/warehouse_settings.launch.xml rename to ur5e_moveit_config/launch/warehouse_settings.launch.xml index d11aaeb21..e473b083b 100644 --- a/ur5_e_moveit_config/launch/warehouse_settings.launch.xml +++ b/ur5e_moveit_config/launch/warehouse_settings.launch.xml @@ -1,15 +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..34976b996 --- /dev/null +++ b/ur5e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + From 4c5d277191dea62a4070c3ec99307e62b9a5f60a Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 17 Mar 2021 13:50:57 +0100 Subject: [PATCH 131/133] Added ur16e moveit config --- universal_robots/package.xml | 1 + ur16e_moveit_config/.setup_assistant | 11 + ur16e_moveit_config/CMakeLists.txt | 14 + .../config/chomp_planning.yaml | 18 + .../config/fake_controllers.yaml | 15 + ur16e_moveit_config/config/joint_limits.yaml | 34 + ur16e_moveit_config/config/kinematics.yaml | 10 + ur16e_moveit_config/config/ompl_planning.yaml | 172 +++++ .../config/ros_controllers.yaml | 34 + ur16e_moveit_config/config/ur16e.srdf | 51 ++ .../launch/chomp_planning_pipeline.launch.xml | 20 + .../launch/default_warehouse_db.launch | 15 + ur16e_moveit_config/launch/demo.launch | 63 ++ .../fake_moveit_controller_manager.launch.xml | 9 + ur16e_moveit_config/launch/move_group.launch | 82 +++ ur16e_moveit_config/launch/moveit.rviz | 689 ++++++++++++++++++ ur16e_moveit_config/launch/moveit_rviz.launch | 15 + .../launch/ompl_planning_pipeline.launch.xml | 22 + .../launch/planning_context.launch | 25 + .../launch/planning_pipeline.launch.xml | 10 + .../launch/ros_controllers.launch | 11 + .../launch/run_benchmark_ompl.launch | 22 + .../launch/sensor_manager.launch.xml | 14 + .../launch/setup_assistant.launch | 15 + .../launch/trajectory_execution.launch.xml | 18 + ...ur16e_moveit_controller_manager.launch.xml | 6 + .../ur16e_moveit_planning_execution.launch | 12 + .../ur16e_moveit_sensor_manager.launch.xml | 3 + ...robot_moveit_controller_manager.launch.xml | 10 + ...16e_robot_moveit_sensor_manager.launch.xml | 3 + ur16e_moveit_config/launch/warehouse.launch | 15 + .../launch/warehouse_settings.launch.xml | 16 + ur16e_moveit_config/package.xml | 34 + .../tests/moveit_planning_execution.xml | 16 + 34 files changed, 1505 insertions(+) create mode 100644 ur16e_moveit_config/.setup_assistant create mode 100644 ur16e_moveit_config/CMakeLists.txt create mode 100644 ur16e_moveit_config/config/chomp_planning.yaml create mode 100644 ur16e_moveit_config/config/fake_controllers.yaml create mode 100644 ur16e_moveit_config/config/joint_limits.yaml create mode 100644 ur16e_moveit_config/config/kinematics.yaml create mode 100644 ur16e_moveit_config/config/ompl_planning.yaml create mode 100644 ur16e_moveit_config/config/ros_controllers.yaml create mode 100644 ur16e_moveit_config/config/ur16e.srdf create mode 100644 ur16e_moveit_config/launch/chomp_planning_pipeline.launch.xml create mode 100644 ur16e_moveit_config/launch/default_warehouse_db.launch create mode 100644 ur16e_moveit_config/launch/demo.launch create mode 100644 ur16e_moveit_config/launch/fake_moveit_controller_manager.launch.xml create mode 100644 ur16e_moveit_config/launch/move_group.launch create mode 100644 ur16e_moveit_config/launch/moveit.rviz create mode 100644 ur16e_moveit_config/launch/moveit_rviz.launch create mode 100644 ur16e_moveit_config/launch/ompl_planning_pipeline.launch.xml create mode 100644 ur16e_moveit_config/launch/planning_context.launch create mode 100644 ur16e_moveit_config/launch/planning_pipeline.launch.xml create mode 100644 ur16e_moveit_config/launch/ros_controllers.launch create mode 100644 ur16e_moveit_config/launch/run_benchmark_ompl.launch create mode 100644 ur16e_moveit_config/launch/sensor_manager.launch.xml create mode 100644 ur16e_moveit_config/launch/setup_assistant.launch create mode 100644 ur16e_moveit_config/launch/trajectory_execution.launch.xml create mode 100644 ur16e_moveit_config/launch/ur16e_moveit_controller_manager.launch.xml create mode 100644 ur16e_moveit_config/launch/ur16e_moveit_planning_execution.launch create mode 100644 ur16e_moveit_config/launch/ur16e_moveit_sensor_manager.launch.xml create mode 100644 ur16e_moveit_config/launch/ur16e_robot_moveit_controller_manager.launch.xml create mode 100644 ur16e_moveit_config/launch/ur16e_robot_moveit_sensor_manager.launch.xml create mode 100644 ur16e_moveit_config/launch/warehouse.launch create mode 100644 ur16e_moveit_config/launch/warehouse_settings.launch.xml create mode 100644 ur16e_moveit_config/package.xml create mode 100644 ur16e_moveit_config/tests/moveit_planning_execution.xml diff --git a/universal_robots/package.xml b/universal_robots/package.xml index 0593da5df..02be64f71 100644 --- a/universal_robots/package.xml +++ b/universal_robots/package.xml @@ -22,6 +22,7 @@ ur10e_moveit_config ur10_moveit_config + ur16e_moveit_config ur3e_moveit_config ur3_moveit_config ur5e_moveit_config 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/ur16e_moveit_config/CMakeLists.txt b/ur16e_moveit_config/CMakeLists.txt new file mode 100644 index 000000000..09769e2be --- /dev/null +++ b/ur16e_moveit_config/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ur16e_moveit_config) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + 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/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/ur16e_moveit_config/config/fake_controllers.yaml b/ur16e_moveit_config/config/fake_controllers.yaml new file mode 100644 index 000000000..e328e94d4 --- /dev/null +++ b/ur16e_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/ur16e_moveit_config/config/joint_limits.yaml b/ur16e_moveit_config/config/joint_limits.yaml new file mode 100644 index 000000000..633b7bbce --- /dev/null +++ b/ur16e_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: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: + has_velocity_limits: true + max_velocity: 2.0943951023931953 + 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 \ No newline at end of file diff --git a/ur16e_moveit_config/config/kinematics.yaml b/ur16e_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..e37d336c3 --- /dev/null +++ b/ur16e_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/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/ur16e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur16e_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..031184d30 --- /dev/null +++ b/ur16e_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/ur16e_moveit_config/launch/move_group.launch b/ur16e_moveit_config/launch/move_group.launch new file mode 100644 index 000000000..9418b0939 --- /dev/null +++ b/ur16e_moveit_config/launch/move_group.launch @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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/ur16e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur16e_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 000000000..0ac9828c4 --- /dev/null +++ b/ur16e_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/launch/planning_context.launch b/ur16e_moveit_config/launch/planning_context.launch new file mode 100644 index 000000000..2c61f888c --- /dev/null +++ b/ur16e_moveit_config/launch/planning_context.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/launch/planning_pipeline.launch.xml b/ur16e_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 000000000..fc6e0f94c --- /dev/null +++ b/ur16e_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +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/ur16e_moveit_config/launch/run_benchmark_ompl.launch b/ur16e_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 000000000..40e7444e6 --- /dev/null +++ b/ur16e_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/launch/sensor_manager.launch.xml b/ur16e_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 000000000..a8db6fdb8 --- /dev/null +++ b/ur16e_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + 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/ur16e_moveit_config/launch/trajectory_execution.launch.xml b/ur16e_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 000000000..099f3c9fe --- /dev/null +++ b/ur16e_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + 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..588ea4684 --- /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/ur16e_moveit_config/launch/warehouse.launch b/ur16e_moveit_config/launch/warehouse.launch new file mode 100644 index 000000000..529d5e2a6 --- /dev/null +++ b/ur16e_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/launch/warehouse_settings.launch.xml b/ur16e_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 000000000..e473b083b --- /dev/null +++ b/ur16e_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +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..f7a2c9d9f --- /dev/null +++ b/ur16e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + From b73944d14cbe4763fa6011ed503608e609664716 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 17 Mar 2021 15:21:34 +0100 Subject: [PATCH 132/133] Updated remap to default controller --- ur10_moveit_config/launch/ur10_moveit_planning_execution.launch | 2 +- ur10_moveit_config/tests/moveit_planning_execution.xml | 2 +- .../launch/ur10e_moveit_planning_execution.launch | 2 +- ur10e_moveit_config/tests/moveit_planning_execution.xml | 2 +- .../launch/ur16e_moveit_planning_execution.launch | 2 +- ur16e_moveit_config/tests/moveit_planning_execution.xml | 2 +- ur3_moveit_config/launch/ur3_moveit_planning_execution.launch | 2 +- ur3_moveit_config/tests/moveit_planning_execution.xml | 2 +- ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch | 2 +- ur3e_moveit_config/tests/moveit_planning_execution.xml | 2 +- ur5_moveit_config/launch/ur5_moveit_planning_execution.launch | 2 +- ur5_moveit_config/tests/moveit_planning_execution.xml | 2 +- ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch | 2 +- ur5e_moveit_config/tests/moveit_planning_execution.xml | 2 +- 14 files changed, 14 insertions(+), 14 deletions(-) diff --git a/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch b/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch index 596ecb835..7ee715dd6 100644 --- a/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch +++ b/ur10_moveit_config/launch/ur10_moveit_planning_execution.launch @@ -3,7 +3,7 @@ - + diff --git a/ur10_moveit_config/tests/moveit_planning_execution.xml b/ur10_moveit_config/tests/moveit_planning_execution.xml index 0d5f8c672..843f2bece 100644 --- a/ur10_moveit_config/tests/moveit_planning_execution.xml +++ b/ur10_moveit_config/tests/moveit_planning_execution.xml @@ -7,7 +7,7 @@ - + diff --git a/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch b/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch index e7240f802..cb6f739b2 100644 --- a/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch +++ b/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch @@ -3,7 +3,7 @@ - + diff --git a/ur10e_moveit_config/tests/moveit_planning_execution.xml b/ur10e_moveit_config/tests/moveit_planning_execution.xml index 910165b8b..fe138e5f1 100644 --- a/ur10e_moveit_config/tests/moveit_planning_execution.xml +++ b/ur10e_moveit_config/tests/moveit_planning_execution.xml @@ -7,7 +7,7 @@ - + diff --git a/ur16e_moveit_config/launch/ur16e_moveit_planning_execution.launch b/ur16e_moveit_config/launch/ur16e_moveit_planning_execution.launch index 588ea4684..e88ac0437 100644 --- a/ur16e_moveit_config/launch/ur16e_moveit_planning_execution.launch +++ b/ur16e_moveit_config/launch/ur16e_moveit_planning_execution.launch @@ -3,7 +3,7 @@ - + diff --git a/ur16e_moveit_config/tests/moveit_planning_execution.xml b/ur16e_moveit_config/tests/moveit_planning_execution.xml index f7a2c9d9f..3ff79057b 100644 --- a/ur16e_moveit_config/tests/moveit_planning_execution.xml +++ b/ur16e_moveit_config/tests/moveit_planning_execution.xml @@ -7,7 +7,7 @@ - + diff --git a/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch b/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch index 2631567cc..53c114e13 100644 --- a/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch +++ b/ur3_moveit_config/launch/ur3_moveit_planning_execution.launch @@ -3,7 +3,7 @@ - + diff --git a/ur3_moveit_config/tests/moveit_planning_execution.xml b/ur3_moveit_config/tests/moveit_planning_execution.xml index 3c6c18d7f..10246c7d7 100644 --- a/ur3_moveit_config/tests/moveit_planning_execution.xml +++ b/ur3_moveit_config/tests/moveit_planning_execution.xml @@ -7,7 +7,7 @@ - + diff --git a/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch b/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch index 91de984ad..59da97306 100644 --- a/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch +++ b/ur3e_moveit_config/launch/ur3e_moveit_planning_execution.launch @@ -3,7 +3,7 @@ - + diff --git a/ur3e_moveit_config/tests/moveit_planning_execution.xml b/ur3e_moveit_config/tests/moveit_planning_execution.xml index 81c4302af..6025d2427 100644 --- a/ur3e_moveit_config/tests/moveit_planning_execution.xml +++ b/ur3e_moveit_config/tests/moveit_planning_execution.xml @@ -7,7 +7,7 @@ - + diff --git a/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch b/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch index e1c225159..5648324c1 100644 --- a/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch +++ b/ur5_moveit_config/launch/ur5_moveit_planning_execution.launch @@ -3,7 +3,7 @@ - + diff --git a/ur5_moveit_config/tests/moveit_planning_execution.xml b/ur5_moveit_config/tests/moveit_planning_execution.xml index e3f3ae0ad..16052aa74 100644 --- a/ur5_moveit_config/tests/moveit_planning_execution.xml +++ b/ur5_moveit_config/tests/moveit_planning_execution.xml @@ -7,7 +7,7 @@ - + diff --git a/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch b/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch index e73b32cc3..acd7ef8b8 100644 --- a/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch +++ b/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch @@ -3,7 +3,7 @@ - + diff --git a/ur5e_moveit_config/tests/moveit_planning_execution.xml b/ur5e_moveit_config/tests/moveit_planning_execution.xml index 34976b996..1a256e673 100644 --- a/ur5e_moveit_config/tests/moveit_planning_execution.xml +++ b/ur5e_moveit_config/tests/moveit_planning_execution.xml @@ -7,7 +7,7 @@ - + From a4237e8209a350f5cf420e6d7827546eef2aadd1 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 17 Mar 2021 15:48:43 +0100 Subject: [PATCH 133/133] Updated joint speed limits --- ur3_moveit_config/config/joint_limits.yaml | 12 ++++++------ ur3e_moveit_config/config/joint_limits.yaml | 12 ++++++------ ur5_moveit_config/config/joint_limits.yaml | 6 +++--- ur5e_moveit_config/config/joint_limits.yaml | 6 +++--- 4 files changed, 18 insertions(+), 18 deletions(-) diff --git a/ur3_moveit_config/config/joint_limits.yaml b/ur3_moveit_config/config/joint_limits.yaml index 633b7bbce..45694aa56 100644 --- a/ur3_moveit_config/config/joint_limits.yaml +++ b/ur3_moveit_config/config/joint_limits.yaml @@ -9,26 +9,26 @@ joint_limits: max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 2.0943951023931953 + max_velocity: 3.1415926535897931 has_acceleration_limits: false max_acceleration: 0 shoulder_pan_joint: has_velocity_limits: true - max_velocity: 2.0943951023931953 + max_velocity: 3.1415926535897931 has_acceleration_limits: false max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 3.1415926535897931 + max_velocity: 6.283185307179586 has_acceleration_limits: false max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 3.1415926535897931 + max_velocity: 6.283185307179586 has_acceleration_limits: false max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 3.1415926535897931 + max_velocity: 6.283185307179586 has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + max_acceleration: 0 diff --git a/ur3e_moveit_config/config/joint_limits.yaml b/ur3e_moveit_config/config/joint_limits.yaml index 633b7bbce..45694aa56 100644 --- a/ur3e_moveit_config/config/joint_limits.yaml +++ b/ur3e_moveit_config/config/joint_limits.yaml @@ -9,26 +9,26 @@ joint_limits: max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 2.0943951023931953 + max_velocity: 3.1415926535897931 has_acceleration_limits: false max_acceleration: 0 shoulder_pan_joint: has_velocity_limits: true - max_velocity: 2.0943951023931953 + max_velocity: 3.1415926535897931 has_acceleration_limits: false max_acceleration: 0 wrist_1_joint: has_velocity_limits: true - max_velocity: 3.1415926535897931 + max_velocity: 6.283185307179586 has_acceleration_limits: false max_acceleration: 0 wrist_2_joint: has_velocity_limits: true - max_velocity: 3.1415926535897931 + max_velocity: 6.283185307179586 has_acceleration_limits: false max_acceleration: 0 wrist_3_joint: has_velocity_limits: true - max_velocity: 3.1415926535897931 + max_velocity: 6.283185307179586 has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + max_acceleration: 0 diff --git a/ur5_moveit_config/config/joint_limits.yaml b/ur5_moveit_config/config/joint_limits.yaml index 633b7bbce..bdc914f89 100644 --- a/ur5_moveit_config/config/joint_limits.yaml +++ b/ur5_moveit_config/config/joint_limits.yaml @@ -9,12 +9,12 @@ joint_limits: max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 2.0943951023931953 + max_velocity: 3.1415926535897931 has_acceleration_limits: false max_acceleration: 0 shoulder_pan_joint: has_velocity_limits: true - max_velocity: 2.0943951023931953 + max_velocity: 3.1415926535897931 has_acceleration_limits: false max_acceleration: 0 wrist_1_joint: @@ -31,4 +31,4 @@ joint_limits: has_velocity_limits: true max_velocity: 3.1415926535897931 has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + max_acceleration: 0 diff --git a/ur5e_moveit_config/config/joint_limits.yaml b/ur5e_moveit_config/config/joint_limits.yaml index 633b7bbce..bdc914f89 100644 --- a/ur5e_moveit_config/config/joint_limits.yaml +++ b/ur5e_moveit_config/config/joint_limits.yaml @@ -9,12 +9,12 @@ joint_limits: max_acceleration: 0 shoulder_lift_joint: has_velocity_limits: true - max_velocity: 2.0943951023931953 + max_velocity: 3.1415926535897931 has_acceleration_limits: false max_acceleration: 0 shoulder_pan_joint: has_velocity_limits: true - max_velocity: 2.0943951023931953 + max_velocity: 3.1415926535897931 has_acceleration_limits: false max_acceleration: 0 wrist_1_joint: @@ -31,4 +31,4 @@ joint_limits: has_velocity_limits: true max_velocity: 3.1415926535897931 has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + max_acceleration: 0