Add kr16 moveit config

kuka_kr16_moveit_config/.setup_assistant

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+moveit_setup_assistant_config:
+  URDF:
+    package: kuka_kr16_support
+    relative_path: urdf/kr16_2.xacro
+  SRDF:
+    relative_path: config/kuka_kr16_2.srdf
+  CONFIG:
+    generated_timestamp: 1433854666

kuka_kr16_moveit_config/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(kuka_kr16_moveit_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

kuka_kr16_moveit_config/README.md

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+kuka_kr16_moveit_config
+========================

kuka_kr16_moveit_config/config/controllers.yaml

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+controller_list:
+  - name: "position_trajectory_controller"
+    action_ns: follow_joint_trajectory
+    default: true
+    type: FollowJointTrajectory
+    joints: [joint_a1, joint_a2, joint_a3, joint_a4, joint_a5, joint_a6]

kuka_kr16_moveit_config/config/fake_controllers.yaml

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+controller_list:
+  - name: fake_manipulator_controller
+    joints:
+      - joint_a1
+      - joint_a2
+      - joint_a3
+      - joint_a4
+      - joint_a5
+      - joint_a6

kuka_kr16_moveit_config/config/joint_limits.yaml

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+# 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:
+  joint_a1:
+    has_velocity_limits: true
+    max_velocity: 2.72271363311
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_a2:
+    has_velocity_limits: true
+    max_velocity: 2.72271363311
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_a3:
+    has_velocity_limits: true
+    max_velocity: 2.72271363311
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_a4:
+    has_velocity_limits: true
+    max_velocity: 5.75958653158
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_a5:
+    has_velocity_limits: true
+    max_velocity: 5.75958653158
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_a6:
+    has_velocity_limits: true
+    max_velocity: 10.7337748998
+    has_acceleration_limits: false
+    max_acceleration: 0

kuka_kr16_moveit_config/config/joint_names.yaml

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+controller_joint_names:
+  [joint_a1, joint_a2, joint_a3, joint_a4, joint_5, joint_a6]

kuka_kr16_moveit_config/config/kinematics.yaml

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+manipulator:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+  kinematics_solver_attempts: 3

kuka_kr16_moveit_config/config/kuka_kr16_2.srdf

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+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="kuka_kr16_2">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="manipulator">
+        <chain base_link="base_link" tip_link="tool0" />
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="home" group="manipulator">
+        <joint name="joint_a1" value="0" />
+        <joint name="joint_a2" value="-1.5708" />
+        <joint name="joint_a3" value="1.5708" />
+        <joint name="joint_a4" value="0" />
+        <joint name="joint_a5" value="0" />
+        <joint name="joint_a6" value="0" />
+    </group_state>
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="base_link" link2="link_1" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="link_2" reason="Never" />
+    <disable_collisions link1="link_1" link2="link_2" reason="Adjacent" />
+    <disable_collisions link1="link_1" link2="link_3" reason="Never" />
+    <disable_collisions link1="link_2" link2="link_3" reason="Adjacent" />
+    <disable_collisions link1="link_2" link2="link_4" reason="Never" />
+    <disable_collisions link1="link_2" link2="link_5" reason="Never" />
+    <disable_collisions link1="link_2" link2="link_6" reason="Never" />
+    <disable_collisions link1="link_3" link2="link_4" reason="Adjacent" />
+    <disable_collisions link1="link_3" link2="link_5" reason="Never" />
+    <disable_collisions link1="link_3" link2="link_6" reason="Never" />
+    <disable_collisions link1="link_4" link2="link_5" reason="Adjacent" />
+    <disable_collisions link1="link_4" link2="link_6" reason="Never" />
+    <disable_collisions link1="link_5" link2="link_6" reason="Adjacent" />
+</robot>

kuka_kr16_moveit_config/config/ompl_planning.yaml

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+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
+  projection_evaluator: joints(joint_a1,joint_a2)
+  longest_valid_segment_fraction: 0.05

kuka_kr16_moveit_config/launch/default_warehouse_db.launch

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+<launch>
+
+  <arg name="reset" default="false"/>
+
+  <!-- Launch the warehouse with a default database location -->  
+  <include file="$(find kuka_kr16_moveit_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(find kuka_kr16_moveit_config)/default_warehouse_mongo_db" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>

kuka_kr16_moveit_config/launch/demo.launch

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+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find kuka_kr16_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/> 
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find kuka_kr16_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>  
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find kuka_kr16_moveit_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find kuka_kr16_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"/>
+
+</launch>

kuka_kr16_moveit_config/launch/fake_moveit_controller_manager.launch.xml

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+<launch>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find kuka_kr16_moveit_config)/config/fake_controllers.yaml"/>
+
+</launch>

kuka_kr16_moveit_config/launch/joystick_control.launch

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+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+
+</launch>

kuka_kr16_moveit_config/launch/kuka_kr16_2_moveit_controller_manager.launch.xml

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+<launch>
+
+  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
+  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
+
+  <rosparam file="$(find kuka_kr16_moveit_config)/config/controllers.yaml"/>
+
+</launch>

kuka_kr16_moveit_config/launch/kuka_kr16_2_moveit_sensor_manager.launch.xml

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+<launch>
+
+</launch>

kuka_kr16_moveit_config/launch/move_group.launch

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+<launch>
+
+  <include file="$(find kuka_kr16_moveit_config)/launch/planning_context.launch" />
+
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+	   value="gdb -x $(find kuka_kr16_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="allow_trajectory_execution" default="true"/>
+  <arg name="fake_execution" default="false"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="jiggle_fraction" default="0.05" />
+  <arg name="publish_monitored_planning_scene" default="true"/>
+
+  <!-- Planning Functionality -->
+  <include ns="move_group" file="$(find kuka_kr16_moveit_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="ompl" />
+  </include>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(find kuka_kr16_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="kuka_kr16_2" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+  </include>
+
+  <!-- Sensors Functionality -->
+  <include ns="move_group" file="$(find kuka_kr16_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="kuka_kr16_2" />
+  </include>
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
+    <!-- Set the display variable, in case OpenGL code is used internally -->
+    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
+
+    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+    <!-- MoveGroup capabilities to load -->
+    <param name="capabilities" value="move_group/MoveGroupCartesianPathService
+				      move_group/MoveGroupExecuteService
+				      move_group/MoveGroupKinematicsService
+				      move_group/MoveGroupMoveAction
+				      move_group/MoveGroupPickPlaceAction
+				      move_group/MoveGroupPlanService
+				      move_group/MoveGroupQueryPlannersService
+				      move_group/MoveGroupStateValidationService
+				      move_group/MoveGroupGetPlanningSceneService
+				      move_group/ClearOctomapService
+				      " />
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+  </node>
+
+</launch>