Skip to content
Snippets Groups Projects

Compare revisions

Changes are shown as if the source revision was being merged into the target revision. Learn more about comparing revisions.

Source

Select target project
No results found
Select Git revision
  • main
1 result

Target

Select target project
  • gut-teaching/introduction-to-robotics/introduction-to-robotics
  • florian.becker.dus/introduction-to-robotics
  • mohildenraaz/introduction-to-robotics
  • max.huthmacher/introduction-to-robotics
  • madhavapandiyan26/introduction-to-robotics
  • beckerst99/introduction-to-robotics
  • gohari_mojdeh/introduction-to-robotics
7 results
Select Git revision
  • main
1 result
Show changes
Show whitespace changes
Inline Side-by-side
Showing
with 783 additions and 0 deletions
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/full_arm_robot_sim.launch 0 → 100755
View file @ 1985345a
<launch>
<!-- Launch Your robot arms launch file which loads the robot in Gazebo and spawns the controllers -->
<include file = "$(find arm_robot)/launch/arm_urdf.launch" />
<!-- Launch Moveit Move Group Node -->
<include file = "$(find arm_robot_moveit)/launch/move_group.launch" />
<!-- Run Rviz and load the default configuration to see the state of the move_group node -->
<arg name="use_rviz" default="true" />
<include file="$(find arm_robot_moveit)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(find arm_robot_moveit)/launch/moveit.rviz"/>
</include>
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/gazebo.launch 0 → 100755
View file @ 1985345a
<?xml version="1.0"?>
<launch>
<!-- Gazebo options -->
<arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
<arg name="paused" default="false" doc="Start Gazebo paused"/>
<arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
<arg name="initial_joint_positions" default=" -J joint1 0 -J joint2 -0.785 -J joint3 1.57 -J joint4 0.785 -J joint5 0.785 -J joint6 -0.785 -J virtual_roll_joint 0 -J virtual_yaw_joint 0" doc="Initial joint configuration of the robot"/>
<!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
<include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
<arg name="paused" value="true"/>
</include>
<!-- Set the robot urdf on the parameter server -->
<param name="robot_description" textfile="$(find arm_robot_moveit)/config/gazebo_arm_robot.urdf" />
<!-- Unpause the simulation after loading the robot model -->
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<!-- Spawn the robot in Gazebo -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
respawn="false" output="screen" />
<!-- Load the controller parameters onto the parameter server -->
<rosparam file="$(find arm_robot_moveit)/config/gazebo_controllers.yaml" />
<include file="$(dirname)/ros_controllers.launch"/>
<!-- Spawn the Gazebo ROS controllers -->
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/joystick_control.launch 0 → 100755
View file @ 1985345a
<launch>
<!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
<arg name="dev" default="/dev/input/js0" />
<!-- Launch joy node -->
<node pkg="joy" type="joy_node" name="joy">
<param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
<param name="deadzone" value="0.2" />
<param name="autorepeat_rate" value="40" />
<param name="coalesce_interval" value="0.025" />
</node>
<!-- Launch python interface -->
<node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/move_group.launch 0 → 100755
View file @ 1985345a
<launch>
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
<arg unless="$(arg info)" name="command_args" value="" />
<arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings -->
<arg name="pipeline" default="ompl" />
<arg name="allow_trajectory_execution" default="true"/>
<arg name="moveit_controller_manager" default="simple" />
<arg name="fake_execution_type" default="interpolate"/>
<arg name="max_safe_path_cost" default="1"/>
<arg name="publish_monitored_planning_scene" default="true"/>
<arg name="capabilities" default=""/>
<arg name="disable_capabilities" default=""/>
<!-- load these non-default MoveGroup capabilities (space seperated) -->
<!--
<arg name="capabilities" value="
a_package/AwsomeMotionPlanningCapability
another_package/GraspPlanningPipeline
" />
-->
<!-- inhibit these default MoveGroup capabilities (space seperated) -->
<!--
<arg name="disable_capabilities" value="
move_group/MoveGroupKinematicsService
move_group/ClearOctomapService
" />
-->
<arg name="load_robot_description" default="false" />
<!-- load URDF, SRDF and joint_limits configuration -->
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="$(arg load_robot_description)" />
</include>
<!-- Planning Pipelines -->
<group ns="move_group/planning_pipelines">
<!-- OMPL -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" />
</include>
<!-- CHOMP -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="chomp" />
</include>
<!-- Pilz Industrial Motion -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="pilz_industrial_motion_planner" />
</include>
<!-- Support custom planning pipeline -->
<include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg pipeline)" />
</include>
</group>
<!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)" />
</include>
<!-- Sensors Functionality -->
<include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="arm_robot" />
</include>
<!-- Start the actual move_group node/action server -->
<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
<!-- Set the display variable, in case OpenGL code is used internally -->
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="default_planning_pipeline" value="$(arg pipeline)" />
<param name="capabilities" value="$(arg capabilities)" />
<param name="disable_capabilities" value="$(arg disable_capabilities)" />
<!-- do not copy dynamics information from /joint_states to internal robot monitoring
default to false, because almost nothing in move_group relies on this information -->
<param name="monitor_dynamics" value="false" />
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
</node>
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/moveit.rviz 0 → 100755
View file @ 1985345a
Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Planned Path1
- /TF1/Frames1
Splitter Ratio: 0.5
Tree Height: 379
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
JointsTab_Use_Radians: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_center:
Alpha: 1
Show Axes: false
Show Trail: false
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
virtual_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
virtual_yaw_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: false
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.10000000149011612
Joint Violation Color: 255; 0; 255
Planning Group: arm_group
Query Goal State: false
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: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_center:
Alpha: 1
Show Axes: false
Show Trail: false
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
virtual_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
virtual_yaw_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.5
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: false
base_footprint:
Value: false
base_link:
Value: false
gripper_center:
Value: true
link1:
Value: false
link2:
Value: false
link3:
Value: false
link4:
Value: true
link5:
Value: false
link6:
Value: false
virtual_roll_link:
Value: false
virtual_yaw_link:
Value: false
world:
Value: true
Marker Alpha: 1
Marker Scale: 0.20000000298023224
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
world:
base_link:
base_footprint:
{}
link1:
link2:
link3:
link4:
link5:
{}
link6:
{}
virtual_roll_link:
virtual_yaw_link:
gripper_center:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.1154862642288208
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.75
Focal Point:
X: 0.2888287603855133
Y: 0.12911716103553772
Z: 0.1591722071170807
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.7400000095367432
Target Frame: world
Yaw: 0.5767584443092346
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f30000039efc0200000007fb000000100044006900730070006c006100790073010000003d000001b8000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001fb000001e00000017d00ffffff000005530000039e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1868
X: 52
Y: 27
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/moveit_rviz.launch 0 → 100755
View file @ 1985345a
<launch>
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="rviz_config" default="" />
<arg if="$(eval rviz_config=='')" name="command_args" value="" />
<arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
</node>
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/ompl-chomp_planning_pipeline.launch.xml 0 → 100755
View file @ 1985345a
<launch>
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
<include file="$(find arm_robot_moveit)/launch/ompl_planning_pipeline.launch.xml">
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
chomp/OptimizerAdapter"
/>
</include>
<!-- load chomp config -->
<rosparam command="load" file="$(find arm_robot_moveit)/config/chomp_planning.yaml" />
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
<param name="trajectory_initialization_method" value="fillTrajectory"/>
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/ompl_planning_pipeline.launch.xml 0 → 100755
View file @ 1985345a
<launch>
<!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find arm_robot_moveit)/config/ompl_planning.yaml"/>
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml 0 → 100755
View file @ 1985345a
<launch>
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters" default="" />
<param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<!-- Define default planner (for all groups) -->
<param name="default_planner_config" value="PTP" />
<!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
<param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceService" />
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/planning_context.launch 0 → 100755
View file @ 1985345a
<launch>
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
<arg name="load_robot_description" default="false"/>
<!-- The name of the parameter under which the URDF is loaded -->
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find arm_robot)/urdf/arm_robot.urdf"/>
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find arm_robot_moveit)/config/arm_robot.srdf" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find arm_robot_moveit)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find arm_robot_moveit)/config/cartesian_limits.yaml"/>
</group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find arm_robot_moveit)/config/kinematics.yaml"/>
</group>
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/planning_pipeline.launch.xml 0 → 100755
View file @ 1985345a
<launch>
<!-- This file makes it easy to include different planning pipelines;
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
<arg name="pipeline" default="ompl" />
<include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/real_arm_robot.launch 0 → 100755
View file @ 1985345a
<launch>
<arg name="use_gui" default="false" />
<!-- If needed, broadcast static tf for robot root -->
<node name="tf_footprint_base" pkg="tf" type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)" />
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Robot State Publisher for TF of each joint: publishes all the current states of the joint,
then RViz can visualize -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen" />
<include file="$(find arm_robot_moveit)/launch/fake_moveit_controller_manager.launch.xml" />
<!-- Launch Moveit Move Group Node -->
<include file="$(find arm_robot_moveit)/launch/move_group.launch">
<arg name="load_robot_description" default="true" />
<arg name="moveit_controller_manager" value="fake" />
</include>
<rosparam file="$(find arm_robot_moveit)/config/ros_controllers.yaml" />
<!-- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint_state_controller arm_group_controller gripper_group_controller" /> -->
<!-- Run Rviz and load the default configuration to see the state of the move_group node -->
<arg name="use_rviz" default="true" />
<include file="$(find arm_robot_moveit)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(find arm_robot_moveit)/launch/moveit.rviz" />
<arg name="debug" value="false" />
</include>
<!-- <node name="pause_resume_service_node" pkg="arm_robot_moveit" type="pause_resume_service.py"
output="screen"> </node> -->
</launch>
\ No newline at end of file
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/ros_control_moveit_controller_manager.launch.xml 0 → 100755
View file @ 1985345a
<launch>
<!-- Define MoveIt controller manager plugin -->
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/ros_controllers.launch 0 → 100755
View file @ 1985345a
<?xml version="1.0"?>
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find arm_robot_moveit)/config/ros_controllers.yaml" command="load"/>
<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args=""/>
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/run_benchmark_ompl.launch 0 → 100755
View file @ 1985345a
<launch>
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
<arg name="cfg" />
<!-- Load URDF -->
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>
<!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find arm_robot_moveit)/config/ompl_planning.yaml"/>
</node>
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/sensor_manager.launch.xml 0 → 100755
View file @ 1985345a
<launch>
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for 3D sensors config -->
<rosparam command="load" file="$(find arm_robot_moveit)/config/sensors_3d.yaml" />
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="arm_robot" />
<include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/setup_assistant.launch 0 → 100755
View file @ 1985345a
<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
<launch>
<!-- Debug Info -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<!-- Run -->
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=arm_robot_moveit"
launch-prefix="$(arg launch_prefix)"
required="true"
output="screen" />
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/simple_moveit_controller_manager.launch.xml 0 → 100755
View file @ 1985345a
<launch>
<!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
<param name="moveit_controller_manager"
value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<!-- Load controller list to the parameter server -->
<rosparam file="$(find arm_robot_moveit)/config/simple_moveit_controllers.yaml" />
<!-- <rosparam file="$(find arm_robot_moveit)/config/ros_controllers.yaml" /> -->
</launch>
\ No newline at end of file
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/stomp_planning_pipeline.launch.xml 0 → 100755
View file @ 1985345a
<launch>
<!-- Stomp Plugin for MoveIt -->
<arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
<arg name="start_state_max_bounds_error" value="0.1" />
<arg name="jiggle_fraction" value="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find arm_robot_moveit)/config/stomp_planning.yaml"/>
</launch>
Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/launch/trajectory_execution.launch.xml 0 → 100755
View file @ 1985345a
<launch>
<!-- This file summarizes all settings required for trajectory execution -->
<!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" />
<arg name="fake_execution_type" default="interpolate" />
<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
<include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
</launch>