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Make moveit_config compatible to moveit_configs_builder (#998)
* Make the config moveit_configs_builder compatible - Make sure it can be used in conjunction with the configs builder - Still use a parametrized srdf - Re-use the description from the robot state publisher * Wait for robot_description in moveit startup Since we built our moveit config around receiving the description via topic, we also add a script that waits for the robot description to be published. This helps when components support subscribing to the description, but crash if it is not present. * Added servo node * Add servo node config to disable advertising /get_planning_scene * Apply suggestions from code review Co-authored-by: Vincenzo Di Pentima <[email protected]> * Fix corrections * Added missing dependency for chomp planners * Added use_sim_time argument and defaulted launch_servo to false * Launchfile formatting --------- Co-authored-by: Ruddick Lawrence <[email protected]> Co-authored-by: Vincenzo Di Pentima <[email protected]>
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cmake_minimum_required(VERSION 3.5) | ||
cmake_minimum_required(VERSION 3.22) | ||
project(ur_moveit_config) | ||
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find_package(ament_cmake REQUIRED) | ||
find_package(ament_cmake_python REQUIRED) | ||
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install(DIRECTORY config launch rviz srdf | ||
ament_package() | ||
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install( | ||
DIRECTORY config launch | ||
DESTINATION share/${PROJECT_NAME} | ||
) | ||
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# Install Python modules | ||
ament_python_install_package(${PROJECT_NAME}) | ||
ament_python_install_module(${PROJECT_NAME}/launch_common.py) | ||
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ament_package() |
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planning_plugins: | ||
- chomp_interface/CHOMPPlanner | ||
enable_failure_recovery: true | ||
# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline. | ||
request_adapters: | ||
- default_planning_request_adapters/ResolveConstraintFrames | ||
- default_planning_request_adapters/ValidateWorkspaceBounds | ||
- default_planning_request_adapters/CheckStartStateBounds | ||
- default_planning_request_adapters/CheckStartStateCollision | ||
response_adapters: | ||
- default_planning_response_adapters/AddTimeOptimalParameterization | ||
- default_planning_response_adapters/ValidateSolution | ||
- default_planning_response_adapters/DisplayMotionPath | ||
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ridge_factor: 0.01 |
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/**: | ||
ros__parameters: | ||
robot_description_kinematics: | ||
ur_manipulator: | ||
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin | ||
kinematics_solver_search_resolution: 0.005 | ||
kinematics_solver_timeout: 0.005 | ||
kinematics_solver_attempts: 3 | ||
ur_manipulator: | ||
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin | ||
kinematics_solver_search_resolution: 0.0050000000000000001 | ||
kinematics_solver_timeout: 0.0050000000000000001 |
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# MoveIt uses this configuration for controller management | ||
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager | ||
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moveit_simple_controller_manager: | ||
controller_names: | ||
- scaled_joint_trajectory_controller | ||
- joint_trajectory_controller | ||
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scaled_joint_trajectory_controller: | ||
action_ns: follow_joint_trajectory | ||
type: FollowJointTrajectory | ||
default: true | ||
joints: | ||
- shoulder_pan_joint | ||
- shoulder_lift_joint | ||
- elbow_joint | ||
- wrist_1_joint | ||
- wrist_2_joint | ||
- wrist_3_joint | ||
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joint_trajectory_controller: | ||
action_ns: follow_joint_trajectory | ||
type: FollowJointTrajectory | ||
default: false | ||
joints: | ||
- shoulder_pan_joint | ||
- shoulder_lift_joint | ||
- elbow_joint | ||
- wrist_1_joint | ||
- wrist_2_joint | ||
- wrist_3_joint |
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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 expression. default: 0.0 set in setup() | ||
PRMkConfigDefault: | ||
type: geometric::PRM | ||
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 | ||
PRMstarkConfigDefault: | ||
type: geometric::PRMstar | ||
ur_manipulator: | ||
planner_configs: | ||
- SBLkConfigDefault | ||
- ESTkConfigDefault | ||
- LBKPIECEkConfigDefault | ||
- BKPIECEkConfigDefault | ||
- KPIECEkConfigDefault | ||
- RRTkConfigDefault | ||
- RRTConnectkConfigDefault | ||
- RRTstarkConfigDefault | ||
- TRRTkConfigDefault | ||
- PRMkConfigDefault | ||
- PRMstarkConfigDefault | ||
##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE | ||
#projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) | ||
longest_valid_segment_fraction: 0.01 | ||
planning_plugins: | ||
- ompl_interface/OMPLPlanner | ||
# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline. | ||
request_adapters: | ||
- default_planning_request_adapters/ResolveConstraintFrames | ||
- default_planning_request_adapters/ValidateWorkspaceBounds | ||
- default_planning_request_adapters/CheckStartStateBounds | ||
- default_planning_request_adapters/CheckStartStateCollision | ||
response_adapters: | ||
- default_planning_response_adapters/AddTimeOptimalParameterization | ||
- default_planning_response_adapters/ValidateSolution | ||
- default_planning_response_adapters/DisplayMotionPath |
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# Limits for the Pilz planner | ||
cartesian_limits: | ||
max_trans_vel: 1.0 | ||
max_trans_acc: 2.25 | ||
max_trans_dec: -5.0 | ||
max_rot_vel: 1.57 |
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ur_moveit_config/config/pilz_industrial_motion_planner_planning.yaml
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planning_plugins: | ||
- pilz_industrial_motion_planner/CommandPlanner | ||
default_planner_config: PTP | ||
request_adapters: | ||
- default_planning_request_adapters/ResolveConstraintFrames | ||
- default_planning_request_adapters/ValidateWorkspaceBounds | ||
- default_planning_request_adapters/CheckStartStateBounds | ||
- default_planning_request_adapters/CheckStartStateCollision | ||
response_adapters: | ||
- default_planning_response_adapters/ValidateSolution | ||
- default_planning_response_adapters/DisplayMotionPath | ||
capabilities: >- | ||
pilz_industrial_motion_planner/MoveGroupSequenceAction | ||
pilz_industrial_motion_planner/MoveGroupSequenceService |
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