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Unverified Commit 9f0d06d1 authored by Xiaoyu27's avatar Xiaoyu27 Committed by GitHub
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Configurable arm_id (#106)

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config/arm.xacro
+ 48
− 48
View file @ 9f0d06d1
...@@ -7,67 +7,67 @@ ...@@ -7,67 +7,67 @@
<!--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--> <!--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--> <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="${name}"> <group name="${name}">
<chain base_link="panda_link0" tip_link="${tip_link}" /> <chain base_link="$(arg arm_id)_link0" tip_link="${tip_link}" />
</group> </group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'--> <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="ready" group="${name}"> <group_state name="ready" group="${name}">
<joint name="panda_joint1" value="0" /> <joint name="$(arg arm_id)_joint1" value="0" />
<joint name="panda_joint2" value="${-pi/4}" /> <joint name="$(arg arm_id)_joint2" value="${-pi/4}" />
<joint name="panda_joint3" value="0" /> <joint name="$(arg arm_id)_joint3" value="0" />
<joint name="panda_joint4" value="${-3*pi/4}" /> <joint name="$(arg arm_id)_joint4" value="${-3*pi/4}" />
<joint name="panda_joint5" value="0" /> <joint name="$(arg arm_id)_joint5" value="0" />
<joint name="panda_joint6" value="${pi/2}" /> <joint name="$(arg arm_id)_joint6" value="${pi/2}" />
<joint name="panda_joint7" value="${pi/4}" /> <joint name="$(arg arm_id)_joint7" value="${pi/4}" />
</group_state> </group_state>
<group_state name="extended" group="${name}"> <group_state name="extended" group="${name}">
<joint name="panda_joint1" value="0" /> <joint name="$(arg arm_id)_joint1" value="0" />
<joint name="panda_joint2" value="0" /> <joint name="$(arg arm_id)_joint2" value="0" />
<joint name="panda_joint3" value="0" /> <joint name="$(arg arm_id)_joint3" value="0" />
<joint name="panda_joint4" value="-0.1" /> <joint name="$(arg arm_id)_joint4" value="-0.1" />
<joint name="panda_joint5" value="0" /> <joint name="$(arg arm_id)_joint5" value="0" />
<joint name="panda_joint6" value="${pi}" /> <joint name="$(arg arm_id)_joint6" value="${pi}" />
<joint name="panda_joint7" value="${pi/4}" /> <joint name="$(arg arm_id)_joint7" value="${pi/4}" />
</group_state> </group_state>
</xacro:macro> </xacro:macro>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)--> <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0" /> <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="$(arg arm_id)_link0" />
<xacro:macro name="collision" params="link"> <xacro:macro name="collision" params="link">
<!-- Enable (environmental) collisions of ${link}_sc --> <!-- Enable (environmental) collisions of ${link}_sc -->
<disable_default_collisions link="${link}_sc" /> <disable_default_collisions link="${link}_sc" />
<!-- Disable collisions of link with any other arm link, as these are handled by the "sc" links --> <!-- Disable collisions of link with any other arm link, as these are handled by the "sc" links -->
<disable_collisions link1="${link}" link2="panda_link0" reason="Never" /> <disable_collisions link1="${link}" link2="$(arg arm_id)_link0" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link1" reason="Never" /> <disable_collisions link1="${link}" link2="$(arg arm_id)_link1" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link2" reason="Never" /> <disable_collisions link1="${link}" link2="$(arg arm_id)_link2" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link3" reason="Never" /> <disable_collisions link1="${link}" link2="$(arg arm_id)_link3" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link4" reason="Never" /> <disable_collisions link1="${link}" link2="$(arg arm_id)_link4" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link5" reason="Never" /> <disable_collisions link1="${link}" link2="$(arg arm_id)_link5" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link6" reason="Never" /> <disable_collisions link1="${link}" link2="$(arg arm_id)_link6" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link7" reason="Never" /> <disable_collisions link1="${link}" link2="$(arg arm_id)_link7" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link8" reason="Never" /> <disable_collisions link1="${link}" link2="$(arg arm_id)_link8" reason="Never" />
</xacro:macro> </xacro:macro>
<xacro:collision link="panda_link0"/> <xacro:collision link="$(arg arm_id)_link0"/>
<enable_collisions link1="panda_link0_sc" link2="panda_link5_sc" /> <enable_collisions link1="$(arg arm_id)_link0_sc" link2="$(arg arm_id)_link5_sc" />
<enable_collisions link1="panda_link0_sc" link2="panda_link6_sc" /> <enable_collisions link1="$(arg arm_id)_link0_sc" link2="$(arg arm_id)_link6_sc" />
<enable_collisions link1="panda_link0_sc" link2="panda_link7_sc" /> <enable_collisions link1="$(arg arm_id)_link0_sc" link2="$(arg arm_id)_link7_sc" />
<enable_collisions link1="panda_link0_sc" link2="panda_link8_sc" /> <enable_collisions link1="$(arg arm_id)_link0_sc" link2="$(arg arm_id)_link8_sc" />
<xacro:collision link="panda_link1" /> <xacro:collision link="$(arg arm_id)_link1" />
<enable_collisions link1="panda_link1_sc" link2="panda_link5_sc" /> <enable_collisions link1="$(arg arm_id)_link1_sc" link2="$(arg arm_id)_link5_sc" />
<enable_collisions link1="panda_link1_sc" link2="panda_link6_sc" /> <enable_collisions link1="$(arg arm_id)_link1_sc" link2="$(arg arm_id)_link6_sc" />
<enable_collisions link1="panda_link1_sc" link2="panda_link7_sc" /> <enable_collisions link1="$(arg arm_id)_link1_sc" link2="$(arg arm_id)_link7_sc" />
<enable_collisions link1="panda_link1_sc" link2="panda_link8_sc" /> <enable_collisions link1="$(arg arm_id)_link1_sc" link2="$(arg arm_id)_link8_sc" />
<xacro:collision link="panda_link2" /> <xacro:collision link="$(arg arm_id)_link2" />
<enable_collisions link1="panda_link2_sc" link2="panda_link5_sc" /> <enable_collisions link1="$(arg arm_id)_link2_sc" link2="$(arg arm_id)_link5_sc" />
<enable_collisions link1="panda_link2_sc" link2="panda_link6_sc" /> <enable_collisions link1="$(arg arm_id)_link2_sc" link2="$(arg arm_id)_link6_sc" />
<enable_collisions link1="panda_link2_sc" link2="panda_link7_sc" /> <enable_collisions link1="$(arg arm_id)_link2_sc" link2="$(arg arm_id)_link7_sc" />
<enable_collisions link1="panda_link2_sc" link2="panda_link8_sc" /> <enable_collisions link1="$(arg arm_id)_link2_sc" link2="$(arg arm_id)_link8_sc" />
<xacro:collision link="panda_link3" /> <xacro:collision link="$(arg arm_id)_link3" />
<enable_collisions link1="panda_link3_sc" link2="panda_link7_sc" /> <enable_collisions link1="$(arg arm_id)_link3_sc" link2="$(arg arm_id)_link7_sc" />
<enable_collisions link1="panda_link3_sc" link2="panda_link8_sc" /> <enable_collisions link1="$(arg arm_id)_link3_sc" link2="$(arg arm_id)_link8_sc" />
<xacro:collision link="panda_link4" /> <xacro:collision link="$(arg arm_id)_link4" />
<xacro:collision link="panda_link5" /> <xacro:collision link="$(arg arm_id)_link5" />
<xacro:collision link="panda_link6" /> <xacro:collision link="$(arg arm_id)_link6" />
<xacro:collision link="panda_link7" /> <xacro:collision link="$(arg arm_id)_link7" />
<xacro:collision link="panda_link8" /> <xacro:collision link="$(arg arm_id)_link8" />
</robot> </robot>
config/fake_controllers.yaml
+ 13
− 22
View file @ 9f0d06d1
controller_list: controller_list:
- name: fake_panda_arm_controller - name: fake_$(arg arm_id)_arm_controller
type: $(arg fake_execution_type) type: $(arg fake_execution_type)
joints: joints:
- panda_joint1 - $(arg arm_id)_joint1
- panda_joint2 - $(arg arm_id)_joint2
- panda_joint3 - $(arg arm_id)_joint3
- panda_joint4 - $(arg arm_id)_joint4
- panda_joint5 - $(arg arm_id)_joint5
- panda_joint6 - $(arg arm_id)_joint6
- panda_joint7 - $(arg arm_id)_joint7
- name: fake_hand_controller
- name: fake_$(arg arm_id)_hand_controller
type: $(arg fake_execution_type) type: $(arg fake_execution_type)
joints: joints:
- panda_finger_joint1 - $(arg arm_id)_finger_joint1
- name: fake_panda_arm_hand_controller
type: $(arg fake_execution_type)
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
- panda_finger_joint1
initial: # Define initial robot poses per group initial: # Define initial robot poses per group
- group: panda_arm - group: $(arg arm_id)_arm
pose: ready pose: ready
- group: hand - group: hand
pose: open pose: open
\ No newline at end of file
config/hand.xacro
+ 34
− 34
View file @ 9f0d06d1
...@@ -3,16 +3,16 @@ ...@@ -3,16 +3,16 @@
<xacro:macro name="finger_collisions" params="finger"> <xacro:macro name="finger_collisions" params="finger">
<!-- Disable all self-collisions between finger and arm links, <!-- Disable all self-collisions between finger and arm links,
as these are already covered by the coarser hand collision model --> as these are already covered by the coarser hand collision model -->
<disable_collisions link1="${finger}" link2="panda_link0" reason="Never" /> <disable_collisions link1="${finger}" link2="$(arg arm_id)_link0" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link1" reason="Never" /> <disable_collisions link1="${finger}" link2="$(arg arm_id)_link1" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link2" reason="Never" /> <disable_collisions link1="${finger}" link2="$(arg arm_id)_link2" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link3" reason="Never" /> <disable_collisions link1="${finger}" link2="$(arg arm_id)_link3" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link4" reason="Never" /> <disable_collisions link1="${finger}" link2="$(arg arm_id)_link4" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link5" reason="Never" /> <disable_collisions link1="${finger}" link2="$(arg arm_id)_link5" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link6" reason="Never" /> <disable_collisions link1="${finger}" link2="$(arg arm_id)_link6" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link7" reason="Never" /> <disable_collisions link1="${finger}" link2="$(arg arm_id)_link7" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link8" reason="Never" /> <disable_collisions link1="${finger}" link2="$(arg arm_id)_link8" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_hand" reason="Never" /> <disable_collisions link1="${finger}" link2="$(arg arm_id)_hand" reason="Never" />
</xacro:macro> </xacro:macro>
<xacro:macro name="hand"> <xacro:macro name="hand">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc--> <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
...@@ -21,41 +21,41 @@ ...@@ -21,41 +21,41 @@
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group--> <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names--> <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="hand"> <group name="hand">
<link name="panda_hand"/> <link name="$(arg arm_id)_hand"/>
<link name="panda_leftfinger"/> <link name="$(arg arm_id)_leftfinger"/>
<link name="panda_rightfinger"/> <link name="$(arg arm_id)_rightfinger"/>
</group> </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 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="open" group="hand"> <group_state name="open" group="hand">
<joint name="panda_finger_joint1" value="0.035"/> <joint name="$(arg arm_id)_finger_joint1" value="0.035"/>
<joint name="panda_finger_joint2" value="0.035"/> <joint name="$(arg arm_id)_finger_joint2" value="0.035"/>
</group_state> </group_state>
<group_state name="close" group="hand"> <group_state name="close" group="hand">
<joint name="panda_finger_joint1" value="0"/> <joint name="$(arg arm_id)_finger_joint1" value="0"/>
<joint name="panda_finger_joint2" value="0"/> <joint name="$(arg arm_id)_finger_joint2" value="0"/>
</group_state> </group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.--> <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<!--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: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated--> <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<!--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: 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_default_collisions link="panda_hand_sc" /> <disable_default_collisions link="$(arg arm_id)_hand_sc" />
<enable_collisions link1="panda_hand_sc" link2="panda_link0_sc" /> <enable_collisions link1="$(arg arm_id)_hand_sc" link2="$(arg arm_id)_link0_sc" />
<enable_collisions link1="panda_hand_sc" link2="panda_link1_sc" /> <enable_collisions link1="$(arg arm_id)_hand_sc" link2="$(arg arm_id)_link1_sc" />
<enable_collisions link1="panda_hand_sc" link2="panda_link2_sc" /> <enable_collisions link1="$(arg arm_id)_hand_sc" link2="$(arg arm_id)_link2_sc" />
<enable_collisions link1="panda_hand_sc" link2="panda_link3_sc" /> <enable_collisions link1="$(arg arm_id)_hand_sc" link2="$(arg arm_id)_link3_sc" />
<!-- Disable collision of hand with all arm links. These are handled by the *_sc links --> <!-- Disable collision of hand with all arm links. These are handled by the *_sc links -->
<disable_collisions link1="panda_hand" link2="panda_link0" reason="Never" /> <disable_collisions link1="$(arg arm_id)_hand" link2="$(arg arm_id)_link0" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link1" reason="Never" /> <disable_collisions link1="$(arg arm_id)_hand" link2="$(arg arm_id)_link1" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link2" reason="Never" /> <disable_collisions link1="$(arg arm_id)_hand" link2="$(arg arm_id)_link2" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" /> <disable_collisions link1="$(arg arm_id)_hand" link2="$(arg arm_id)_link3" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" /> <disable_collisions link1="$(arg arm_id)_hand" link2="$(arg arm_id)_link4" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link5" reason="Never" /> <disable_collisions link1="$(arg arm_id)_hand" link2="$(arg arm_id)_link5" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" /> <disable_collisions link1="$(arg arm_id)_hand" link2="$(arg arm_id)_link6" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link7" reason="Never" /> <disable_collisions link1="$(arg arm_id)_hand" link2="$(arg arm_id)_link7" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link8" reason="Never" /> <disable_collisions link1="$(arg arm_id)_hand" link2="$(arg arm_id)_link8" reason="Never" />
<xacro:finger_collisions finger="panda_leftfinger" /> <xacro:finger_collisions finger="$(arg arm_id)_leftfinger" />
<xacro:finger_collisions finger="panda_rightfinger" /> <xacro:finger_collisions finger="$(arg arm_id)_rightfinger" />
<disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Never" /> <disable_collisions link1="$(arg arm_id)_leftfinger" link2="$(arg arm_id)_rightfinger" reason="Never" />
</xacro:macro> </xacro:macro>
</robot> </robot>
config/joint_limits.yaml
+ 9
− 9
View file @ 9f0d06d1
...@@ -14,47 +14,47 @@ default_acceleration_scaling_factor: 0.1 ...@@ -14,47 +14,47 @@ default_acceleration_scaling_factor: 0.1
# max_jerk = (max_acceleration - min_acceleration) / 0.001 # max_jerk = (max_acceleration - min_acceleration) / 0.001
joint_limits: joint_limits:
panda_finger_joint1: $(arg arm_id)_finger_joint1:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.1 max_velocity: 0.1
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 0
panda_finger_joint2: $(arg arm_id)_finger_joint2:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.1 max_velocity: 0.1
has_acceleration_limits: false has_acceleration_limits: false
max_acceleration: 0 max_acceleration: 0
panda_joint1: $(arg arm_id)_joint1:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 2.1750 max_velocity: 2.1750
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 3.75 max_acceleration: 3.75
panda_joint2: $(arg arm_id)_joint2:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 2.1750 max_velocity: 2.1750
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 1.875 max_acceleration: 1.875
panda_joint3: $(arg arm_id)_joint3:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 2.1750 max_velocity: 2.1750
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 2.5 max_acceleration: 2.5
panda_joint4: $(arg arm_id)_joint4:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 2.1750 max_velocity: 2.1750
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 3.125 max_acceleration: 3.125
panda_joint5: $(arg arm_id)_joint5:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 2.6100 max_velocity: 2.6100
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 3.75 max_acceleration: 3.75
panda_joint6: $(arg arm_id)_joint6:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 2.6100 max_velocity: 2.6100
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 5 max_acceleration: 5
panda_joint7: $(arg arm_id)_joint7:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 2.6100 max_velocity: 2.6100
has_acceleration_limits: true has_acceleration_limits: true
......
config/kinematics.yaml
+ 1
− 1
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panda_arm: &arm_config $(arg arm_id)_arm: &arm_config
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005 kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.05 kinematics_solver_timeout: 0.05
......
config/ompl_planning.yaml
+ 2
− 2
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...@@ -127,7 +127,7 @@ planner_configs: ...@@ -127,7 +127,7 @@ planner_configs:
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000 max_failures: 5000 # maximum consecutive failure limit. default: 5000
panda_arm: &arm_config $(arg arm_id)_arm: &arm_config
planner_configs: planner_configs:
- AnytimePathShortening - AnytimePathShortening
- SBL - SBL
...@@ -153,7 +153,7 @@ panda_arm: &arm_config ...@@ -153,7 +153,7 @@ panda_arm: &arm_config
- LazyPRMstar - LazyPRMstar
- SPARS - SPARS
- SPARStwo - SPARStwo
projection_evaluator: joints(panda_joint1,panda_joint2) projection_evaluator: joints($(arg arm_id)_joint1,$(arg arm_id)_joint2)
longest_valid_segment_fraction: 0.005 longest_valid_segment_fraction: 0.005
manipulator: *arm_config manipulator: *arm_config
hand: hand:
......
config/panda.srdf.xacro
+ 5
− 4
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...@@ -5,22 +5,23 @@ ...@@ -5,22 +5,23 @@
--> -->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:include filename="$(find panda_moveit_config)/config/arm.xacro" /> <xacro:include filename="$(find panda_moveit_config)/config/arm.xacro" />
<xacro:arg name="arm_id" default="panda" />
<!-- panda_arm group: eef frame aligned to robot's flanche --> <!-- panda_arm group: eef frame aligned to robot's flanche -->
<xacro:arm name="panda_arm" tip_link="panda_link8"/> <xacro:arm name="$(arg arm_id)_arm" tip_link="$(arg arm_id)_link8"/>
<xacro:arg name="hand" default="false" /> <xacro:arg name="hand" default="false" />
<!--Add the hand if people request it--> <!--Add the hand if people request it-->
<xacro:if value="$(arg hand)"> <xacro:if value="$(arg hand)">
<!-- manipulator group: eef frame aligned to hand --> <!-- manipulator group: eef frame aligned to hand -->
<xacro:arm name="manipulator" tip_link="panda_hand_tcp" /> <xacro:arm name="$(arg arm_id)_manipulator" tip_link="$(arg arm_id)_hand_tcp" />
<xacro:include filename="$(find panda_moveit_config)/config/hand.xacro" /> <xacro:include filename="$(find panda_moveit_config)/config/hand.xacro" />
<xacro:hand /> <xacro:hand />
<!--END EFFECTOR: Purpose: Represent information about an end effector.--> <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="hand_tcp" parent_link="panda_hand_tcp" group="hand" parent_group="manipulator" /> <end_effector name="hand_tcp" parent_link="$(arg arm_id)_hand_tcp" group="hand" parent_group="$(arg arm_id)_manipulator" />
<!-- old end-effector --> <!-- old end-effector -->
<end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" /> <end_effector name="hand" parent_link="$(arg arm_id)_link8" group="hand" parent_group="$(arg arm_id)_arm" />
</xacro:if> </xacro:if>
</robot> </robot>
config/simple_moveit_controllers.yaml
+ 8
− 8
View file @ 9f0d06d1
...@@ -4,16 +4,16 @@ controller_list: ...@@ -4,16 +4,16 @@ controller_list:
type: FollowJointTrajectory type: FollowJointTrajectory
default: True default: True
joints: joints:
- panda_joint1 - $(arg arm_id)_joint1
- panda_joint2 - $(arg arm_id)_joint2
- panda_joint3 - $(arg arm_id)_joint3
- panda_joint4 - $(arg arm_id)_joint4
- panda_joint5 - $(arg arm_id)_joint5
- panda_joint6 - $(arg arm_id)_joint6
- panda_joint7 - $(arg arm_id)_joint7
- name: franka_gripper - name: franka_gripper
action_ns: gripper_action action_ns: gripper_action
type: GripperCommand type: GripperCommand
default: True default: True
joints: joints:
- panda_finger_joint1 - $(arg arm_id)_finger_joint1
launch/demo.launch
+ 2
− 1
View file @ 9f0d06d1
<launch> <launch>
<arg name="arm_id" default="panda" />
<!-- specify the planning pipeline --> <!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" /> <arg name="pipeline" default="ompl" />
...@@ -31,7 +32,7 @@ ...@@ -31,7 +32,7 @@
<arg name="rviz_tutorial" default="false" /> <arg name="rviz_tutorial" default="false" />
<!-- If needed, broadcast static tf for robot root --> <!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0" /> <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world $(arg arm_id)_link0" />
......
launch/move_group.launch
+ 7
− 0
View file @ 9f0d06d1
...@@ -24,6 +24,8 @@ ...@@ -24,6 +24,8 @@
<!--Other settings--> <!--Other settings-->
<arg name="load_gripper" default="true" /> <arg name="load_gripper" default="true" />
<arg name="transmission" default="effort" />
<arg name="arm_id" default="panda" />
<!-- load these non-default MoveGroup capabilities (space seperated) --> <!-- load these non-default MoveGroup capabilities (space seperated) -->
<!-- <!--
...@@ -46,6 +48,7 @@ ...@@ -46,6 +48,7 @@
<include file="$(dirname)/planning_context.launch"> <include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="$(arg load_robot_description)" /> <arg name="load_robot_description" value="$(arg load_robot_description)" />
<arg name="load_gripper" value="$(arg load_gripper)" /> <arg name="load_gripper" value="$(arg load_gripper)" />
<arg name="arm_id" value="$(arg arm_id)" />
</include> </include>
<!-- Planning Pipelines --> <!-- Planning Pipelines -->
...@@ -54,22 +57,26 @@ ...@@ -54,22 +57,26 @@
<!-- OMPL --> <!-- OMPL -->
<include file="$(dirname)/planning_pipeline.launch.xml"> <include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" /> <arg name="pipeline" value="ompl" />
<arg name="arm_id" value="$(arg arm_id)" />
</include> </include>
<!-- CHOMP --> <!-- CHOMP -->
<include file="$(dirname)/planning_pipeline.launch.xml"> <include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="chomp" /> <arg name="pipeline" value="chomp" />
<arg name="arm_id" value="$(arg arm_id)" />
</include> </include>
<!-- Pilz Industrial Motion --> <!-- Pilz Industrial Motion -->
<include file="$(dirname)/planning_pipeline.launch.xml"> <include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="pilz_industrial_motion_planner" /> <arg name="pipeline" value="pilz_industrial_motion_planner" />
<arg name="arm_id" value="$(arg arm_id)" />
</include> </include>
<!-- Support custom planning pipeline --> <!-- Support custom planning pipeline -->
<include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])" <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
file="$(dirname)/planning_pipeline.launch.xml"> file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg pipeline)" /> <arg name="pipeline" value="$(arg pipeline)" />
<arg name="arm_id" value="$(arg arm_id)" />
</include> </include>
</group> </group>
......
launch/ompl_planning_pipeline.launch.xml
+ 2
− 1
View file @ 9f0d06d1
...@@ -12,6 +12,7 @@ ...@@ -12,6 +12,7 @@
<arg name="start_state_max_bounds_error" default="0.1" /> <arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" /> <arg name="jiggle_fraction" default="0.05" />
<arg name="arm_id" default="panda" />
<param name="planning_plugin" value="ompl_interface/OMPLPlanner" /> <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" /> <param name="request_adapters" value="$(arg planning_adapters)" />
...@@ -21,6 +22,6 @@ ...@@ -21,6 +22,6 @@
<!-- Add MoveGroup capabilities specific to this pipeline --> <!-- Add MoveGroup capabilities specific to this pipeline -->
<!-- <param name="capabilities" value="" /> --> <!-- <param name="capabilities" value="" /> -->
<rosparam command="load" file="$(find panda_moveit_config)/config/ompl_planning.yaml"/> <rosparam command="load" file="$(find panda_moveit_config)/config/ompl_planning.yaml" subst_value="true"/>
</launch> </launch>
launch/planning_context.launch
+ 6
− 5
View file @ 9f0d06d1
...@@ -2,25 +2,26 @@ ...@@ -2,25 +2,26 @@
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior --> <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
<arg name="load_gripper" default="true" /> <arg name="load_gripper" default="true" />
<arg name="load_robot_description" default="false"/> <arg name="load_robot_description" default="false"/>
<arg name="arm_id" default="panda" />
<!-- The name of the parameter under which the URDF is loaded --> <!-- The name of the parameter under which the URDF is loaded -->
<arg name="robot_description" default="robot_description"/> <arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) --> <!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro hand:=$(arg load_gripper) '$(find franka_description)/robots/panda_arm.urdf.xacro'"/> <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro hand:=$(arg load_gripper) '$(find franka_description)/robots/panda_arm.urdf.xacro' arm_id:=$(arg arm_id)"/>
<!-- The semantic description that corresponds to the URDF --> <!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda.srdf.xacro' hand:=$(arg load_gripper)"/> <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro '$(find panda_moveit_config)/config/panda.srdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id)"/>
<!-- Load updated joint limits (override information from URDF) --> <!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning"> <group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find panda_moveit_config)/config/joint_limits.yaml"/> <rosparam command="load" file="$(find panda_moveit_config)/config/joint_limits.yaml" subst_value="true" />
<rosparam command="load" file="$(find panda_moveit_config)/config/cartesian_limits.yaml"/> <rosparam command="load" file="$(find panda_moveit_config)/config/cartesian_limits.yaml" subst_value="true"/>
</group> </group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace --> <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics"> <group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml" subst_value="true"/>
</group> </group>
......
launch/planning_pipeline.launch.xml
+ 2
− 1
View file @ 9f0d06d1
...@@ -4,7 +4,8 @@ ...@@ -4,7 +4,8 @@
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch --> It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
<arg name="pipeline" default="ompl" /> <arg name="pipeline" default="ompl" />
<arg name="arm_id" default="panda" />
<include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" /> <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" pass_all_args="true"/>
</launch> </launch>
launch/ros_controllers.launch
+ 2
− 2
View file @ 9f0d06d1
...@@ -2,9 +2,9 @@ ...@@ -2,9 +2,9 @@
<launch> <launch>
<!-- Load joint controller configurations from YAML file to parameter server --> <!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find panda_moveit_config)/config/ros_controllers.yaml" command="load"/> <rosparam file="$(find panda_moveit_config)/config/ros_controllers.yaml" command="load" subst_value="true"/>
<!-- Load and start the controllers --> <!-- Load and start the controllers -->
<node ns="/" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" <node ns="/$(arg arm_id)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
args="$(arg transmission)_joint_trajectory_controller" /> args="$(arg transmission)_joint_trajectory_controller" />
</launch> </launch>
launch/stomp_planning_pipeline.launch.xml
+ 2
− 2
View file @ 9f0d06d1
...@@ -22,9 +22,9 @@ ...@@ -22,9 +22,9 @@
<!-- <param name="capabilities" value="" /> --> <!-- <param name="capabilities" value="" /> -->
<!-- Load parameters for both groups, panda_arm and manipulator --> <!-- Load parameters for both groups, panda_arm and manipulator -->
<group ns="panda_arm"> <group ns="$(arg arm_id)_arm">
<rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml" /> <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml" />
<param name="group_name" value="panda_arm" /> <param name="group_name" value="$(arg arm_id)_arm" />
</group> </group>
<group ns="manipulator"> <group ns="manipulator">
<rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml" /> <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml" />
......
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