diff --git a/husky_franka_description/urdf/husky_panda_description.urdf.xacro b/husky_franka_description/urdf/husky_panda_description.urdf.xacro index 5b13ffd..1266ea9 100644 --- a/husky_franka_description/urdf/husky_panda_description.urdf.xacro +++ b/husky_franka_description/urdf/husky_panda_description.urdf.xacro @@ -8,7 +8,7 @@ - - + + diff --git a/husky_franka_description/urdf/husky_panda_hand_description.urdf.xacro b/husky_franka_description/urdf/husky_panda_hand_description.urdf.xacro index 6b59aa3..1e229d6 100644 --- a/husky_franka_description/urdf/husky_panda_hand_description.urdf.xacro +++ b/husky_franka_description/urdf/husky_panda_hand_description.urdf.xacro @@ -3,13 +3,13 @@ - + - - - - + + + + diff --git a/husky_franka_moveit_config/.setup_assistant b/husky_franka_moveit_config/.setup_assistant new file mode 100644 index 0000000..da94cb4 --- /dev/null +++ b/husky_franka_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: husky_description + relative_path: urdf/husky.urdf.xacro + xacro_args: "" + SRDF: + relative_path: config/husky.srdf + CONFIG: + author_name: Jeff Schmidt + author_email: jschmidt@clearpathrobotics.com + generated_timestamp: 1664379726 \ No newline at end of file diff --git a/husky_franka_moveit_config/CMakeLists.txt b/husky_franka_moveit_config/CMakeLists.txt new file mode 100644 index 0000000..ba29cae --- /dev/null +++ b/husky_franka_moveit_config/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.1.3) +project(husky_franka_moveit_config) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/husky_franka_moveit_config/config/cartesian_limits.yaml b/husky_franka_moveit_config/config/cartesian_limits.yaml new file mode 100644 index 0000000..7df72f6 --- /dev/null +++ b/husky_franka_moveit_config/config/cartesian_limits.yaml @@ -0,0 +1,5 @@ +cartesian_limits: + max_trans_vel: 1 + max_trans_acc: 2.25 + max_trans_dec: -5 + max_rot_vel: 1.57 diff --git a/husky_franka_moveit_config/config/chomp_planning.yaml b/husky_franka_moveit_config/config/chomp_planning.yaml new file mode 100644 index 0000000..eb9c912 --- /dev/null +++ b/husky_franka_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.0 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearance: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: false +max_recovery_attempts: 5 diff --git a/husky_franka_moveit_config/config/controllers.yaml b/husky_franka_moveit_config/config/controllers.yaml new file mode 100644 index 0000000..3cd123f --- /dev/null +++ b/husky_franka_moveit_config/config/controllers.yaml @@ -0,0 +1,13 @@ +controller_list: + - name: position_joint_trajectory_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - panda_joint1 + - panda_joint2 + - panda_joint3 + - panda_joint4 + - panda_joint5 + - panda_joint6 + - panda_joint7 diff --git a/husky_franka_moveit_config/config/fake_controllers.yaml b/husky_franka_moveit_config/config/fake_controllers.yaml new file mode 100644 index 0000000..d9f4d8d --- /dev/null +++ b/husky_franka_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,18 @@ +controller_list: + - name: fake_manipulator_controller + type: $(arg fake_execution_type) + joints: + - panda_joint1 + - panda_joint2 + - panda_joint3 + - panda_joint4 + - panda_joint5 + - panda_joint6 + - panda_joint7 + - name: fake_hand_controller + type: $(arg fake_execution_type) + joints: + [] +initial: # Define initial robot poses per group + - group: manipulator + pose: stow \ No newline at end of file diff --git a/husky_franka_moveit_config/config/husky.srdf b/husky_franka_moveit_config/config/husky.srdf new file mode 100644 index 0000000..981c831 --- /dev/null +++ b/husky_franka_moveit_config/config/husky.srdf @@ -0,0 +1,202 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/config/joint_limits.yaml b/husky_franka_moveit_config/config/joint_limits.yaml new file mode 100644 index 0000000..174d7af --- /dev/null +++ b/husky_franka_moveit_config/config/joint_limits.yaml @@ -0,0 +1,45 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed + +# For beginners, we downscale velocity and acceleration limits. +# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. +default_velocity_scaling_factor: 0.1 +default_acceleration_scaling_factor: 0.1 + +# 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: + panda_joint1: + has_velocity_limits: true + max_velocity: 2.175 + has_acceleration_limits: false + max_acceleration: 0 + panda_joint2: + has_velocity_limits: true + max_velocity: 2.175 + has_acceleration_limits: false + max_acceleration: 0 + panda_joint3: + has_velocity_limits: true + max_velocity: 2.175 + has_acceleration_limits: false + max_acceleration: 0 + panda_joint4: + has_velocity_limits: true + max_velocity: 2.175 + has_acceleration_limits: false + max_acceleration: 0 + panda_joint5: + has_velocity_limits: true + max_velocity: 2.61 + has_acceleration_limits: false + max_acceleration: 0 + panda_joint6: + has_velocity_limits: true + max_velocity: 2.61 + has_acceleration_limits: false + max_acceleration: 0 + panda_joint7: + has_velocity_limits: true + max_velocity: 2.61 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/husky_franka_moveit_config/config/kinematics.yaml b/husky_franka_moveit_config/config/kinematics.yaml new file mode 100644 index 0000000..fa703b7 --- /dev/null +++ b/husky_franka_moveit_config/config/kinematics.yaml @@ -0,0 +1,8 @@ +manipulator: + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 +hand: + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 \ No newline at end of file diff --git a/husky_franka_moveit_config/config/ompl_planning.yaml b/husky_franka_moveit_config/config/ompl_planning.yaml new file mode 100644 index 0000000..6cee62c --- /dev/null +++ b/husky_franka_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,181 @@ +planner_configs: + AnytimePathShortening: + type: geometric::AnytimePathShortening + shortcut: true # Attempt to shortcut all new solution paths + hybridize: true # Compute hybrid solution trajectories + max_hybrid_paths: 24 # Number of hybrid paths generated per iteration + num_planners: 4 # The number of default planners to use for planning + planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]" + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + 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 + LBKPIECE: + 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 + BKPIECE: + 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 + KPIECE: + 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 + RRT: + 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 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + 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 + TRRT: + 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() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + 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 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + 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 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + 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 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + 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 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + 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 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +manipulator: + planner_configs: + - AnytimePathShortening + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo +hand: + planner_configs: + - AnytimePathShortening + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/husky_franka_moveit_config/config/ros_controllers.yaml b/husky_franka_moveit_config/config/ros_controllers.yaml new file mode 100644 index 0000000..e69de29 diff --git a/husky_franka_moveit_config/config/simple_moveit_controllers.yaml b/husky_franka_moveit_config/config/simple_moveit_controllers.yaml new file mode 100644 index 0000000..4118c3b --- /dev/null +++ b/husky_franka_moveit_config/config/simple_moveit_controllers.yaml @@ -0,0 +1,2 @@ +controller_list: + [] \ No newline at end of file diff --git a/husky_franka_moveit_config/config/stomp_planning.yaml b/husky_franka_moveit_config/config/stomp_planning.yaml new file mode 100644 index 0000000..9ff4bf8 --- /dev/null +++ b/husky_franka_moveit_config/config/stomp_planning.yaml @@ -0,0 +1,78 @@ +stomp/manipulator: + group_name: manipulator + optimization: + num_timesteps: 60 + num_iterations: 40 + num_iterations_after_valid: 0 + num_rollouts: 30 + max_rollouts: 30 + initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST] + control_cost_weight: 0.0 + task: + noise_generator: + - class: stomp_moveit/NormalDistributionSampling + stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05] + cost_functions: + - class: stomp_moveit/CollisionCheck + collision_penalty: 1.0 + cost_weight: 1.0 + kernel_window_percentage: 0.2 + longest_valid_joint_move: 0.05 + noisy_filters: + - class: stomp_moveit/JointLimits + lock_start: True + lock_goal: True + - class: stomp_moveit/MultiTrajectoryVisualization + line_width: 0.02 + rgb: [255, 255, 0] + marker_array_topic: stomp_trajectories + marker_namespace: noisy + update_filters: + - class: stomp_moveit/PolynomialSmoother + poly_order: 6 + - class: stomp_moveit/TrajectoryVisualization + line_width: 0.05 + rgb: [0, 191, 255] + error_rgb: [255, 0, 0] + publish_intermediate: True + marker_topic: stomp_trajectory + marker_namespace: optimized +stomp/hand: + group_name: hand + optimization: + num_timesteps: 60 + num_iterations: 40 + num_iterations_after_valid: 0 + num_rollouts: 30 + max_rollouts: 30 + initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST] + control_cost_weight: 0.0 + task: + noise_generator: + - class: stomp_moveit/NormalDistributionSampling + stddev: [] + cost_functions: + - class: stomp_moveit/CollisionCheck + collision_penalty: 1.0 + cost_weight: 1.0 + kernel_window_percentage: 0.2 + longest_valid_joint_move: 0.05 + noisy_filters: + - class: stomp_moveit/JointLimits + lock_start: True + lock_goal: True + - class: stomp_moveit/MultiTrajectoryVisualization + line_width: 0.02 + rgb: [255, 255, 0] + marker_array_topic: stomp_trajectories + marker_namespace: noisy + update_filters: + - class: stomp_moveit/PolynomialSmoother + poly_order: 6 + - class: stomp_moveit/TrajectoryVisualization + line_width: 0.05 + rgb: [0, 191, 255] + error_rgb: [255, 0, 0] + publish_intermediate: True + marker_topic: stomp_trajectory + marker_namespace: optimized \ No newline at end of file diff --git a/husky_franka_moveit_config/launch/chomp_planning_pipeline.launch.xml b/husky_franka_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..e4cabe1 --- /dev/null +++ b/husky_franka_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/default_warehouse_db.launch b/husky_franka_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 0000000..0131e3d --- /dev/null +++ b/husky_franka_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/demo.launch b/husky_franka_moveit_config/launch/demo.launch new file mode 100644 index 0000000..3e277f4 --- /dev/null +++ b/husky_franka_moveit_config/launch/demo.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [/move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/demo_gazebo.launch b/husky_franka_moveit_config/launch/demo_gazebo.launch new file mode 100644 index 0000000..a9f320c --- /dev/null +++ b/husky_franka_moveit_config/launch/demo_gazebo.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/husky_franka_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..a36936a --- /dev/null +++ b/husky_franka_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/gazebo.launch b/husky_franka_moveit_config/launch/gazebo.launch new file mode 100644 index 0000000..45f97b7 --- /dev/null +++ b/husky_franka_moveit_config/launch/gazebo.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/husky_franka_moveit_planning_execution.launch b/husky_franka_moveit_config/launch/husky_franka_moveit_planning_execution.launch new file mode 100644 index 0000000..41ca7ca --- /dev/null +++ b/husky_franka_moveit_config/launch/husky_franka_moveit_planning_execution.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/husky_moveit_controller_manager.launch.xml b/husky_franka_moveit_config/launch/husky_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..3c7c194 --- /dev/null +++ b/husky_franka_moveit_config/launch/husky_moveit_controller_manager.launch.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/husky_franka_moveit_config/launch/husky_moveit_sensor_manager.launch.xml b/husky_franka_moveit_config/launch/husky_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/husky_franka_moveit_config/launch/husky_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/husky_franka_moveit_config/launch/joystick_control.launch b/husky_franka_moveit_config/launch/joystick_control.launch new file mode 100644 index 0000000..f741735 --- /dev/null +++ b/husky_franka_moveit_config/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/move_group.launch b/husky_franka_moveit_config/launch/move_group.launch new file mode 100644 index 0000000..5ffbd09 --- /dev/null +++ b/husky_franka_moveit_config/launch/move_group.launch @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/moveit.rviz b/husky_franka_moveit_config/launch/moveit.rviz new file mode 100644 index 0000000..0877e1e --- /dev/null +++ b/husky_franka_moveit_config/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /base_link + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/husky_franka_moveit_config/launch/moveit_rviz.launch b/husky_franka_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 0000000..6e07ca8 --- /dev/null +++ b/husky_franka_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml b/husky_franka_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..b078992 --- /dev/null +++ b/husky_franka_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/ompl_planning_pipeline.launch.xml b/husky_franka_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..abfc99c --- /dev/null +++ b/husky_franka_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/husky_franka_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml new file mode 100644 index 0000000..c7c4cf5 --- /dev/null +++ b/husky_franka_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/planning_context.launch b/husky_franka_moveit_config/launch/planning_context.launch new file mode 100644 index 0000000..892c2b5 --- /dev/null +++ b/husky_franka_moveit_config/launch/planning_context.launch @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/planning_pipeline.launch.xml b/husky_franka_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..bf06772 --- /dev/null +++ b/husky_franka_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/ros_control_moveit_controller_manager.launch.xml b/husky_franka_moveit_config/launch/ros_control_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..9ebc91c --- /dev/null +++ b/husky_franka_moveit_config/launch/ros_control_moveit_controller_manager.launch.xml @@ -0,0 +1,4 @@ + + + + diff --git a/husky_franka_moveit_config/launch/ros_controllers.launch b/husky_franka_moveit_config/launch/ros_controllers.launch new file mode 100644 index 0000000..67cbd6b --- /dev/null +++ b/husky_franka_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/run_benchmark_ompl.launch b/husky_franka_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..51dc304 --- /dev/null +++ b/husky_franka_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/sensor_manager.launch.xml b/husky_franka_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..f18f87d --- /dev/null +++ b/husky_franka_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/setup_assistant.launch b/husky_franka_moveit_config/launch/setup_assistant.launch new file mode 100644 index 0000000..cca22c2 --- /dev/null +++ b/husky_franka_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/simple_moveit_controller_manager.launch.xml b/husky_franka_moveit_config/launch/simple_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..ad54b2b --- /dev/null +++ b/husky_franka_moveit_config/launch/simple_moveit_controller_manager.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/husky_franka_moveit_config/launch/stomp_planning_pipeline.launch.xml b/husky_franka_moveit_config/launch/stomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..b0a3ab6 --- /dev/null +++ b/husky_franka_moveit_config/launch/stomp_planning_pipeline.launch.xml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/trajectory_execution.launch.xml b/husky_franka_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..ac44845 --- /dev/null +++ b/husky_franka_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/warehouse.launch b/husky_franka_moveit_config/launch/warehouse.launch new file mode 100644 index 0000000..ea52ba4 --- /dev/null +++ b/husky_franka_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/launch/warehouse_settings.launch.xml b/husky_franka_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..d11aaeb --- /dev/null +++ b/husky_franka_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/husky_franka_moveit_config/package.xml b/husky_franka_moveit_config/package.xml new file mode 100644 index 0000000..2878e2a --- /dev/null +++ b/husky_franka_moveit_config/package.xml @@ -0,0 +1,30 @@ + + husky_franka_moveit_config + 0.0.0 + + An automatically generated package with all the configuration and launch files for using the Husky with the MoveIt! Motion Planning Framework + + Dave Niewinski + Dave Niewinski + + BSD + + http://robots.ros.org/husky/ + https://github.com/husky/husky_manipulation/issues + https://github.com/husky/husky_manipulation + + catkin + + moveit_ros_move_group + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + joint_state_publisher + robot_state_publisher + xacro + husky_description + moveit_simple_controller_manager + trac_ik_kinematics_plugin + + roslaunch + diff --git a/husky_franka_moveit_config/scripts/customize_moveit.sh b/husky_franka_moveit_config/scripts/customize_moveit.sh new file mode 100755 index 0000000..4f07714 --- /dev/null +++ b/husky_franka_moveit_config/scripts/customize_moveit.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +if [ $# == 1 ] +then + echo "Creating Directory <" $PWD"/"$1 ">" + mkdir "$1" + cd "$1" + + echo "Copying Single Franka Moveit Config" + cp -r $(catkin_find husky_franka_moveit_config)/. . + echo "Updating Package" + grep -rli 'husky_franka_moveit_config' * | xargs -i@ sed -i 's/husky_franka_moveit_config/'$1'/g' @ + echo "Done" + +else + echo "USAGE: customize_moveit.sh [new_moveit_package_name]" +fi