add ROS1 cobotx_b450_moveit function frame

elephantrobotics · Oct 26, 2023 · 207356b · 207356b
1 parent 9d9874a
commit 207356b
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Showing 45 changed files with 2,662 additions and 29 deletions.
diff --git a/CobotX/cobotx_b450/config/cobotx_b450.rviz b/CobotX/cobotx_b450/config/cobotx_b450.rviz
@@ -11,6 +11,7 @@ Panels:
         - /RobotModel1/Links1/link1_L1/Position1
         - /Axes1
         - /TF1
+        - /TF1/Frames1
       Splitter Ratio: 0.5
     Tree Height: 584
   - Class: rviz/Selection
@@ -71,21 +72,6 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        body:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        head:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        head_eye:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
         link1_L:
           Alpha: 1
           Show Axes: false
@@ -156,6 +142,21 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        link_body:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_eye:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_head:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -180,12 +181,6 @@ Visualization Manager:
         All Enabled: false
         base:
           Value: true
-        body:
-          Value: true
-        head:
-          Value: true
-        head_eye:
-          Value: true
         link1_L:
           Value: true
         link1_R:
@@ -214,6 +209,12 @@ Visualization Manager:
           Value: true
         link7_R:
           Value: true
+        link_body:
+          Value: true
+        link_eye:
+          Value: true
+        link_head:
+          Value: true
       Marker Alpha: 1
       Marker Scale: 0.10000000149011612
       Name: TF
@@ -222,10 +223,7 @@ Visualization Manager:
       Show Names: true
       Tree:
         base:
-          body:
-            head:
-              head_eye:
-                {}
+          link_body:
             link1_L:
               link2_L:
                 link3_L:
@@ -242,6 +240,9 @@ Visualization Manager:
                       link6_R:
                         link7_R:
                           {}
+            link_head:
+              link_eye:
+                {}
       Update Interval: 0
       Value: true
   Enabled: true
@@ -272,7 +273,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.5918537378311157
+      Distance: 1.6387460231781006
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -288,9 +289,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5247960090637207
+      Pitch: 0.4097958207130432
       Target Frame: <Fixed Frame>
-      Yaw: 6.275412082672119
+      Yaw: 6.260410308837891
     Saved: ~
 Window Geometry:
   Displays:

diff --git a/CobotX/cobotx_b450_moveit/.setup_assistant b/CobotX/cobotx_b450_moveit/.setup_assistant
@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: mycobot_description
+    relative_path: urdf/cobotx_b450/cobotx_b450.urdf
+    xacro_args: ""
+  SRDF:
+    relative_path: config/firefighter.srdf
+  CONFIG:
+    author_name: wangweijian
+    author_email: [email protected]
+    generated_timestamp: 1698214633
diff --git a/CobotX/cobotx_b450_moveit/CMakeLists.txt b/CobotX/cobotx_b450_moveit/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(cobotx_b450_moveit)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/CobotX/cobotx_b450_moveit/config/cartesian_limits.yaml b/CobotX/cobotx_b450_moveit/config/cartesian_limits.yaml
@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57
diff --git a/CobotX/cobotx_b450_moveit/config/chomp_planning.yaml b/CobotX/cobotx_b450_moveit/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: 0.0
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearance: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: false
+max_recovery_attempts: 5
diff --git a/CobotX/cobotx_b450_moveit/config/fake_controllers.yaml b/CobotX/cobotx_b450_moveit/config/fake_controllers.yaml
@@ -0,0 +1,34 @@
+controller_list:
+  - name: fake_left_arm_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - joint1_L
+      - joint2_L
+      - joint3_L
+      - joint4_L
+      - joint5_L
+      - joint6_L
+      - joint7_L
+  - name: fake_right_arm_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - joint1_R
+      - joint2_R
+      - joint3_R
+      - joint4_R
+      - joint5_R
+      - joint6_R
+      - joint7_R
+  - name: fake_body_arm_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - body
+      - head
+      - eye
+initial:  # Define initial robot poses per group
+  - group: left_arm
+    pose: left_init
+  - group: right_arm
+    pose: right_init
+  - group: body_arm
+    pose: body_init