#159: added sequenced demo

lbr_bringup/lbr_bringup/launch_mixin.py

@@ -67,7 +67,10 @@ def moveit_configs_builder(
                     f"urdf/{robot_name}/{robot_name}.urdf.xacro",
                 ),
             )
-            .planning_pipelines(default_planning_pipeline="ompl", pipelines=["ompl"])
+            .planning_pipelines(
+                default_planning_pipeline="ompl",
+                pipelines=["pilz_industrial_motion_planner", "ompl"],
+            )
         )
 
     @staticmethod
@@ -78,9 +81,7 @@ def params_move_group() -> Dict[str, Any]:
                 "allow_trajectory_execution"
             ),
             # Note: Wrapping the following values is necessary so that the parameter value can be the empty string
-            "capabilities": ParameterValue(
-                LaunchConfiguration("capabilities"), value_type=str
-            ),
+            "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService",
             "disable_capabilities": ParameterValue(
                 LaunchConfiguration("disable_capabilities"), value_type=str
             ),

lbr_demos/lbr_demos_moveit_python/doc/lbr_demos_moveit_python.md

@@ -0,0 +1,17 @@
+# LBR Demos Moveit Python
+1. Install Pilz industrial motion planner
+```shell
+sudo apt install ros-humble-pilz-industrial-motion-planner
+
+```
+2. Run simulation or real robot
+```shell
+ros2 launch lbr_bringup bringup.launch.py \
+    moveit:=true \
+    model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+```
+
+3. Run sequenced motion example
+```shell
+ros2 run lbr_demos_moveit_python sequenced_motion
+```

lbr_demos/lbr_demos_moveit_python/lbr_demos_moveit_python/sequenced_motion.py

@@ -0,0 +1,112 @@
+from typing import List
+
+import rclpy
+from geometry_msgs.msg import Point, Pose, Quaternion
+from moveit_msgs.action import MoveGroupSequence
+from moveit_msgs.msg import (
+    BoundingVolume,
+    Constraints,
+    MotionPlanRequest,
+    MotionSequenceItem,
+    OrientationConstraint,
+    PlanningScene,
+    PositionConstraint,
+    RobotState,
+)
+from rclpy.action import ActionClient
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from shape_msgs.msg import SolidPrimitive
+from std_msgs.msg import Header
+
+
+class SequencedMotion(Node):
+    def __init__(self):
+        super().__init__("sequenced_motion")
+        self._planning_scene_sub = self.create_subscription(
+            PlanningScene, "/lbr/monitored_planning_scene", self._on_planning_scene, 1
+        )
+        self._robot_state = None
+
+        self._action_client = ActionClient(
+            self, MoveGroupSequence, "/lbr/sequence_move_group"
+        )
+        while not self._action_client.wait_for_server(timeout_sec=1.0):
+            self.get_logger().info(f"Waiting for {self._action_client._action_name}...")
+
+        self._base = "link_0"
+        self._end_effector = "link_ee"
+        self._move_group_name = "arm"
+
+    def _on_planning_scene(self, msg: PlanningScene) -> None:
+        self._robot_state = msg.robot_state
+
+    def _build_motion_plan_request(self, target_pose: Pose) -> MotionPlanRequest:
+        req = MotionPlanRequest()
+
+        # general config
+        req.pipeline_id = "pilz_industrial_motion_planner"
+        req.planner_id = "PTP"  # For Pilz PTP, LIN of CIRC
+        req.allowed_planning_time = 10.0
+        req.group_name = self._move_group_name
+        req.max_acceleration_scaling_factor = 0.1
+        req.max_velocity_scaling_factor = 0.01
+        req.num_planning_attempts = 100
+
+        # goal constraints
+        req.goal_constraints.append(
+            Constraints(
+                position_constraints=[
+                    PositionConstraint(
+                        header=Header(frame_id=self._base),
+                        link_name=self._end_effector,
+                        constraint_region=BoundingVolume(
+                            primitives=[SolidPrimitive(type=2, dimensions=[0.0001])],
+                            primitive_poses=[Pose(position=target_pose.position)],
+                        ),
+                        weight=1.0,
+                    )
+                ],
+                orientation_constraints=[
+                    OrientationConstraint(
+                        header=Header(frame_id=self._base),
+                        link_name=self._end_effector,
+                        orientation=target_pose.orientation,
+                        absolute_x_axis_tolerance=0.001,
+                        absolute_y_axis_tolerance=0.001,
+                        absolute_z_axis_tolerance=0.001,
+                        weight=1.0,
+                    )
+                ],
+            )
+        )
+        return req
+
+    def execute_sequence(self, target_poses: List[Pose]) -> None:
+        goal = MoveGroupSequence.Goal()
+        for idx, target_pose in enumerate(target_poses):
+            goal.request.items.append(
+                MotionSequenceItem(
+                    blend_radius=(
+                        0.05 if idx != len(target_poses) - 1 else 0.0
+                    ),  # last radius must be 0
+                    req=self._build_motion_plan_request(target_pose),
+                )
+            )
+        future = self._action_client.send_goal_async(goal)
+        rclpy.spin_until_future_complete(self, future)
+
+
+def main() -> None:
+    rclpy.init()
+    sequenced_motion = SequencedMotion()
+    target_poses = [
+        Pose(position=Point(x=0.0, y=0.0, z=1.0), orientation=Quaternion(w=1.0)),
+        Pose(position=Point(x=0.2, y=0.2, z=0.8), orientation=Quaternion(w=1.0)),
+    ]
+    sequenced_motion.execute_sequence(target_poses=target_poses)
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

lbr_demos/lbr_demos_moveit_python/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>lbr_demos_moveit_python</name>
+  <version>1.4.3</version>
+  <description>MoveIt examples in Python.</description>
+  <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
+  <license>Apache-2.0</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

lbr_demos/lbr_demos_moveit_python/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/lbr_demos_moveit_python
+[install]
+install_scripts=$base/lib/lbr_demos_moveit_python

lbr_demos/lbr_demos_moveit_python/setup.py

@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = "lbr_demos_moveit_python"
+
+setup(
+    name=package_name,
+    version="1.4.3",
+    packages=find_packages(exclude=["test"]),
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="mhubii",
+    maintainer_email="martin.huber@kcl.ac.uk",
+    description="TODO: Package description",
+    license="Apache-2.0",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "sequenced_motion = lbr_demos_moveit_python.sequenced_motion:main",
+        ],
+    },
+)

lbr_demos/lbr_demos_moveit_python/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

lbr_demos/lbr_demos_moveit_python/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

lbr_demos/lbr_demos_moveit_python/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'