From 1652a12ed58cd3c21c921d4bf2fc04abc43bcc74 Mon Sep 17 00:00:00 2001 From: Your Name Date: Thu, 12 Nov 2015 01:27:42 +0900 Subject: [PATCH 1/2] moveit_config added --- .../CMakeLists.txt | 9 + .../config/dxl_armed_turtlebot.srdf | 610 ++++++++++++++++ .../config/fake_controllers.yaml | 10 + .../config/joint_limits.yaml | 39 + .../config/kinematics.yaml | 5 + .../config/ompl_planning.yaml | 67 ++ .../launch/default_warehouse_db.launch | 13 + .../launch/demo.launch | 44 ++ ...lebot_moveit_controller_manager.launch.xml | 3 + ...turtlebot_moveit_sensor_manager.launch.xml | 3 + .../fake_moveit_controller_manager.launch.xml | 9 + .../launch/joystick_control.launch | 17 + .../launch/move_group.launch | 69 ++ .../launch/moveit.rviz | 689 ++++++++++++++++++ .../launch/moveit_rviz.launch | 16 + .../launch/ompl_planning_pipeline.launch.xml | 22 + .../launch/planning_context.launch | 24 + .../launch/planning_pipeline.launch.xml | 10 + .../launch/run_benchmark_ompl.launch | 22 + .../launch/sensor_manager.launch.xml | 14 + .../launch/setup_assistant.launch | 15 + .../launch/trajectory_execution.launch.xml | 18 + .../launch/warehouse.launch | 15 + .../launch/warehouse_settings.launch.xml | 15 + .../package.xml | 29 + 25 files changed, 1787 insertions(+) create mode 100644 7dof_dynamixel_turtlebot_moveit_config/CMakeLists.txt create mode 100644 7dof_dynamixel_turtlebot_moveit_config/config/dxl_armed_turtlebot.srdf create mode 100644 7dof_dynamixel_turtlebot_moveit_config/config/fake_controllers.yaml create mode 100644 7dof_dynamixel_turtlebot_moveit_config/config/joint_limits.yaml create mode 100644 7dof_dynamixel_turtlebot_moveit_config/config/kinematics.yaml create mode 100644 7dof_dynamixel_turtlebot_moveit_config/config/ompl_planning.yaml create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/default_warehouse_db.launch create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/demo.launch create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_controller_manager.launch.xml create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_sensor_manager.launch.xml create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/fake_moveit_controller_manager.launch.xml create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/joystick_control.launch create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/move_group.launch create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/moveit.rviz create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/moveit_rviz.launch create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/ompl_planning_pipeline.launch.xml create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/planning_context.launch create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/planning_pipeline.launch.xml create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/run_benchmark_ompl.launch create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/sensor_manager.launch.xml create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/setup_assistant.launch create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/trajectory_execution.launch.xml create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/warehouse.launch create mode 100644 7dof_dynamixel_turtlebot_moveit_config/launch/warehouse_settings.launch.xml create mode 100644 7dof_dynamixel_turtlebot_moveit_config/package.xml 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 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + + + + + [/move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + 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 + + From 4362f424f29a368bf384d06c990a3a190f5b859b Mon Sep 17 00:00:00 2001 From: Your Name Date: Wed, 18 Nov 2015 22:36:40 +0900 Subject: [PATCH 2/2] 7dof arm finished. moveit applied --- dxl_armed_turtlebot/#zz# | 1 + dxl_armed_turtlebot/.#zz | 1 + dxl_armed_turtlebot/7dof_turtlebot.png | Bin 0 -> 282379 bytes dxl_armed_turtlebot/CHANGELOG.rst | 5 + .../euslisp/display-bounding-box-array.l | 8 +- .../euslisp/display-checkerboard.l | 61 ++ .../euslisp/dxl-armed-turtlebot.l | 5 +- .../launch/dxl_armed_turtlebot_bringup.launch | 6 +- .../launch/turtlebot_joystick_teleop.launch | 4 +- dxl_armed_turtlebot/package.xml | 2 +- dxl_armed_turtlebot/scripts/ps3joy | 3 +- .../urdf/dynamixel_7dof_arm.urdf.xacro | 192 ++++- .../.setup_assistant | 8 + .../CMakeLists.txt | 9 + .../config/controllers.yaml | 5 + .../config/dxl_armed_turtlebot.srdf | 776 ++++++++++++++++++ .../config/fake_controllers.yaml | 9 + .../config/fake_controllers.yaml~ | 9 + .../config/joint_limits.yaml | 34 + .../config/joint_limits.yaml~ | 34 + .../config/kinematics.yaml | 5 + .../config/ompl_planning.yaml | 67 ++ .../launch/default_warehouse_db.launch | 13 + .../launch/demo.launch | 44 + ...lebot_moveit_controller_manager.launch.xml | 3 + ...turtlebot_moveit_sensor_manager.launch.xml | 3 + .../fake_moveit_controller_manager.launch.xml | 9 + .../launch/joystick_control.launch | 17 + .../launch/move_group.launch | 69 ++ .../launch/moveit.rviz | 689 ++++++++++++++++ .../launch/moveit_rviz.launch | 16 + .../launch/ompl_planning_pipeline.launch.xml | 22 + .../launch/planning_context.launch | 24 + .../launch/planning_pipeline.launch.xml | 10 + .../launch/run_benchmark_ompl.launch | 22 + .../launch/sensor_manager.launch.xml | 14 + .../launch/setup_assistant.launch | 15 + .../launch/trajectory_execution.launch.xml | 18 + .../launch/warehouse.launch | 15 + .../launch/warehouse_settings.launch.xml | 15 + dxl_armed_turtlebot_moveit_config/package.xml | 29 + 41 files changed, 2270 insertions(+), 21 deletions(-) create mode 100644 dxl_armed_turtlebot/#zz# create mode 120000 dxl_armed_turtlebot/.#zz create mode 100644 dxl_armed_turtlebot/7dof_turtlebot.png create mode 100644 dxl_armed_turtlebot/euslisp/display-checkerboard.l create mode 100644 dxl_armed_turtlebot_moveit_config/.setup_assistant create mode 100644 dxl_armed_turtlebot_moveit_config/CMakeLists.txt create mode 100644 dxl_armed_turtlebot_moveit_config/config/controllers.yaml create mode 100644 dxl_armed_turtlebot_moveit_config/config/dxl_armed_turtlebot.srdf create mode 100644 dxl_armed_turtlebot_moveit_config/config/fake_controllers.yaml create mode 100644 dxl_armed_turtlebot_moveit_config/config/fake_controllers.yaml~ create mode 100644 dxl_armed_turtlebot_moveit_config/config/joint_limits.yaml create mode 100644 dxl_armed_turtlebot_moveit_config/config/joint_limits.yaml~ create mode 100644 dxl_armed_turtlebot_moveit_config/config/kinematics.yaml create mode 100644 dxl_armed_turtlebot_moveit_config/config/ompl_planning.yaml create mode 100644 dxl_armed_turtlebot_moveit_config/launch/default_warehouse_db.launch create mode 100644 dxl_armed_turtlebot_moveit_config/launch/demo.launch create mode 100644 dxl_armed_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_controller_manager.launch.xml create mode 100644 dxl_armed_turtlebot_moveit_config/launch/dxl_armed_turtlebot_moveit_sensor_manager.launch.xml create mode 100644 dxl_armed_turtlebot_moveit_config/launch/fake_moveit_controller_manager.launch.xml create mode 100644 dxl_armed_turtlebot_moveit_config/launch/joystick_control.launch create mode 100644 dxl_armed_turtlebot_moveit_config/launch/move_group.launch create mode 100644 dxl_armed_turtlebot_moveit_config/launch/moveit.rviz create mode 100644 dxl_armed_turtlebot_moveit_config/launch/moveit_rviz.launch create mode 100644 dxl_armed_turtlebot_moveit_config/launch/ompl_planning_pipeline.launch.xml create mode 100644 dxl_armed_turtlebot_moveit_config/launch/planning_context.launch create mode 100644 dxl_armed_turtlebot_moveit_config/launch/planning_pipeline.launch.xml create mode 100644 dxl_armed_turtlebot_moveit_config/launch/run_benchmark_ompl.launch create mode 100644 dxl_armed_turtlebot_moveit_config/launch/sensor_manager.launch.xml create mode 100644 dxl_armed_turtlebot_moveit_config/launch/setup_assistant.launch create mode 100644 dxl_armed_turtlebot_moveit_config/launch/trajectory_execution.launch.xml create mode 100644 dxl_armed_turtlebot_moveit_config/launch/warehouse.launch create mode 100644 dxl_armed_turtlebot_moveit_config/launch/warehouse_settings.launch.xml create mode 100644 dxl_armed_turtlebot_moveit_config/package.xml 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 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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 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -70,6 +130,48 @@ + + + + + + + + + + + Gazebo/${color} @@ -110,7 +212,7 @@ - + @@ -123,14 +225,23 @@ - - - + + + + + + + + + + + + - + @@ -149,13 +260,24 @@ - + + + + + - + - - + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -177,11 +323,32 @@ - + + + + + + + + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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] + + + + + + + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + 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 @@ + + + + + + + + + + + + + + + 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 + +