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sciurus17_examples_py/launch/example.launch.py

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+# Copyright 2023 RT Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from sciurus17_description.robot_description_loader import RobotDescriptionLoader
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import SetParameter
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+import yaml
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_move_group_launch
+from moveit_configs_utils.launches import generate_moveit_rviz_launch
+from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch
+from moveit_configs_utils.launches import generate_rsp_launch
+from sciurus17_description.robot_description_loader import RobotDescriptionLoader
+from ament_index_python.packages import get_package_share_directory
+
+
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+    description_loader = RobotDescriptionLoader()
+
+    ld.add_action(
+        DeclareLaunchArgument(
+            'loaded_description',
+            default_value=description_loader.load(),
+            description='Set robot_description text.  \
+                        It is recommended to use RobotDescriptionLoader() in sciurus17_description.'
+        )
+    )
+
+    moveit_config = (
+        MoveItConfigsBuilder("sciurus17")
+        .planning_scene_monitor(
+            publish_robot_description=True,
+            publish_robot_description_semantic=True,
+        )
+        .trajectory_execution(file_path="config/moveit_controllers.yaml")
+        .planning_pipelines(pipelines=["ompl"])
+        .moveit_cpp(
+            file_path=get_package_share_directory("sciurus17_moveit_config")
+            + "/config/moveit_cpp.yaml"
+        )
+        .to_moveit_configs()
+        )
+
+    moveit_config.robot_description = {
+        'robot_description': LaunchConfiguration('loaded_description')
+        }
+
+    moveit_config.move_group_capabilities = {
+        "capabilities": ""
+        }
+
+    declare_example_name = DeclareLaunchArgument(
+        'example', default_value='pick_and_place_left_arm',
+        description=('Set an example executable name: '
+                     '[gripper_control, neck_control, waist_control,'
+                     'pick_and_place_right_arm_waist, pick_and_place_left_arm]')
+    )
+
+    example_node = Node(
+        name=[LaunchConfiguration('example'), '_node'],
+                        package='sciurus17_examples_py',
+                        executable=LaunchConfiguration('example'),
+                        output='screen',
+        parameters=[moveit_config.to_dict()],
+    )
+
+    ld.add_action(declare_example_name)
+    ld.add_action(example_node)
+
+    return ld

sciurus17_examples_py/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>sciurus17_examples_py</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">ubuntu</maintainer>
+  <license>TODO: License declaration</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>moveit</exec_depend>
+  <exec_depend>moveit_py</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

sciurus17_examples_py/sciurus17_examples_py/pick_and_place_left_arm.py

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+import time
+
+# generic ros libraries
+import rclpy
+from rclpy.logging import get_logger
+
+# moveit python library
+from moveit.core.robot_state import RobotState
+from moveit.planning import (
+    MoveItPy,
+    MultiPipelinePlanRequestParameters,
+)
+
+def plan_and_execute(
+    robot,
+    planning_component,
+    logger,
+    single_plan_parameters=None,
+    multi_plan_parameters=None,
+    sleep_time=0.0,
+):
+    """Helper function to plan and execute a motion."""
+    # plan to goal
+    logger.info("Planning trajectory")
+    if multi_plan_parameters is not None:
+        plan_result = planning_component.plan(
+            multi_plan_parameters=multi_plan_parameters
+        )
+    elif single_plan_parameters is not None:
+        plan_result = planning_component.plan(
+            single_plan_parameters=single_plan_parameters
+        )
+    else:
+        plan_result = planning_component.plan()
+
+    # execute the plan
+    if plan_result:
+        logger.info("Executing plan")
+        robot_trajectory = plan_result.trajectory
+        robot.execute(robot_trajectory, controllers=[])
+    else:
+        logger.error("Planning failed")
+
+    time.sleep(sleep_time)
+
+def main(args=None):
+    rclpy.init(args=args)
+    logger = get_logger("moveit_py.pick_and_place_left_arm")
+
+    # instantiate MoveItPy instance and get planning component
+    sciurus17 = MoveItPy(node_name="pick_and_place_left_arm")
+    l_arm = sciurus17.get_planning_component("l_arm_group")
+    logger.info("MoveItPy instance created")
+
+    # set plan start state using predefined state
+    l_arm.set_start_state_to_current_state()
+
+    # set pose goal using predefined state
+    l_arm.set_goal_state(configuration_name="l_arm_init_pose")
+
+    # plan to goal
+    plan_and_execute(sciurus17, l_arm, logger, sleep_time=3.0)
+
+    # related Issue
+    # https://github.com/moveit/moveit2/issues/2693
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

sciurus17_examples_py/setup.cfg

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+[develop]
+script_dir=$base/lib/sciurus17_examples_py
+[install]
+install_scripts=$base/lib/sciurus17_examples_py

sciurus17_examples_py/setup.py

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+import os
+from glob import glob
+
+from setuptools import find_packages, setup
+
+package_name = 'sciurus17_examples_py'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='ubuntu',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'pick_and_place_left_arm = sciurus17_examples_py.pick_and_place_left_arm:main',
+        ],
+    },
+)

sciurus17_examples_py/test/test_copyright.py

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

sciurus17_examples_py/test/test_flake8.py

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

sciurus17_examples_py/test/test_pep257.py

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

sciurus17_moveit_config/config/moveit_cpp.yaml

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+planning_scene_monitor_options:
+  name: "planning_scene_monitor"
+  robot_description: "robot_description"
+  joint_state_topic: "/joint_states"
+  attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor"
+  publish_planning_scene_topic: "/moveit_cpp/publish_planning_scene"
+  monitored_planning_scene_topic: "/moveit_cpp/monitored_planning_scene"
+  wait_for_initial_state_timeout: 10.0
+
+planning_pipelines:
+  pipeline_names: ["ompl"]
+
+plan_request_params:
+  planning_attempts: 1
+  planning_pipeline: ompl
+  max_velocity_scaling_factor: 1.0
+  max_acceleration_scaling_factor: 1.0
+
+ompl_rrtc:  # Namespace for individual plan request
+  plan_request_params:  # PlanRequestParameters similar to the ones that are used by the single pipeline planning of moveit_cpp
+    planning_attempts: 1  # Number of attempts the planning pipeline tries to solve a given motion planning problem
+    planning_pipeline: ompl  # Name of the pipeline that is being used
+    planner_id: "RRTConnectkConfigDefault"  # Name of the specific planner to be used by the pipeline
+    max_velocity_scaling_factor: 1.0  # Velocity scaling parameter for the trajectory generation algorithm that is called (if configured) after the path planning
+    max_acceleration_scaling_factor: 1.0  # Acceleration scaling parameter for the trajectory generation algorithm that is called (if configured) after the path planning
+    planning_time: 1.0  # Time budget for the motion plan request. If the planning problem cannot be solved within this time, an empty solution with error code is returned