Adding MoveItConfigsBuilder compatible example to ur_moveit_config

[odbee]

Feature summary

Hey, so it seems the current ur_moveit_config folder is not at all compatible with being used with the MoveItConfigsBuilder. It would help greatly with running moveit directly through the C++ API if one could take all the moveitconfigbuilder parameters and add them to the parameters of ones c++ API like this: parameters=[moveit_config.to_dict()]

Tasks

To complete this issue involves

• Implement the feature
• Make documentation
• Make Unit test
• Make example
• Test on real hardware

[VinDp]

Hey @odbee,
thanks for the suggestion, we are currently working on that.
We are going to change the structure according to what is shown in this tutorial page, do you have any opinions on that?

[odbee]

Hey @VinDp thanks, for consering my Feature request, looks good! the structure looks good. I think it would be nice to have both scaled_joint_trajectory_controller and regular joint_trajectory_controller available in the "moveit_controllers.yaml", as well as different inverse kinematics ( Trac-IK, Pic IK) and planning (pilz_industrial_motion_planner_planning_planner.yaml , ompl_planner.yaml) files

[fmauch]

Once issue I see with this is that the robot_name for the robot_description will be different for each robot model (e.g. ur5e. Because of that we currently use an xacro to generate the SRDF. As far as I understand the MoveItConfigsBuilder it doesn't support that but expects a finished srdf file.

Edit: Currently this is also only working without an error since we load the description from the parameter inside the moveit launchfile which we want to get rid of anyway.

Edit2: My assumption was wrong. We can indeed pass an srdf with parametrization.