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Commit e78d746e authored by Jan Weber's avatar Jan Weber
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Example configuration for the IRB1600 robot added

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abb_irb1600_6_12_moveit_config/.setup_assistant 0 → 100644
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moveit_setup_assistant_config:
URDF:
package: abb_irb1600_support
relative_path: urdf/irb1600_6_12.xacro
SRDF:
relative_path: config/abb_irb1600_6_12.srdf
CONFIG:
author_name: Keerthana Manivannan
author_email: keerthana.manivannan@gmail.com
generated_timestamp: 1499477269
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abb_irb1600_6_12_moveit_config/CMakeLists.txt 0 → 100644
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cmake_minimum_required(VERSION 2.8.3)
project(abb_irb1600_6_12_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})
abb_irb1600_6_12_moveit_config/config/abb_irb1600_6_12.srdf 0 → 100644
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<?xml version="1.0" ?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="abb_irb1600_6_12">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--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-->
<group name="manipulator">
<chain base_link="base_link" tip_link="tool0" />
</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_state name="all_zero" group="manipulator">
<joint name="joint_1" value="0" />
<joint name="joint_2" value="0" />
<joint name="joint_3" value="0" />
<joint name="joint_4" value="0" />
<joint name="joint_5" value="0" />
<joint name="joint_6" value="0" />
</group_state>
<!--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="FixedBase" type="fixed" parent_frame="world" child_link="base_link" />
<!--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 link1="base_link" link2="link_1" reason="Adjacent" />
<disable_collisions link1="base_link" link2="link_2" reason="Never" />
<disable_collisions link1="link_1" link2="link_2" reason="Adjacent" />
<disable_collisions link1="link_2" link2="link_3" reason="Adjacent" />
<disable_collisions link1="link_2" link2="link_4" reason="Never" />
<disable_collisions link1="link_2" link2="link_5" reason="Never" />
<disable_collisions link1="link_2" link2="link_6" reason="Never" />
<disable_collisions link1="link_3" link2="link_4" reason="Adjacent" />
<disable_collisions link1="link_3" link2="link_5" reason="Never" />
<disable_collisions link1="link_3" link2="link_6" reason="Never" />
<disable_collisions link1="link_4" link2="link_5" reason="Adjacent" />
<disable_collisions link1="link_5" link2="link_6" reason="Adjacent" />
</robot>
abb_irb1600_6_12_moveit_config/config/controllers.yaml 0 → 100644
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controller_list:
- name: ""
action_ns: joint_trajectory_action
type: FollowJointTrajectory
joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
abb_irb1600_6_12_moveit_config/config/fake_controllers.yaml 0 → 100644
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controller_list:
- name: fake_manipulator_controller
joints:
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6
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abb_irb1600_6_12_moveit_config/config/joint_limits.yaml 0 → 100644
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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# 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:
joint_1:
has_velocity_limits: true
max_velocity: 2.618
has_acceleration_limits: false
max_acceleration: 0
joint_2:
has_velocity_limits: true
max_velocity: 2.7925
has_acceleration_limits: false
max_acceleration: 0
joint_3:
has_velocity_limits: true
max_velocity: 2.967
has_acceleration_limits: false
max_acceleration: 0
joint_4:
has_velocity_limits: true
max_velocity: 5.585
has_acceleration_limits: false
max_acceleration: 0
joint_5:
has_velocity_limits: true
max_velocity: 6.9813
has_acceleration_limits: false
max_acceleration: 0
joint_6:
has_velocity_limits: true
max_velocity: 7.854
has_acceleration_limits: false
max_acceleration: 0
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abb_irb1600_6_12_moveit_config/config/kinematics.yaml 0 → 100644
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manipulator:
#kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
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abb_irb1600_6_12_moveit_config/config/ompl_planning.yaml 0 → 100644
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planner_configs:
SBLkConfigDefault:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
ESTkConfigDefault:
type: geometric::EST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LBKPIECEkConfigDefault:
type: geometric::LBKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECEkConfigDefault:
type: geometric::BKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
KPIECEkConfigDefault:
type: geometric::KPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
RRTkConfigDefault:
type: geometric::RRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
RRTConnectkConfigDefault:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstarkConfigDefault:
type: geometric::RRTstar
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
TRRTkConfigDefault:
type: geometric::TRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
max_states_failed: 10 # when to start increasing temp. default: 10
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
init_temperature: 10e-6 # initial temperature. default: 10e-6
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
PRMkConfigDefault:
type: geometric::PRM
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
PRMstarkConfigDefault:
type: geometric::PRMstar
FMTkConfigDefault:
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
BFMTkConfigDefault:
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
PDSTkConfigDefault:
type: geometric::PDST
STRIDEkConfigDefault:
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
BiTRRTkConfigDefault:
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
LBTRRTkConfigDefault:
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
BiESTkConfigDefault:
type: geometric::BiEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
ProjESTkConfigDefault:
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
LazyPRMkConfigDefault:
type: geometric::LazyPRM
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
LazyPRMstarkConfigDefault:
type: geometric::LazyPRMstar
SPARSkConfigDefault:
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
SPARStwokConfigDefault:
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:
default_planner_config: RRTConnectkConfigDefault
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
- FMTkConfigDefault
- BFMTkConfigDefault
- PDSTkConfigDefault
- STRIDEkConfigDefault
- BiTRRTkConfigDefault
- LBTRRTkConfigDefault
- BiESTkConfigDefault
- ProjESTkConfigDefault
- LazyPRMkConfigDefault
- LazyPRMstarkConfigDefault
- SPARSkConfigDefault
- SPARStwokConfigDefault
projection_evaluator: joints(joint_1,joint_2)
longest_valid_segment_fraction: 0.005
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abb_irb1600_6_12_moveit_config/launch/abb_irb1600_6_12_moveit_controller_manager.launch.xml 0 → 100644
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<launch>
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<rosparam file="$(find abb_irb1600_6_12_moveit_config)/config/controllers.yaml"/>
</launch>
abb_irb1600_6_12_moveit_config/launch/abb_irb1600_6_12_moveit_sensor_manager.launch.xml 0 → 100644
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<launch>
</launch>
abb_irb1600_6_12_moveit_config/launch/default_warehouse_db.launch 0 → 100644
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<launch>
<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
<arg name="moveit_warehouse_database_path" default="$(find abb_irb1600_6_12_moveit_config)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include>
<!-- If we want to reset the database, run this node -->
<node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
</launch>
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<launch>
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find abb_irb1600_6_12_moveit_config)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- 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" />
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>
abb_irb1600_6_12_moveit_config/launch/fake_moveit_controller_manager.launch.xml 0 → 100644
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<launch>
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin -->
<rosparam file="$(find abb_irb1600_6_12_moveit_config)/config/fake_controllers.yaml"/>
</launch>
abb_irb1600_6_12_moveit_config/launch/joystick_control.launch 0 → 100644
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<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="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
<param name="deadzone" value="0.2" />
<param name="autorepeat_rate" value="40" />
<param name="coalesce_interval" value="0.025" />
</node>
<!-- Launch python interface -->
<node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
</launch>
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<launch>
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/planning_context.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 $(find abb_irb1600_6_12_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
<arg unless="$(arg info)" name="command_args" value="" />
<arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings -->
<arg name="allow_trajectory_execution" default="true"/>
<arg name="fake_execution" default="false"/>
<arg name="max_safe_path_cost" default="1"/>
<arg name="jiggle_fraction" default="0.05" />
<arg name="publish_monitored_planning_scene" default="true"/>
<!-- Planning Functionality -->
<include ns="move_group" file="$(find abb_irb1600_6_12_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" />
</include>
<!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(find abb_irb1600_6_12_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="abb_irb1600_6_12" unless="$(arg fake_execution)"/>
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
</include>
<!-- Sensors Functionality -->
<include ns="move_group" file="$(find abb_irb1600_6_12_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="abb_irb1600_6_12" />
</include>
<!-- Start the actual move_group node/action server -->
<node name="move_group" launch-prefix="$(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="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<!-- load these non-default MoveGroup capabilities -->
<!--
<param name="capabilities" value="
a_package/AwsomeMotionPlanningCapability
another_package/GraspPlanningPipeline
" />
-->
<!-- inhibit these default MoveGroup capabilities -->
<!--
<param name="disable_capabilities" value="
move_group/MoveGroupKinematicsService
move_group/ClearOctomapService
" />
-->
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
<param name="planning_scene_monitor/publish_planning_scene" value="$(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>
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Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Scene Robot1
Splitter Ratio: 0.48214301466941833
Tree Height: 191
- 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: false
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: false
- Acceleration_Scaling_Factor: 1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 1
Y: 1
Z: 1
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:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flange:
Alpha: 1
Show Axes: false
Show Trail: false
link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool0:
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: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
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
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
Joint Violation Color: 255; 0; 255
Planning Group: manipulator
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: 0.30000001192092896
Scene Color: 50; 230; 50
Scene Display Time: 0.20000000298023224
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:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flange:
Alpha: 1
Show Axes: false
Show Trail: false
link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: false
Value: true
Velocity_Scaling_Factor: 1
- Attached Body Color: 150; 50; 150
Class: moveit_rviz_plugin/RobotState
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flange:
Alpha: 1
Show Axes: false
Show Trail: false
link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tool0:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotState
Robot Alpha: 1
Robot Description: robot_description
Robot State Topic: display_robot_state
Show All Links: true
Show Highlights: true
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
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/XYOrbit
Distance: 3.144291639328003
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.010521173477172852
Y: -0.021921634674072266
Z: -4.91737750962784e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.13479697704315186
Target Frame: base_link
Yaw: 1.1567760705947876
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 836
Help:
collapsed: false
Hide Left Dock: true
Hide Right Dock: false
MotionPlanning:
collapsed: true
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd000000010000000000000279000002eafc0200000008fb000000100044006900730070006c006100790073000000003d00000150000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000193000001940000018900fffffffb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100ffffff000003c0000002ea00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 960
X: 640
Y: 27
abb_irb1600_6_12_moveit_config/launch/moveit_planning_execution.launch 0 → 100644
+ 57
− 0
View file @ e78d746e
<launch>
<!-- The planning and execution components of MoveIt! configured to run -->
<!-- using the ROS-Industrial interface. -->
<!-- Non-standard joint names:
- Create a file [robot_moveit_config]/config/joint_names.yaml
controller_joint_names: [joint_1, joint_2, ... joint_N]
- Update with joint names for your robot (in order expected by rbt controller)
- and uncomment the following line: -->
<rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_6_12.yaml" />
<!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
<!-- - if sim=false, a robot_ip argument is required -->
<arg name="sim" default="true" />
<arg name="robot_ip" unless="$(arg sim)" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find abb_irb1600_6_12_moveit_config)/default_warehouse_mongo_db" />
<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
</include>
<!-- run the robot simulator and action interface nodes -->
<group if="$(arg sim)">
<include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
</group>
<!-- run the "real robot" interface nodes -->
<!-- - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
<!-- - replace these calls with appropriate robot-specific calls or launch files -->
<group unless="$(arg sim)">
<include file="$(find abb_irb1600_support)/launch/robot_interface_download_irb1600_6_12.launch" >
<arg name="robot_ip" value="$(arg robot_ip)"/>
</include>
</group>
<!-- publish the robot state (tf transforms) -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/move_group.launch">
<arg name="publish_monitored_planning_scene" value="true" />
</include>
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>
abb_irb1600_6_12_moveit_config/launch/moveit_planning_execution_egm.launch 0 → 100644
+ 55
− 0
View file @ e78d746e
<launch>
<!-- The planning and execution components of MoveIt! configured to run -->
<!-- using the ROS-Industrial interface. -->
<!-- Non-standard joint names:
- Create a file [robot_moveit_config]/config/joint_names.yaml
controller_joint_names: [joint_1, joint_2, ... joint_N]
- Update with joint names for your robot (in order expected by rbt controller)
- and uncomment the following line: -->
<rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_6_12.yaml" />
<!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
<!-- - if sim=false, a robot_ip argument is required -->
<arg name="sim" default="false" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find abb_irb1600_6_12_moveit_config)/default_warehouse_mongo_db" />
<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
</include>
<!-- run the robot simulator and action interface nodes -->
<group if="$(arg sim)">
<include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
</group>
<!-- run the "real robot" interface nodes -->
<!-- - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
<!-- - replace these calls with appropriate robot-specific calls or launch files -->
<group unless="$(arg sim)">
<include file="$(find abb_irb1600_support)/launch/robot_interface_download_irb1600_6_12_egm.launch" >
</include>
</group>
<!-- publish the robot state (tf transforms) -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/move_group.launch">
<arg name="publish_monitored_planning_scene" value="true" />
</include>
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find abb_irb1600_6_12_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>
abb_irb1600_6_12_moveit_config/launch/moveit_rviz.launch 0 → 100644
+ 16
− 0
View file @ e78d746e
<launch>
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="config" default="false" />
<arg unless="$(arg config)" name="command_args" value="" />
<arg if="$(arg config)" name="command_args" value="-d $(find abb_irb1600_6_12_moveit_config)/launch/moveit.rviz" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
<rosparam command="load" file="$(find abb_irb1600_6_12_moveit_config)/config/kinematics.yaml"/>
</node>
</launch>
abb_irb1600_6_12_moveit_config/launch/ompl_planning_pipeline.launch.xml 0 → 100644
+ 22
− 0
View file @ e78d746e
<launch>
<!-- OMPL Plugin for MoveIt! -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(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)" />
<rosparam command="load" file="$(find abb_irb1600_6_12_moveit_config)/config/ompl_planning.yaml"/>
</launch>
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