diff --git a/7dof_dynamixel_turtlebot_moveit_config/CMakeLists.txt b/7dof_dynamixel_turtlebot_moveit_config/CMakeLists.txt
new file mode 100644
index 00000000..6f2674f7
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(7dof_dynamixel_turtlebot_moveit_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/7dof_dynamixel_turtlebot_moveit_config/config/dxl_armed_turtlebot.srdf b/7dof_dynamixel_turtlebot_moveit_config/config/dxl_armed_turtlebot.srdf
new file mode 100644
index 00000000..2f36a1aa
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/config/dxl_armed_turtlebot.srdf
@@ -0,0 +1,610 @@
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diff --git a/7dof_dynamixel_turtlebot_moveit_config/config/fake_controllers.yaml b/7dof_dynamixel_turtlebot_moveit_config/config/fake_controllers.yaml
new file mode 100644
index 00000000..e5157f93
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/config/fake_controllers.yaml
@@ -0,0 +1,10 @@
+controller_list:
+ - name: fake_mainpulator_controller
+ joints:
+ - arm_link1_joint
+ - arm_link2_joint
+ - arm_link3_joint
+ - arm_link4_joint
+ - arm_link5_joint
+ - arm_link6_joint
+ - arm_link7_joint
\ No newline at end of file
diff --git a/7dof_dynamixel_turtlebot_moveit_config/config/joint_limits.yaml b/7dof_dynamixel_turtlebot_moveit_config/config/joint_limits.yaml
new file mode 100644
index 00000000..d31e4392
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/config/joint_limits.yaml
@@ -0,0 +1,39 @@
+# 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:
+ arm_link1_joint:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ arm_link2_joint:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ arm_link3_joint:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ arm_link4_joint:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ arm_link5_joint:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ arm_link6_joint:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ arm_link7_joint:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
\ No newline at end of file
diff --git a/7dof_dynamixel_turtlebot_moveit_config/config/kinematics.yaml b/7dof_dynamixel_turtlebot_moveit_config/config/kinematics.yaml
new file mode 100644
index 00000000..1aa2d3ce
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/config/kinematics.yaml
@@ -0,0 +1,5 @@
+mainpulator:
+ kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+ kinematics_solver_search_resolution: 0.005
+ kinematics_solver_timeout: 0.005
+ kinematics_solver_attempts: 3
\ No newline at end of file
diff --git a/7dof_dynamixel_turtlebot_moveit_config/config/ompl_planning.yaml b/7dof_dynamixel_turtlebot_moveit_config/config/ompl_planning.yaml
new file mode 100644
index 00000000..e18b8c42
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/config/ompl_planning.yaml
@@ -0,0 +1,67 @@
+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
+mainpulator:
+ planner_configs:
+ - SBLkConfigDefault
+ - ESTkConfigDefault
+ - LBKPIECEkConfigDefault
+ - BKPIECEkConfigDefault
+ - KPIECEkConfigDefault
+ - RRTkConfigDefault
+ - RRTConnectkConfigDefault
+ - RRTstarkConfigDefault
+ - TRRTkConfigDefault
+ - PRMkConfigDefault
+ - PRMstarkConfigDefault
\ No newline at end of file
diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/default_warehouse_db.launch b/7dof_dynamixel_turtlebot_moveit_config/launch/default_warehouse_db.launch
new file mode 100644
index 00000000..c13b6c04
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/default_warehouse_db.launch
@@ -0,0 +1,13 @@
+
+
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+
diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/demo.launch b/7dof_dynamixel_turtlebot_moveit_config/launch/demo.launch
new file mode 100644
index 00000000..a07a75db
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/demo.launch
@@ -0,0 +1,44 @@
+
+
+
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+
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+
+ [/move_group/fake_controller_joint_states]
+
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diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_controller_manager.launch.xml b/7dof_dynamixel_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_controller_manager.launch.xml
new file mode 100644
index 00000000..5d02698d
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_controller_manager.launch.xml
@@ -0,0 +1,3 @@
+
+
+
diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_sensor_manager.launch.xml b/7dof_dynamixel_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_sensor_manager.launch.xml
new file mode 100644
index 00000000..5d02698d
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+
+
+
diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/7dof_dynamixel_turtlebot_moveit_config/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 00000000..f8fdf3b0
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,9 @@
+
+
+
+
+
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+
diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/joystick_control.launch b/7dof_dynamixel_turtlebot_moveit_config/launch/joystick_control.launch
new file mode 100644
index 00000000..f7417352
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/joystick_control.launch
@@ -0,0 +1,17 @@
+
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diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/move_group.launch b/7dof_dynamixel_turtlebot_moveit_config/launch/move_group.launch
new file mode 100644
index 00000000..79dedf13
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/move_group.launch
@@ -0,0 +1,69 @@
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diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/moveit.rviz b/7dof_dynamixel_turtlebot_moveit_config/launch/moveit.rviz
new file mode 100644
index 00000000..b697e075
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_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: /odom_combined
+ 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_footprint
+ 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/7dof_dynamixel_turtlebot_moveit_config/launch/moveit_rviz.launch b/7dof_dynamixel_turtlebot_moveit_config/launch/moveit_rviz.launch
new file mode 100644
index 00000000..b31e83f2
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/moveit_rviz.launch
@@ -0,0 +1,16 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/ompl_planning_pipeline.launch.xml b/7dof_dynamixel_turtlebot_moveit_config/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 00000000..bcfd35ed
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,22 @@
+
+
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diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/planning_context.launch b/7dof_dynamixel_turtlebot_moveit_config/launch/planning_context.launch
new file mode 100644
index 00000000..7932fc61
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/planning_context.launch
@@ -0,0 +1,24 @@
+
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diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/planning_pipeline.launch.xml b/7dof_dynamixel_turtlebot_moveit_config/launch/planning_pipeline.launch.xml
new file mode 100644
index 00000000..23955ac5
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/planning_pipeline.launch.xml
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/run_benchmark_ompl.launch b/7dof_dynamixel_turtlebot_moveit_config/launch/run_benchmark_ompl.launch
new file mode 100644
index 00000000..1bb422ba
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/run_benchmark_ompl.launch
@@ -0,0 +1,22 @@
+
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diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/sensor_manager.launch.xml b/7dof_dynamixel_turtlebot_moveit_config/launch/sensor_manager.launch.xml
new file mode 100644
index 00000000..5212c0cb
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/sensor_manager.launch.xml
@@ -0,0 +1,14 @@
+
+
+
+
+
+
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+
diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/setup_assistant.launch b/7dof_dynamixel_turtlebot_moveit_config/launch/setup_assistant.launch
new file mode 100644
index 00000000..9df988a4
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/setup_assistant.launch
@@ -0,0 +1,15 @@
+
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diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/trajectory_execution.launch.xml b/7dof_dynamixel_turtlebot_moveit_config/launch/trajectory_execution.launch.xml
new file mode 100644
index 00000000..600d6d39
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/trajectory_execution.launch.xml
@@ -0,0 +1,18 @@
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diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/warehouse.launch b/7dof_dynamixel_turtlebot_moveit_config/launch/warehouse.launch
new file mode 100644
index 00000000..d3b86b06
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/warehouse.launch
@@ -0,0 +1,15 @@
+
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diff --git a/7dof_dynamixel_turtlebot_moveit_config/launch/warehouse_settings.launch.xml b/7dof_dynamixel_turtlebot_moveit_config/launch/warehouse_settings.launch.xml
new file mode 100644
index 00000000..d11aaeb2
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/launch/warehouse_settings.launch.xml
@@ -0,0 +1,15 @@
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diff --git a/7dof_dynamixel_turtlebot_moveit_config/package.xml b/7dof_dynamixel_turtlebot_moveit_config/package.xml
new file mode 100644
index 00000000..e8a74c82
--- /dev/null
+++ b/7dof_dynamixel_turtlebot_moveit_config/package.xml
@@ -0,0 +1,29 @@
+
+
+ 7dof_dynamixel_turtlebot_moveit_config
+ 0.2.0
+
+ An automatically generated package with all the configuration and launch files for using the dxl_armed_turtlebot with the MoveIt Motion Planning Framework
+
+ MoveIt Setup Assistant
+ MoveIt Setup Assistant
+
+ 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
+ joint_state_publisher
+ robot_state_publisher
+ xacro
+ dxl_armed_turtlebot
+ dxl_armed_turtlebot
+
+
+ catkin
+
+
diff --git a/dxl_armed_turtlebot/#zz# b/dxl_armed_turtlebot/#zz#
new file mode 100644
index 00000000..8b137891
--- /dev/null
+++ b/dxl_armed_turtlebot/#zz#
@@ -0,0 +1 @@
+
diff --git a/dxl_armed_turtlebot/.#zz b/dxl_armed_turtlebot/.#zz
new file mode 120000
index 00000000..3e846c42
--- /dev/null
+++ b/dxl_armed_turtlebot/.#zz
@@ -0,0 +1 @@
+mech-user@test1-pc.5393:1447834802
\ No newline at end of file
diff --git a/dxl_armed_turtlebot/7dof_turtlebot.png b/dxl_armed_turtlebot/7dof_turtlebot.png
new file mode 100644
index 00000000..79d4d0ba
Binary files /dev/null and b/dxl_armed_turtlebot/7dof_turtlebot.png differ
diff --git a/dxl_armed_turtlebot/CHANGELOG.rst b/dxl_armed_turtlebot/CHANGELOG.rst
index 9bd7a89c..563a5fd7 100644
--- a/dxl_armed_turtlebot/CHANGELOG.rst
+++ b/dxl_armed_turtlebot/CHANGELOG.rst
@@ -2,6 +2,11 @@
Changelog for package dxl_armed_turtlebot
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+2.1.2 (2015-11-12)
+------------------
+* Use kinect as 3d_sensor
+* Contributors: Shunichi Nozawa
+
2.1.1 (2015-11-11)
------------------
* add robot_state_publisher for both base and robot
diff --git a/dxl_armed_turtlebot/euslisp/display-bounding-box-array.l b/dxl_armed_turtlebot/euslisp/display-bounding-box-array.l
index 34a7da69..f21e34eb 100644
--- a/dxl_armed_turtlebot/euslisp/display-bounding-box-array.l
+++ b/dxl_armed_turtlebot/euslisp/display-bounding-box-array.l
@@ -3,10 +3,12 @@
(dxl-armed-turtlebot-init)
;; jsk_pcl_rosのmsgを使うため、loadする
-(ros::load-ros-manifest "jsk_pcl_ros")
+;;(ros::load-ros-manifest "jsk_pcl_ros")
+(ros::load-ros-manifest "jsk_recognition_msgs")
;; クラスタリング結果であるBoundingBoxのtopic名
-(defvar *topic-name* "/camera/depth_registered/cluster_decomposer/boxes")
+;;(defvar *topic-name* "/camera/depth_registered/cluster_decomposer/boxes")
+(defvar *topic-name* "/camera/depth_registered/boxes")
(defvar *bounding-box-list* nil)
;; ros::initする
@@ -35,7 +37,7 @@
(send *irtviewer* :viewer :viewsurface :flush)
))
-(ros::subscribe *topic-name* jsk_pcl_ros::BoundingBoxArray #'bounding-box-array-cb 1)
+(ros::subscribe *topic-name* jsk_recognition_msgs::BoundingBoxArray #'bounding-box-array-cb 1)
(do-until-key
(x::window-main-one) ;; IRT viewerの視点を変えられる。見にくければ変えよう
diff --git a/dxl_armed_turtlebot/euslisp/display-checkerboard.l b/dxl_armed_turtlebot/euslisp/display-checkerboard.l
new file mode 100644
index 00000000..1e057619
--- /dev/null
+++ b/dxl_armed_turtlebot/euslisp/display-checkerboard.l
@@ -0,0 +1,61 @@
+#!/usr/bin/env roseus
+
+;; robotの初期化
+(load "package://dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l")
+(dxl-armed-turtlebot-init)
+
+;; ObjectDetection型トピックを使うため
+(ros::roseus-add-msgs "std_msgs")
+(ros::roseus-add-msgs "roseus")
+(ros::roseus-add-msgs "geometry_msgs")
+(ros::roseus-add-msgs "image_view2")
+(ros::roseus-add-msgs "posedetection_msgs")
+
+;;; 表示モデルなど
+(load "models/chessboard-30-7x5-object.l")
+(if (not (boundp '*irtviewer*)) (make-irtviewer))
+(setq *target-object* (chessboard-30-7x5 :name "/test_object"))
+(objects (list *target-object* *dxl-armed-turtlebot*))
+
+(defvar *root-frame-id* "camera_rgb_frame")
+(setq *tfb* (instance ros::transform-broadcaster :init))
+
+(ros::roseus "objectdetection_client")
+
+;; ObjectDetection用コールバック関数定義
+(defun objectdetection-cb (msg)
+ (let ((mrk (instance image_view2::ImageMarker2 :init)) frame-id type ret)
+ ;; 物体モデルを配置
+ (setq frame-id (concatenate string "/" (send msg :header :frame_id)))
+ (mapcar #'(lambda (obj-pose)
+ (let* (;; カメラ相対の座標系は、geometry_msgs/Poseという型で得られるので、Euslispのcoordsに変換する
+ (cam->obj-coords (ros::tf-pose->coords (send obj-pose :pose)))
+ ;; *dxl-armed-turtlebot*モデルがカメラの座標系をもってるので、取得する
+ (cam-coords (send (send *dxl-armed-turtlebot* :camera_rgb_optical_frame_lk) :copy-worldcoords)))
+ ;; Euslisp内部でのworld座標系の値にして、そこにcheckerboardモデルを配置する
+ (send *target-object* :newcoords (send cam-coords :transform cam->obj-coords))
+ ))
+ (send msg :objects))
+ ;; image_markerを出力
+ (dolist (obj-pose (send msg :objects))
+ (setq type (send obj-pose :type))
+ (unless (eq (char type 0) #\/) (setq type (concatenate string "/" type)))
+ (setq ret (ros::tf-pose->coords (send obj-pose :pose)))
+ (send mrk :type image_view2::ImageMarker2::*FRAMES*)
+ (send mrk :frames (list type))
+ (send *tfb* :send-transform ret frame-id type)
+ (ros::ros-info "~A ~A ~A" ret frame-id type)
+ (ros::publish "image_marker" mrk))
+ ))
+
+(ros::advertise "image_marker" image_view2::ImageMarker2 1)
+(ros::subscribe "/camera/rgb/ObjectDetection" posedetection_msgs::ObjectDetection #'objectdetection-cb)
+
+(ros::rate 10)
+(do-until-key
+ (ros::spin-once)
+ (send *irtviewer* :draw-objects)
+ (x::window-main-one)
+ (ros::sleep)
+ )
+
diff --git a/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l b/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l
index 5924e923..8fc85228 100644
--- a/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l
+++ b/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l
@@ -26,7 +26,10 @@
;; (make-coords :pos (float-vector 85.725 9.525 410) ;; 9.525 = (/ 38.1 4.0), 38.1 = 2 pitch width, 85.725 = (+ (/ 152.4 2.0) (/ 38.1 4.0))
;; :rpy (list 0 0 0))
;; lower arm version
- (make-coords :pos (float-vector 85.725 9.525 402) ;; 9.525 = (/ 38.1 4.0), 38.1 = 2 pitch width, 85.725 = (+ (/ 152.4 2.0) (/ 38.1 4.0))
+ ;; (make-coords :pos (float-vector 85.725 9.525 402) ;; 9.525 = (/ 38.1 4.0), 38.1 = 2 pitch width, 85.725 = (+ (/ 152.4 2.0) (/ 38.1 4.0))
+ ;; :rpy (list 0 0 pi))
+ ;; lower arm version + 長いアーム台座
+ (make-coords :pos (float-vector (+ 58.0 85.725) 9.525 402) ;; 9.525 = (/ 38.1 4.0), 38.1 = 2 pitch width, 85.725 = (+ (/ 152.4 2.0) (/ 38.1 4.0))
:rpy (list 0 0 pi))
)
;; turtlebot CAD information is here:
diff --git a/dxl_armed_turtlebot/launch/dxl_armed_turtlebot_bringup.launch b/dxl_armed_turtlebot/launch/dxl_armed_turtlebot_bringup.launch
index df4e634c..c03f8da1 100644
--- a/dxl_armed_turtlebot/launch/dxl_armed_turtlebot_bringup.launch
+++ b/dxl_armed_turtlebot/launch/dxl_armed_turtlebot_bringup.launch
@@ -12,8 +12,10 @@
-
-
+
+
+
-
+
@@ -8,7 +8,7 @@
-
+
diff --git a/dxl_armed_turtlebot/package.xml b/dxl_armed_turtlebot/package.xml
index 124c9f40..d56ac2df 100644
--- a/dxl_armed_turtlebot/package.xml
+++ b/dxl_armed_turtlebot/package.xml
@@ -1,6 +1,6 @@
dxl_armed_turtlebot
- 2.1.1
+ 2.1.2
Turtlebot with dynamixel 7dof arm
BSD
Shunichi Nozawa
diff --git a/dxl_armed_turtlebot/scripts/ps3joy b/dxl_armed_turtlebot/scripts/ps3joy
index f9cc2322..ef54c906 100755
--- a/dxl_armed_turtlebot/scripts/ps3joy
+++ b/dxl_armed_turtlebot/scripts/ps3joy
@@ -14,7 +14,8 @@
#. /opt/ros/electric/setup.sh
#. /opt/ros/groovy/setup.sh
-. /opt/ros/hydro/setup.sh
+#. /opt/ros/hydro/setup.sh
+. /opt/ros/indigo/setup.sh
export ROS_HOME=/root
# path to daemon
diff --git a/dxl_armed_turtlebot/urdf/dynamixel_7dof_arm.urdf.xacro b/dxl_armed_turtlebot/urdf/dynamixel_7dof_arm.urdf.xacro
index 9c82b016..53c9f327 100644
--- a/dxl_armed_turtlebot/urdf/dynamixel_7dof_arm.urdf.xacro
+++ b/dxl_armed_turtlebot/urdf/dynamixel_7dof_arm.urdf.xacro
@@ -3,6 +3,66 @@
+
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@@ -70,6 +130,48 @@
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+
Gazebo/${color}
@@ -110,7 +212,7 @@
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@@ -123,14 +225,23 @@
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@@ -149,13 +260,24 @@
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diff --git a/dxl_armed_turtlebot_moveit_config/.setup_assistant b/dxl_armed_turtlebot_moveit_config/.setup_assistant
new file mode 100644
index 00000000..cb8da089
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/.setup_assistant
@@ -0,0 +1,8 @@
+moveit_setup_assistant_config:
+ URDF:
+ package: dxl_armed_turtlebot
+ relative_path: urdf/robot.urdf.xacro
+ SRDF:
+ relative_path: config/dxl_armed_turtlebot.srdf
+ CONFIG:
+ generated_timestamp: 1447848072
\ No newline at end of file
diff --git a/dxl_armed_turtlebot_moveit_config/CMakeLists.txt b/dxl_armed_turtlebot_moveit_config/CMakeLists.txt
new file mode 100644
index 00000000..66b3b1dd
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(dxl_armed_turtlebot_moveit_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/dxl_armed_turtlebot_moveit_config/config/controllers.yaml b/dxl_armed_turtlebot_moveit_config/config/controllers.yaml
new file mode 100644
index 00000000..a75e82f0
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/config/controllers.yaml
@@ -0,0 +1,5 @@
+controller_list:
+ - name:""
+ action_ns: joint_trajectory_action
+ type: FollwJointTrajectory
+ joints: [joint_1,joint_2,joint_3,joint_4,joint_5,joint_6]
diff --git a/dxl_armed_turtlebot_moveit_config/config/dxl_armed_turtlebot.srdf b/dxl_armed_turtlebot_moveit_config/config/dxl_armed_turtlebot.srdf
new file mode 100644
index 00000000..2720ebc3
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/config/dxl_armed_turtlebot.srdf
@@ -0,0 +1,776 @@
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diff --git a/dxl_armed_turtlebot_moveit_config/config/fake_controllers.yaml b/dxl_armed_turtlebot_moveit_config/config/fake_controllers.yaml
new file mode 100644
index 00000000..ac9c366d
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/config/fake_controllers.yaml
@@ -0,0 +1,9 @@
+controller_list:
+ - name: fake_manipulator_controller
+ joints:
+ - joint1
+ - joint2
+ - joint3
+ - joint4
+ - joint5
+ - joint6
diff --git a/dxl_armed_turtlebot_moveit_config/config/fake_controllers.yaml~ b/dxl_armed_turtlebot_moveit_config/config/fake_controllers.yaml~
new file mode 100644
index 00000000..f1971770
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/config/fake_controllers.yaml~
@@ -0,0 +1,9 @@
+controller_list:
+ - name: fake_manipulator_controller
+ joints:
+ - arm_link1_joint
+ - arm_link2_joint
+ - arm_link3_joint
+ - arm_link4_joint
+ - arm_link5_joint
+ - arm_link6_joint
\ No newline at end of file
diff --git a/dxl_armed_turtlebot_moveit_config/config/joint_limits.yaml b/dxl_armed_turtlebot_moveit_config/config/joint_limits.yaml
new file mode 100644
index 00000000..89e29c19
--- /dev/null
+++ b/dxl_armed_turtlebot_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:
+ joint1:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint2:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint3:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint4:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint5:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint6:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
diff --git a/dxl_armed_turtlebot_moveit_config/config/joint_limits.yaml~ b/dxl_armed_turtlebot_moveit_config/config/joint_limits.yaml~
new file mode 100644
index 00000000..89e29c19
--- /dev/null
+++ b/dxl_armed_turtlebot_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:
+ joint1:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint2:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint3:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint4:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint5:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint6:
+ has_velocity_limits: true
+ max_velocity: 6
+ has_acceleration_limits: false
+ max_acceleration: 0
diff --git a/dxl_armed_turtlebot_moveit_config/config/kinematics.yaml b/dxl_armed_turtlebot_moveit_config/config/kinematics.yaml
new file mode 100644
index 00000000..969ba142
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/config/kinematics.yaml
@@ -0,0 +1,5 @@
+manipulator:
+ kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+ kinematics_solver_search_resolution: 0.005
+ kinematics_solver_timeout: 0.005
+ kinematics_solver_attempts: 3
\ No newline at end of file
diff --git a/dxl_armed_turtlebot_moveit_config/config/ompl_planning.yaml b/dxl_armed_turtlebot_moveit_config/config/ompl_planning.yaml
new file mode 100644
index 00000000..95d216f5
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/config/ompl_planning.yaml
@@ -0,0 +1,67 @@
+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:
+ planner_configs:
+ - SBLkConfigDefault
+ - ESTkConfigDefault
+ - LBKPIECEkConfigDefault
+ - BKPIECEkConfigDefault
+ - KPIECEkConfigDefault
+ - RRTkConfigDefault
+ - RRTConnectkConfigDefault
+ - RRTstarkConfigDefault
+ - TRRTkConfigDefault
+ - PRMkConfigDefault
+ - PRMstarkConfigDefault
\ No newline at end of file
diff --git a/dxl_armed_turtlebot_moveit_config/launch/default_warehouse_db.launch b/dxl_armed_turtlebot_moveit_config/launch/default_warehouse_db.launch
new file mode 100644
index 00000000..ff7a9d8e
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/default_warehouse_db.launch
@@ -0,0 +1,13 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/dxl_armed_turtlebot_moveit_config/launch/demo.launch b/dxl_armed_turtlebot_moveit_config/launch/demo.launch
new file mode 100644
index 00000000..5dd1c052
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/demo.launch
@@ -0,0 +1,44 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ [/move_group/fake_controller_joint_states]
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
diff --git a/dxl_armed_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_controller_manager.launch.xml b/dxl_armed_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_controller_manager.launch.xml
new file mode 100644
index 00000000..5d02698d
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_controller_manager.launch.xml
@@ -0,0 +1,3 @@
+
+
+
diff --git a/dxl_armed_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_sensor_manager.launch.xml b/dxl_armed_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_sensor_manager.launch.xml
new file mode 100644
index 00000000..5d02698d
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+
+
+
diff --git a/dxl_armed_turtlebot_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/dxl_armed_turtlebot_moveit_config/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 00000000..2ed7d1cc
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,9 @@
+
+
+
+
+
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diff --git a/dxl_armed_turtlebot_moveit_config/launch/joystick_control.launch b/dxl_armed_turtlebot_moveit_config/launch/joystick_control.launch
new file mode 100644
index 00000000..f7417352
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/joystick_control.launch
@@ -0,0 +1,17 @@
+
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diff --git a/dxl_armed_turtlebot_moveit_config/launch/move_group.launch b/dxl_armed_turtlebot_moveit_config/launch/move_group.launch
new file mode 100644
index 00000000..d79a0cc6
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/move_group.launch
@@ -0,0 +1,69 @@
+
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diff --git a/dxl_armed_turtlebot_moveit_config/launch/moveit.rviz b/dxl_armed_turtlebot_moveit_config/launch/moveit.rviz
new file mode 100644
index 00000000..b697e075
--- /dev/null
+++ b/dxl_armed_turtlebot_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: /odom_combined
+ 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_footprint
+ 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/dxl_armed_turtlebot_moveit_config/launch/moveit_rviz.launch b/dxl_armed_turtlebot_moveit_config/launch/moveit_rviz.launch
new file mode 100644
index 00000000..04653e3e
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/moveit_rviz.launch
@@ -0,0 +1,16 @@
+
+
+
+
+
+
+
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+
diff --git a/dxl_armed_turtlebot_moveit_config/launch/ompl_planning_pipeline.launch.xml b/dxl_armed_turtlebot_moveit_config/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 00000000..b8889f26
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,22 @@
+
+
+
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+
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diff --git a/dxl_armed_turtlebot_moveit_config/launch/planning_context.launch b/dxl_armed_turtlebot_moveit_config/launch/planning_context.launch
new file mode 100644
index 00000000..6cc615ab
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/planning_context.launch
@@ -0,0 +1,24 @@
+
+
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diff --git a/dxl_armed_turtlebot_moveit_config/launch/planning_pipeline.launch.xml b/dxl_armed_turtlebot_moveit_config/launch/planning_pipeline.launch.xml
new file mode 100644
index 00000000..b2b0fd1d
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/planning_pipeline.launch.xml
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
diff --git a/dxl_armed_turtlebot_moveit_config/launch/run_benchmark_ompl.launch b/dxl_armed_turtlebot_moveit_config/launch/run_benchmark_ompl.launch
new file mode 100644
index 00000000..aa276984
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/run_benchmark_ompl.launch
@@ -0,0 +1,22 @@
+
+
+
+
+
+
+
+
+
+
+
+
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diff --git a/dxl_armed_turtlebot_moveit_config/launch/sensor_manager.launch.xml b/dxl_armed_turtlebot_moveit_config/launch/sensor_manager.launch.xml
new file mode 100644
index 00000000..351a332b
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/sensor_manager.launch.xml
@@ -0,0 +1,14 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/dxl_armed_turtlebot_moveit_config/launch/setup_assistant.launch b/dxl_armed_turtlebot_moveit_config/launch/setup_assistant.launch
new file mode 100644
index 00000000..36bbbdea
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/setup_assistant.launch
@@ -0,0 +1,15 @@
+
+
+
+
+
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+
+
+
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+
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diff --git a/dxl_armed_turtlebot_moveit_config/launch/trajectory_execution.launch.xml b/dxl_armed_turtlebot_moveit_config/launch/trajectory_execution.launch.xml
new file mode 100644
index 00000000..ed85dcc5
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/trajectory_execution.launch.xml
@@ -0,0 +1,18 @@
+
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diff --git a/dxl_armed_turtlebot_moveit_config/launch/warehouse.launch b/dxl_armed_turtlebot_moveit_config/launch/warehouse.launch
new file mode 100644
index 00000000..42a3ac36
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/warehouse.launch
@@ -0,0 +1,15 @@
+
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diff --git a/dxl_armed_turtlebot_moveit_config/launch/warehouse_settings.launch.xml b/dxl_armed_turtlebot_moveit_config/launch/warehouse_settings.launch.xml
new file mode 100644
index 00000000..d11aaeb2
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/launch/warehouse_settings.launch.xml
@@ -0,0 +1,15 @@
+
+
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+
diff --git a/dxl_armed_turtlebot_moveit_config/package.xml b/dxl_armed_turtlebot_moveit_config/package.xml
new file mode 100644
index 00000000..c1182784
--- /dev/null
+++ b/dxl_armed_turtlebot_moveit_config/package.xml
@@ -0,0 +1,29 @@
+
+
+ dxl_armed_turtlebot_moveit_config
+ 0.2.0
+
+ An automatically generated package with all the configuration and launch files for using the dxl_armed_turtlebot with the MoveIt Motion Planning Framework
+
+ MoveIt Setup Assistant
+ MoveIt Setup Assistant
+
+ 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
+ joint_state_publisher
+ robot_state_publisher
+ xacro
+ dxl_armed_turtlebot
+ dxl_armed_turtlebot
+
+
+ catkin
+
+