From 082bacec9ec4731ce06e337359a60466e31358dc Mon Sep 17 00:00:00 2001 From: mizonon Date: Wed, 23 Oct 2024 17:07:36 +0900 Subject: [PATCH 01/29] =?UTF-8?q?crane=5Fplush=E3=81=AEjazzy=E5=AF=BE?= =?UTF-8?q?=E5=BF=9C=E3=82=92=E5=8F=82=E8=80=83=E3=81=AB=E8=A8=AD=E5=AE=9A?= =?UTF-8?q?=E3=83=95=E3=82=A1=E3=82=A4=E3=83=AB=E3=82=92jazzy=E5=AF=BE?= =?UTF-8?q?=E5=BF=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../config/controllers.yaml | 46 ++--- crane_x7_moveit_config/config/kinematics.yaml | 1 + .../config/ompl_planning.yaml | 23 +++ .../launch/run_move_group.launch.py | 168 +++++++----------- 4 files changed, 118 insertions(+), 120 deletions(-) diff --git a/crane_x7_moveit_config/config/controllers.yaml b/crane_x7_moveit_config/config/controllers.yaml index e5c8c323..58c44026 100644 --- a/crane_x7_moveit_config/config/controllers.yaml +++ b/crane_x7_moveit_config/config/controllers.yaml @@ -1,23 +1,27 @@ -controller_names: - - crane_x7_arm_controller - - crane_x7_gripper_controller +# MoveIt uses this configuration for controller management +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager -crane_x7_arm_controller: - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - crane_x7_shoulder_fixed_part_pan_joint - - crane_x7_shoulder_revolute_part_tilt_joint - - crane_x7_upper_arm_revolute_part_twist_joint - - crane_x7_upper_arm_revolute_part_rotate_joint - - crane_x7_lower_arm_fixed_part_joint - - crane_x7_lower_arm_revolute_part_joint - - crane_x7_wrist_joint +moveit_simple_controller_manager: + controller_names: + - crane_x7_arm_controller + - crane_x7_gripper_controller -crane_x7_gripper_controller: - action_ns: gripper_cmd - type: GripperCommand - default: true - joints: - - crane_x7_gripper_finger_a_joint \ No newline at end of file + crane_x7_arm_controller: + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - crane_x7_shoulder_fixed_part_pan_joint + - crane_x7_shoulder_revolute_part_tilt_joint + - crane_x7_upper_arm_revolute_part_twist_joint + - crane_x7_upper_arm_revolute_part_rotate_joint + - crane_x7_lower_arm_fixed_part_joint + - crane_x7_lower_arm_revolute_part_joint + - crane_x7_wrist_joint + + crane_x7_gripper_controller: + action_ns: gripper_cmd + type: GripperCommand + default: true + joints: + - crane_x7_gripper_finger_a_joint \ No newline at end of file diff --git a/crane_x7_moveit_config/config/kinematics.yaml b/crane_x7_moveit_config/config/kinematics.yaml index 46a23863..a1f17d08 100644 --- a/crane_x7_moveit_config/config/kinematics.yaml +++ b/crane_x7_moveit_config/config/kinematics.yaml @@ -2,3 +2,4 @@ arm: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/crane_x7_moveit_config/config/ompl_planning.yaml b/crane_x7_moveit_config/config/ompl_planning.yaml index f98332c4..266ad7f1 100644 --- a/crane_x7_moveit_config/config/ompl_planning.yaml +++ b/crane_x7_moveit_config/config/ompl_planning.yaml @@ -1,4 +1,25 @@ +planning_plugins: + - ompl_interface/OMPLPlanner +# To optionally use Ruckig for jerk-limited smoothing, add this line to the request adapters below +# default_planning_request_adapters/AddRuckigTrajectorySmoothing +request_adapters: + - default_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/ValidateSolution + - default_planning_response_adapters/DisplayMotionPath + planner_configs: + APSConfigDefault: + type: geometric::AnytimePathShortening + shortcut: 1 # Attempt to shortcut all new solution paths + hybridize: 1 # Compute hybrid solution trajectories + max_hybrid_paths: 36 # Number of hybrid paths generated per iteration + num_planners: 8 # The number of default planners to use for planning + planners: "RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect" # 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]" SBLkConfigDefault: type: geometric::SBL range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() @@ -122,6 +143,7 @@ planner_configs: max_failures: 5000 # maximum consecutive failure limit. default: 5000 arm: planner_configs: + - APSConfigDefault - SBLkConfigDefault - ESTkConfigDefault - LBKPIECEkConfigDefault @@ -147,6 +169,7 @@ arm: - SPARStwokConfigDefault gripper: planner_configs: + - APSConfigDefault - SBLkConfigDefault - ESTkConfigDefault - LBKPIECEkConfigDefault diff --git a/crane_x7_moveit_config/launch/run_move_group.launch.py b/crane_x7_moveit_config/launch/run_move_group.launch.py index 001246af..0edfca4c 100644 --- a/crane_x7_moveit_config/launch/run_move_group.launch.py +++ b/crane_x7_moveit_config/launch/run_move_group.launch.py @@ -1,4 +1,4 @@ -# Copyright 2022 RT Corporation +# Copyright 2020 RT Corporation # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -15,15 +15,16 @@ import os from ament_index_python.packages import get_package_share_directory -from crane_x7_description.robot_description_loader import RobotDescriptionLoader from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration -from launch_ros.actions import Node -import yaml - -# Reference: https://github.com/ros-planning/moveit2_tutorials/blob/humble/doc/ -# examples/move_group_interface/launch/move_group.launch.py +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launch_utils import DeclareBooleanLaunchArg +from moveit_configs_utils.launches import generate_move_group_launch +from moveit_configs_utils.launches import generate_moveit_rviz_launch +from moveit_configs_utils.launches \ + import generate_static_virtual_joint_tfs_launch +from moveit_configs_utils.launches import generate_rsp_launch def load_file(package_name, file_path): @@ -33,7 +34,9 @@ def load_file(package_name, file_path): try: with open(absolute_file_path, 'r') as file: return file.read() - except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available + except ( + EnvironmentError + ): # parent of IOError, OSError *and* WindowsError where available return None @@ -44,114 +47,81 @@ def load_yaml(package_name, file_path): try: with open(absolute_file_path, 'r') as file: return yaml.safe_load(file) - except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available + except ( + EnvironmentError + ): # parent of IOError, OSError *and* WindowsError where available return None def generate_launch_description(): - description_loader = RobotDescriptionLoader() + ld = LaunchDescription() declare_loaded_description = DeclareLaunchArgument( 'loaded_description', - default_value=description_loader.load(), + default_value='', description='Set robot_description text. \ - It is recommended to use RobotDescriptionLoader() in crane_x7_description.' + It is recommended to use RobotDescriptionLoader() in \ + crane_x7_description.', ) - declare_rviz_config_file = DeclareLaunchArgument( - 'rviz_config_file', - default_value=get_package_share_directory( - 'crane_x7_moveit_config') + '/launch/run_move_group.rviz', - description='Set the path to rviz configuration file.' + ld.add_action(declare_loaded_description) + + ld.add_action(DeclareBooleanLaunchArg('debug', default_value=False)) + + ld.add_action( + DeclareLaunchArgument( + 'rviz_config', + default_value=get_package_share_directory('crane_x7_moveit_config') + + '/config/moveit.rviz', + description='Set the path to rviz configuration file.', + ) ) - robot_description = {'robot_description': LaunchConfiguration('loaded_description')} + moveit_config = ( + MoveItConfigsBuilder('crane_x7') + .planning_scene_monitor( + publish_robot_description=True, + publish_robot_description_semantic=True, + ) + .robot_description( + file_path=os.path.join( + get_package_share_directory('crane_x7_description'), + 'urdf', + 'crane_x7.urdf.xacro', + ), + mappings={}, + ) + .robot_description_semantic( + file_path='config/crane_x7.srdf', + mappings={'model': 'crane_x7'}, + ) + .joint_limits(file_path='config/joint_limits.yaml') + .trajectory_execution( + file_path='config/controllers.yaml', moveit_manage_controllers=True + ) + .planning_pipelines(pipelines=['ompl']) + .robot_description_kinematics(file_path='config/kinematics.yaml') + .to_moveit_configs() + ) - robot_description_semantic_config = load_file( - 'crane_x7_moveit_config', 'config/crane_x7.srdf') - robot_description_semantic = { - 'robot_description_semantic': robot_description_semantic_config} + moveit_config.robot_description = { + 'robot_description': LaunchConfiguration('loaded_description') + } - joint_limits_yaml = load_yaml( - "crane_x7_moveit_config", "config/joint_limits.yaml" - ) - robot_description_planning = { - "robot_description_planning": joint_limits_yaml} - - kinematics_yaml = load_yaml('crane_x7_moveit_config', 'config/kinematics.yaml') - - # Planning Functionality - ompl_planning_pipeline_config = {'move_group': { - 'planning_plugin': 'ompl_interface/OMPLPlanner', - 'request_adapters': 'default_planner_request_adapters/AddTimeOptimalParameterization \ - default_planner_request_adapters/FixWorkspaceBounds \ - default_planner_request_adapters/FixStartStateBounds \ - default_planner_request_adapters/FixStartStateCollision \ - default_planner_request_adapters/FixStartStatePathConstraints', - 'start_state_max_bounds_error': 0.1}} - ompl_planning_yaml = load_yaml('crane_x7_moveit_config', 'config/ompl_planning.yaml') - ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml) - - # Trajectory Execution Functionality - controllers_yaml = load_yaml('crane_x7_moveit_config', 'config/controllers.yaml') - moveit_controllers = { - 'moveit_simple_controller_manager': controllers_yaml, - 'moveit_controller_manager': - 'moveit_simple_controller_manager/MoveItSimpleControllerManager'} - - trajectory_execution = {'moveit_manage_controllers': True, - 'trajectory_execution.allowed_execution_duration_scaling': 1.2, - 'trajectory_execution.allowed_goal_duration_margin': 0.5, - 'trajectory_execution.allowed_start_tolerance': 0.1} - - planning_scene_monitor_parameters = {'publish_planning_scene': True, - 'publish_geometry_updates': True, - 'publish_state_updates': True, - 'publish_transforms_updates': True} - - # Start the actual move_group node/action server - run_move_group_node = Node(package='moveit_ros_move_group', - executable='move_group', - output='screen', - parameters=[robot_description, - robot_description_semantic, - robot_description_planning, - kinematics_yaml, - ompl_planning_pipeline_config, - trajectory_execution, - moveit_controllers, - planning_scene_monitor_parameters]) + moveit_config.move_group_capabilities = { + 'capabilities': '' + } + + # Move group + ld.add_entity(generate_move_group_launch(moveit_config)) # RViz - rviz_config_file = LaunchConfiguration('rviz_config_file') - rviz_node = Node(package='rviz2', - executable='rviz2', - name='rviz2', - output='log', - arguments=['-d', rviz_config_file], - parameters=[robot_description, - robot_description_semantic, - ompl_planning_pipeline_config, - kinematics_yaml]) + ld.add_entity(generate_moveit_rviz_launch(moveit_config)) # Static TF - static_tf = Node(package='tf2_ros', - executable='static_transform_publisher', - name='static_transform_publisher', - output='log', - arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'world', 'base_link']) + ld.add_entity(generate_static_virtual_joint_tfs_launch(moveit_config)) # Publish TF - robot_state_publisher = Node(package='robot_state_publisher', - executable='robot_state_publisher', - name='robot_state_publisher', - output='both', - parameters=[robot_description]) - - return LaunchDescription([declare_loaded_description, - declare_rviz_config_file, - run_move_group_node, - rviz_node, - static_tf, - robot_state_publisher, - ]) + ld.add_entity(generate_rsp_launch(moveit_config)) + + return ld From e52ca2d49e9177873bb7b1811b4e34e80fefcd8e Mon Sep 17 00:00:00 2001 From: mizonon Date: Wed, 23 Oct 2024 17:16:38 +0900 Subject: [PATCH 02/29] =?UTF-8?q?.h->.hpp=E3=81=AB=E5=AF=BE=E5=BF=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_examples/src/aruco_detection.cpp | 2 +- crane_x7_examples/src/color_detection.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/crane_x7_examples/src/aruco_detection.cpp b/crane_x7_examples/src/aruco_detection.cpp index e32b7b9f..0c14168f 100644 --- a/crane_x7_examples/src/aruco_detection.cpp +++ b/crane_x7_examples/src/aruco_detection.cpp @@ -27,7 +27,7 @@ #include "sensor_msgs/msg/image.hpp" #include "opencv2/opencv.hpp" #include "opencv2/aruco.hpp" -#include "cv_bridge/cv_bridge.h" +#include "cv_bridge/cv_bridge.hpp" #include "tf2/LinearMath/Quaternion.h" #include "tf2/LinearMath/Matrix3x3.h" #include "tf2_ros/transform_broadcaster.h" diff --git a/crane_x7_examples/src/color_detection.cpp b/crane_x7_examples/src/color_detection.cpp index 72bc9e17..bd1e853c 100644 --- a/crane_x7_examples/src/color_detection.cpp +++ b/crane_x7_examples/src/color_detection.cpp @@ -29,8 +29,8 @@ #include "tf2_ros/transform_broadcaster.h" #include "opencv2/opencv.hpp" #include "opencv2/imgproc/imgproc.hpp" -#include "cv_bridge/cv_bridge.h" -#include "image_geometry/pinhole_camera_model.h" +#include "cv_bridge/cv_bridge.hpp" +#include "image_geometry/pinhole_camera_model.hpp" using std::placeholders::_1; class ImageSubscriber : public rclcpp::Node From b7a63705bab2648e96cfde34f162d3dfa70bde86 Mon Sep 17 00:00:00 2001 From: mizonon Date: Tue, 12 Nov 2024 15:59:15 +0900 Subject: [PATCH 03/29] =?UTF-8?q?idustrial=5Fci.yaml=E3=82=92jazzy?= =?UTF-8?q?=E3=81=AB=E5=AF=BE=E5=BF=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .github/workflows/industrial_ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml index 95c0d087..2f3302f0 100644 --- a/.github/workflows/industrial_ci.yml +++ b/.github/workflows/industrial_ci.yml @@ -17,7 +17,7 @@ jobs: strategy: matrix: env: - - { ROS_DISTRO: humble, ROS_REPO: ros } + - { ROS_DISTRO: jazzy, ROS_REPO: ros } runs-on: ubuntu-latest steps: - uses: actions/checkout@v3 From 9ab05104cd356cb031583371573a0ea157b8bb83 Mon Sep 17 00:00:00 2001 From: mizonon Date: Mon, 18 Nov 2024 13:34:03 +0900 Subject: [PATCH 04/29] =?UTF-8?q?crane=5Fx7=5Fmoveit=5Fconfig=E3=81=AEPack?= =?UTF-8?q?age.xml=E3=81=ABauthor=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_moveit_config/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/crane_x7_moveit_config/package.xml b/crane_x7_moveit_config/package.xml index 372c33f5..3543aac6 100644 --- a/crane_x7_moveit_config/package.xml +++ b/crane_x7_moveit_config/package.xml @@ -9,6 +9,7 @@ Shota Aoki Atsushi Kuwagata + Nozomi Mizoguchi ament_cmake From c19fb3bfb34a9d2b99b3e12dc520aecd53e3bbf9 Mon Sep 17 00:00:00 2001 From: mizonon Date: Wed, 20 Nov 2024 14:55:30 +0900 Subject: [PATCH 05/29] =?UTF-8?q?=E3=83=95=E3=82=A1=E3=82=A4=E3=83=AB?= =?UTF-8?q?=E5=90=8D=E5=A4=89=E6=9B=B4controlles.yaml->moveit=5Fcontrolles?= =?UTF-8?q?.yaml?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../config/{controllers.yaml => moveit_controllers.yaml} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename crane_x7_moveit_config/config/{controllers.yaml => moveit_controllers.yaml} (100%) diff --git a/crane_x7_moveit_config/config/controllers.yaml b/crane_x7_moveit_config/config/moveit_controllers.yaml similarity index 100% rename from crane_x7_moveit_config/config/controllers.yaml rename to crane_x7_moveit_config/config/moveit_controllers.yaml From a06bd7973eb2df086bc27aca50564491a6fbf551 Mon Sep 17 00:00:00 2001 From: mizonon Date: Wed, 20 Nov 2024 14:58:26 +0900 Subject: [PATCH 06/29] =?UTF-8?q?Setup=20Assistant=E3=81=A7=E7=94=9F?= =?UTF-8?q?=E6=88=90=E3=81=97=E3=81=9F=E8=A8=AD=E5=AE=9A=E3=83=95=E3=82=A1?= =?UTF-8?q?=E3=82=A4=E3=83=AB=E3=82=92=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_moveit_config/config/moveit.rviz | 51 +++++++++++++++++++ .../config/pilz_cartesian_limits.yaml | 6 +++ 2 files changed, 57 insertions(+) create mode 100644 crane_x7_moveit_config/config/moveit.rviz create mode 100644 crane_x7_moveit_config/config/pilz_cartesian_limits.yaml diff --git a/crane_x7_moveit_config/config/moveit.rviz b/crane_x7_moveit_config/config/moveit.rviz new file mode 100644 index 00000000..f31651ed --- /dev/null +++ b/crane_x7_moveit_config/config/moveit.rviz @@ -0,0 +1,51 @@ +Panels: + - Class: rviz_common/Displays + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - Class: rviz_common/Help + Name: Help + - Class: rviz_common/Views + Name: Views +Visualization Manager: + Displays: + - Class: rviz_default_plugins/Grid + Name: Grid + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Name: MotionPlanning + Planned Path: + Loop Animation: true + State Display Time: 0.05 s + Trajectory Topic: display_planned_path + Planning Scene Topic: monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Robot: + Robot Alpha: 0.5 + Value: true + Global Options: + Fixed Frame: world + Tools: + - Class: rviz_default_plugins/Interact + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.0 + Focal Point: + X: -0.1 + Y: 0.25 + Z: 0.30 + Name: Current View + Pitch: 0.5 + Target Frame: world + Yaw: -0.623 +Window Geometry: + Height: 975 + QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Width: 1200 diff --git a/crane_x7_moveit_config/config/pilz_cartesian_limits.yaml b/crane_x7_moveit_config/config/pilz_cartesian_limits.yaml new file mode 100644 index 00000000..b2997caf --- /dev/null +++ b/crane_x7_moveit_config/config/pilz_cartesian_limits.yaml @@ -0,0 +1,6 @@ +# Limits for the Pilz planner +cartesian_limits: + max_trans_vel: 1.0 + max_trans_acc: 2.25 + max_trans_dec: -5.0 + max_rot_vel: 1.57 From 564ce4e6acef8814433bf78fd5db10d568ae2287 Mon Sep 17 00:00:00 2001 From: mizonon Date: Wed, 20 Nov 2024 18:04:21 +0900 Subject: [PATCH 07/29] =?UTF-8?q?crane=5Fx7=5Fdescription=E3=81=AEjazzy?= =?UTF-8?q?=E3=83=96=E3=83=A9=E3=83=B3=E3=83=81=E3=81=AB=E5=AF=BE=E5=BF=9C?= =?UTF-8?q?=E3=81=95=E3=81=9B=E3=82=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .ci.rosinstall | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.ci.rosinstall b/.ci.rosinstall index d5d7a9ed..fef36bac 100644 --- a/.ci.rosinstall +++ b/.ci.rosinstall @@ -1,4 +1,4 @@ - git: uri: https://github.com/rt-net/crane_x7_description.git local-name: crane_x7_description - version: ros2 \ No newline at end of file + version: jazzy \ No newline at end of file From 66d09d804de32953b6c875d77cfa857649a58898 Mon Sep 17 00:00:00 2001 From: Kuwamai Date: Mon, 18 Nov 2024 19:48:29 +0900 Subject: [PATCH 08/29] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 8eb5fc2e..0b1f4e3d 100644 --- a/README.md +++ b/README.md @@ -38,7 +38,7 @@ ROS 2 package suite of CRANE-X7. - [製品ページ](https://rt-net.jp/products/crane-x7/) - [ウェブショップ](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3660) - Linux OS - - Ubuntu 20.04 + - Ubuntu 22.04 - ROS - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html) From bb8b382a0918911d9f8ff88125d031c1f307d39a Mon Sep 17 00:00:00 2001 From: Kuwamai Date: Mon, 18 Nov 2024 19:48:46 +0900 Subject: [PATCH 09/29] Update README.en.md --- README.en.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.en.md b/README.en.md index 68e5b3e6..930de8a5 100644 --- a/README.en.md +++ b/README.en.md @@ -36,7 +36,7 @@ ROS 2 package suite of CRANE-X7. - [Product Introduction](https://rt-net.jp/products/crane-x7/) - [Web Shop](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3660&language=en) - Linux OS - - Ubuntu 20.04 + - Ubuntu 22.04 - ROS - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html) From 0d05a024efebcaea2b7a03824b20771a1a22c3c0 Mon Sep 17 00:00:00 2001 From: mizonon Date: Mon, 2 Dec 2024 16:22:43 +0900 Subject: [PATCH 10/29] =?UTF-8?q?MoveItConfigsBuilder=E3=81=AB=E3=82=88?= =?UTF-8?q?=E3=82=8BMoveit=E8=A8=AD=E5=AE=9A=E3=81=AB=E5=AF=BE=E5=BF=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.en.md | 2 +- crane_x7_examples/launch/demo.launch.py | 12 ++++++++---- .../launch/run_move_group.launch.py | 11 +++++++++-- 3 files changed, 18 insertions(+), 7 deletions(-) diff --git a/README.en.md b/README.en.md index 68e5b3e6..930de8a5 100644 --- a/README.en.md +++ b/README.en.md @@ -36,7 +36,7 @@ ROS 2 package suite of CRANE-X7. - [Product Introduction](https://rt-net.jp/products/crane-x7/) - [Web Shop](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3660&language=en) - Linux OS - - Ubuntu 20.04 + - Ubuntu 22.04 - ROS - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html) diff --git a/crane_x7_examples/launch/demo.launch.py b/crane_x7_examples/launch/demo.launch.py index c75c8557..3a1efa4c 100644 --- a/crane_x7_examples/launch/demo.launch.py +++ b/crane_x7_examples/launch/demo.launch.py @@ -66,18 +66,22 @@ def generate_launch_description(): description = description_loader.load() + rviz_config_file_move_group = get_package_share_directory( + 'crane_x7_moveit_config') + '/config/moveit.rviz', + rviz_config_file_camera = get_package_share_directory( + 'crane_x7_examples') + '/launch/camera_example.rviz' + move_group = IncludeLaunchDescription( PythonLaunchDescriptionSource([ get_package_share_directory('crane_x7_moveit_config'), '/launch/run_move_group.launch.py']), condition=UnlessCondition(LaunchConfiguration('use_d435')), launch_arguments={ - 'loaded_description': description + 'loaded_description': description, + 'rviz_config': rviz_config_file_move_group }.items() ) - rviz_config_file = get_package_share_directory( - 'crane_x7_examples') + '/launch/camera_example.rviz' move_group_camera = IncludeLaunchDescription( PythonLaunchDescriptionSource([ get_package_share_directory('crane_x7_moveit_config'), @@ -85,7 +89,7 @@ def generate_launch_description(): condition=IfCondition(LaunchConfiguration('use_d435')), launch_arguments={ 'loaded_description': description, - 'rviz_config_file': rviz_config_file + 'rviz_config': rviz_config_file_camera }.items() ) diff --git a/crane_x7_moveit_config/launch/run_move_group.launch.py b/crane_x7_moveit_config/launch/run_move_group.launch.py index 0edfca4c..76d8a708 100644 --- a/crane_x7_moveit_config/launch/run_move_group.launch.py +++ b/crane_x7_moveit_config/launch/run_move_group.launch.py @@ -18,6 +18,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launch_utils import DeclareBooleanLaunchArg from moveit_configs_utils.launches import generate_move_group_launch @@ -67,7 +68,7 @@ def generate_launch_description(): ld.add_action(declare_loaded_description) ld.add_action(DeclareBooleanLaunchArg('debug', default_value=False)) - + ld.add_action( DeclareLaunchArgument( 'rviz_config', @@ -77,6 +78,8 @@ def generate_launch_description(): ) ) + rviz_config = LaunchConfiguration('rviz_config') + moveit_config = ( MoveItConfigsBuilder('crane_x7') .planning_scene_monitor( @@ -116,7 +119,11 @@ def generate_launch_description(): ld.add_entity(generate_move_group_launch(moveit_config)) # RViz - ld.add_entity(generate_moveit_rviz_launch(moveit_config)) + rviz_entities = generate_moveit_rviz_launch(moveit_config).entities + for entity in rviz_entities: + if isinstance(entity, Node): + entity.cmd.extend(['--ros-args', '--params-file', rviz_config]) + ld.add_entity(entity) # Static TF ld.add_entity(generate_static_virtual_joint_tfs_launch(moveit_config)) From bd9f9096bdce624573e39fc3b85f485d013846b9 Mon Sep 17 00:00:00 2001 From: mizonon Date: Thu, 5 Dec 2024 18:12:20 +0900 Subject: [PATCH 11/29] =?UTF-8?q?import=20yaml=E3=82=92=E5=BE=A9=E6=B4=BB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_moveit_config/launch/run_move_group.launch.py | 1 + 1 file changed, 1 insertion(+) diff --git a/crane_x7_moveit_config/launch/run_move_group.launch.py b/crane_x7_moveit_config/launch/run_move_group.launch.py index 76d8a708..ab3cff79 100644 --- a/crane_x7_moveit_config/launch/run_move_group.launch.py +++ b/crane_x7_moveit_config/launch/run_move_group.launch.py @@ -26,6 +26,7 @@ from moveit_configs_utils.launches \ import generate_static_virtual_joint_tfs_launch from moveit_configs_utils.launches import generate_rsp_launch +import yaml def load_file(package_name, file_path): From 0ce0997c3f99bf0ddd97465a8342b30d1fc3687b Mon Sep 17 00:00:00 2001 From: mizonon Date: Fri, 6 Dec 2024 14:49:45 +0900 Subject: [PATCH 12/29] =?UTF-8?q?gz=5Fsim=E5=AF=BE=E5=BF=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_gazebo/gui/gui.config | 72 +++++++++---------- .../launch/crane_x7_with_table.launch.py | 39 ++++++---- crane_x7_gazebo/worlds/table.sdf | 20 +++--- 3 files changed, 72 insertions(+), 59 deletions(-) diff --git a/crane_x7_gazebo/gui/gui.config b/crane_x7_gazebo/gui/gui.config index 0d9558d0..b9719161 100644 --- a/crane_x7_gazebo/gui/gui.config +++ b/crane_x7_gazebo/gui/gui.config @@ -28,11 +28,11 @@ - + 3D View false docked - + ogre2 scene @@ -43,82 +43,82 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -131,7 +131,7 @@ - + true true @@ -142,7 +142,7 @@ - + World stats false false @@ -155,7 +155,7 @@ - + true true @@ -165,7 +165,7 @@ - + false 0 0 @@ -174,12 +174,12 @@ floating false #666666 - + - + false 250 0 @@ -188,12 +188,12 @@ floating false #666666 - + - + false 0 50 @@ -202,7 +202,7 @@ floating false #777777 - + false @@ -210,7 +210,7 @@ - + false 250 50 @@ -219,12 +219,12 @@ floating false #777777 - + - + false 300 50 @@ -233,21 +233,21 @@ floating false #777777 - + - + false docked - + - + false docked - + diff --git a/crane_x7_gazebo/launch/crane_x7_with_table.launch.py b/crane_x7_gazebo/launch/crane_x7_with_table.launch.py index f68e0570..93fdb1bb 100644 --- a/crane_x7_gazebo/launch/crane_x7_with_table.launch.py +++ b/crane_x7_gazebo/launch/crane_x7_with_table.launch.py @@ -15,7 +15,8 @@ import os from ament_index_python.packages import get_package_share_directory -from crane_x7_description.robot_description_loader import RobotDescriptionLoader +from crane_x7_description.robot_description_loader \ + import RobotDescriptionLoader from launch import LaunchDescription from launch.actions import ExecuteProcess from launch.actions import IncludeLaunchDescription @@ -26,22 +27,22 @@ def generate_launch_description(): # PATHを追加で通さないとSTLファイルが読み込まれない - env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'], - 'IGN_GAZEBO_RESOURCE_PATH': os.path.dirname( + env = {'GZ_SIM_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'], + 'GZ_SIM_RESOURCE_PATH': os.path.dirname( get_package_share_directory('crane_x7_description'))} world_file = os.path.join( get_package_share_directory('crane_x7_gazebo'), 'worlds', 'table.sdf') gui_config = os.path.join( get_package_share_directory('crane_x7_gazebo'), 'gui', 'gui.config') # -r オプションで起動時にシミュレーションをスタートしないと、コントローラが起動しない - ign_gazebo = ExecuteProcess( - cmd=['ign gazebo -r', world_file, '--gui-config', gui_config], + gz_sim = ExecuteProcess( + cmd=['gz sim -r', world_file, '--gui-config', gui_config], output='screen', additional_env=env, shell=True ) - ignition_spawn_entity = Node( + gazebo_spawn_entity = Node( package='ros_gz_sim', executable='create', output='screen', @@ -54,7 +55,8 @@ def generate_launch_description(): description_loader = RobotDescriptionLoader() description_loader.use_gazebo = 'true' description_loader.gz_control_config_package = 'crane_x7_control' - description_loader.gz_control_config_file_path = 'config/crane_x7_controllers.yaml' + description_loader.gz_control_config_file_path = \ + 'config/crane_x7_controllers.yaml' description = description_loader.load() move_group = IncludeLaunchDescription( @@ -65,19 +67,28 @@ def generate_launch_description(): ) spawn_joint_state_controller = ExecuteProcess( - cmd=['ros2 run controller_manager spawner joint_state_controller'], + cmd=[ + 'ros2 run controller_manager spawner ' + 'joint_state_controller' + ], shell=True, output='screen', ) spawn_arm_controller = ExecuteProcess( - cmd=['ros2 run controller_manager spawner crane_x7_arm_controller'], + cmd=[ + 'ros2 run controller_manager spawner ' + 'crane_x7_arm_controller' + ], shell=True, output='screen', ) spawn_gripper_controller = ExecuteProcess( - cmd=['ros2 run controller_manager spawner crane_x7_gripper_controller'], + cmd=[ + 'ros2 run controller_manager spawner ' + 'crane_x7_gripper_controller' + ], shell=True, output='screen', ) @@ -85,14 +96,16 @@ def generate_launch_description(): bridge = Node( package='ros_gz_bridge', executable='parameter_bridge', - arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'], + arguments=[ + '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock', + ], output='screen' ) return LaunchDescription([ SetParameter(name='use_sim_time', value=True), - ign_gazebo, - ignition_spawn_entity, + gz_sim, + gazebo_spawn_entity, move_group, spawn_joint_state_controller, spawn_arm_controller, diff --git a/crane_x7_gazebo/worlds/table.sdf b/crane_x7_gazebo/worlds/table.sdf index fc20fb94..0ac47520 100644 --- a/crane_x7_gazebo/worlds/table.sdf +++ b/crane_x7_gazebo/worlds/table.sdf @@ -6,40 +6,40 @@ 1.0 + filename="gz-sim-physics-system" + name="gz::sim::systems::Physics"> + filename="gz-sim-user-commands-system" + name="gz::sim::systems::UserCommands"> + filename="gz-sim-scene-broadcaster-system" + name="gz::sim::systems::SceneBroadcaster"> - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Ground%20Plane + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground%20Plane - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Table 0.29 0 0 0 0 1.5708 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Wood%20cube%205cm + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Wood%20cube%205cm 0.20 0 1.0 0 0 0 From ed2191074294da7b440b788255f5daa12df98277 Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 26 Dec 2024 15:05:35 +0900 Subject: [PATCH 13/29] =?UTF-8?q?=E3=83=96=E3=83=A9=E3=83=B3=E3=83=81?= =?UTF-8?q?=E5=90=8D=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .ci.rosinstall | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.ci.rosinstall b/.ci.rosinstall index fef36bac..d5d7a9ed 100644 --- a/.ci.rosinstall +++ b/.ci.rosinstall @@ -1,4 +1,4 @@ - git: uri: https://github.com/rt-net/crane_x7_description.git local-name: crane_x7_description - version: jazzy \ No newline at end of file + version: ros2 \ No newline at end of file From 8bc58f9f99c06d44c336fbed0b207fb566b33bb3 Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 26 Dec 2024 15:05:48 +0900 Subject: [PATCH 14/29] Update README --- README.en.md | 17 ++++++++--------- README.md | 15 ++++++++------- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/README.en.md b/README.en.md index 930de8a5..6f1769b5 100644 --- a/README.en.md +++ b/README.en.md @@ -24,35 +24,34 @@ ROS 2 package suite of CRANE-X7. ## Supported ROS 2 distributions - [Foxy](https://github.com/rt-net/crane_x7_ros/tree/foxy-devel) -- Humble +- [Humble](https://github.com/rt-net/crane_x7_ros/tree/humble) +- [Jazzy](https://github.com/rt-net/crane_x7_ros/tree/jazzy) -### ROS +### ROS 1 - [Melodic](https://github.com/rt-net/crane_x7_ros/tree/master) - [Noetic](https://github.com/rt-net/crane_x7_ros/tree/master) + ## Requirements - CRANE-X7 - [Product Introduction](https://rt-net.jp/products/crane-x7/) - [Web Shop](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3660&language=en) - Linux OS - - Ubuntu 22.04 + - Ubuntu 24.04 - ROS - - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html) + - [Jazzy](https://docs.ros.org/en/jazzy/Installation.html) ## Installation ### Build from source ```sh -# Setup ROS environment -$ source /opt/ros/humble/setup.bash - # Download crane_x7 repositories $ mkdir -p ~/ros2_ws/src $ cd ~/ros2_ws/src -$ git clone -b ros2 https://github.com/rt-net/crane_x7_ros.git -$ git clone -b ros2 https://github.com/rt-net/crane_x7_description.git +$ git clone -b $ROS_DISTRO https://github.com/rt-net/crane_x7_ros.git +$ git clone -b $ROS_DISTRO https://github.com/rt-net/crane_x7_description.git # Install dependencies $ rosdep install -r -y -i --from-paths . diff --git a/README.md b/README.md index 0b1f4e3d..c669f96a 100644 --- a/README.md +++ b/README.md @@ -25,9 +25,10 @@ ROS 2 package suite of CRANE-X7. ## Supported ROS 2 distributions - [Foxy](https://github.com/rt-net/crane_x7_ros/tree/foxy-devel) -- Humble +- [Humble](https://github.com/rt-net/crane_x7_ros/tree/humble) +- [Jazzy](https://github.com/rt-net/crane_x7_ros/tree/jazzy) -### ROS +### ROS 1 - [Melodic](https://github.com/rt-net/crane_x7_ros/tree/master) - [Noetic](https://github.com/rt-net/crane_x7_ros/tree/master) @@ -38,9 +39,9 @@ ROS 2 package suite of CRANE-X7. - [製品ページ](https://rt-net.jp/products/crane-x7/) - [ウェブショップ](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3660) - Linux OS - - Ubuntu 22.04 + - Ubuntu 24.04 - ROS - - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html) + - [Jazzy](https://docs.ros.org/en/jazzy/Installation.html) ## Installation @@ -48,13 +49,13 @@ ROS 2 package suite of CRANE-X7. ```sh # Setup ROS environment -$ source /opt/ros/humble/setup.bash +$ source /opt/ros/jazzy/setup.bash # Download crane_x7 repositories $ mkdir -p ~/ros2_ws/src $ cd ~/ros2_ws/src -$ git clone -b ros2 https://github.com/rt-net/crane_x7_ros.git -$ git clone -b ros2 https://github.com/rt-net/crane_x7_description.git +$ git clone -b $ROS_DISTRO https://github.com/rt-net/crane_x7_ros.git +$ git clone -b $ROS_DISTRO https://github.com/rt-net/crane_x7_description.git # Install dependencies $ rosdep install -r -y -i --from-paths . From e5b191abb3b744a414b3bd9ca85856523c28af1a Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 26 Dec 2024 15:07:32 +0900 Subject: [PATCH 15/29] Update README --- README.en.md | 5 ++++- README.md | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/README.en.md b/README.en.md index 6f1769b5..a01104a3 100644 --- a/README.en.md +++ b/README.en.md @@ -13,7 +13,7 @@ ROS 2 package suite of CRANE-X7. - [crane\_x7\_ros](#crane_x7_ros) - [Table of Contents](#table-of-contents) - [Supported ROS 2 distributions](#supported-ros-2-distributions) - - [ROS](#ros) + - [ROS 1](#ros-1) - [Requirements](#requirements) - [Installation](#installation) - [Build from source](#build-from-source) @@ -47,6 +47,9 @@ ROS 2 package suite of CRANE-X7. ### Build from source ```sh +# Setup ROS environment +$ source /opt/ros/jazzy/setup.bash + # Download crane_x7 repositories $ mkdir -p ~/ros2_ws/src $ cd ~/ros2_ws/src diff --git a/README.md b/README.md index c669f96a..1d983e5d 100644 --- a/README.md +++ b/README.md @@ -13,7 +13,7 @@ ROS 2 package suite of CRANE-X7. - [crane\_x7\_ros](#crane_x7_ros) - [Table of Contents](#table-of-contents) - [Supported ROS 2 distributions](#supported-ros-2-distributions) - - [ROS](#ros) + - [ROS 1](#ros-1) - [Requirements](#requirements) - [Installation](#installation) - [Build from source](#build-from-source) From 5051929d440cd1eb819c13bb107488f6852fe701 Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 26 Dec 2024 15:14:31 +0900 Subject: [PATCH 16/29] =?UTF-8?q?use=5Fd435=E3=81=AB=E3=82=88=E3=82=8Brviz?= =?UTF-8?q?=E3=82=B3=E3=83=B3=E3=83=95=E3=82=A3=E3=82=B0=E3=83=95=E3=82=A1?= =?UTF-8?q?=E3=82=A4=E3=83=AB=E3=83=91=E3=82=B9=E3=81=AE=E5=88=87=E3=82=8A?= =?UTF-8?q?=E6=9B=BF=E3=81=88?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_examples/launch/demo.launch.py | 40 +++++++++++++------------ 1 file changed, 21 insertions(+), 19 deletions(-) diff --git a/crane_x7_examples/launch/demo.launch.py b/crane_x7_examples/launch/demo.launch.py index 3a1efa4c..9b7cead4 100644 --- a/crane_x7_examples/launch/demo.launch.py +++ b/crane_x7_examples/launch/demo.launch.py @@ -56,6 +56,24 @@ def generate_launch_description(): 'manipulator_links.csv' ) + declare_rviz_config = DeclareLaunchArgument( + 'rviz_config', + default_value=get_package_share_directory( + 'crane_x7_moveit_config' + ) + '/config/moveit.rviz', + description='Set the path to rviz configuration file.', + condition=UnlessCondition(LaunchConfiguration('use_d435')), + ) + + declare_rviz_config_camera = DeclareLaunchArgument( + 'rviz_config', + default_value=get_package_share_directory( + 'crane_x7_examples' + ) + '/launch/camera_example.rviz', + description='Set the path to rviz configuration file.', + condition=IfCondition(LaunchConfiguration('use_d435')), + ) + description_loader = RobotDescriptionLoader() description_loader.port_name = LaunchConfiguration('port_name') description_loader.baudrate = LaunchConfiguration('baudrate') @@ -66,30 +84,13 @@ def generate_launch_description(): description = description_loader.load() - rviz_config_file_move_group = get_package_share_directory( - 'crane_x7_moveit_config') + '/config/moveit.rviz', - rviz_config_file_camera = get_package_share_directory( - 'crane_x7_examples') + '/launch/camera_example.rviz' - move_group = IncludeLaunchDescription( PythonLaunchDescriptionSource([ get_package_share_directory('crane_x7_moveit_config'), '/launch/run_move_group.launch.py']), - condition=UnlessCondition(LaunchConfiguration('use_d435')), - launch_arguments={ - 'loaded_description': description, - 'rviz_config': rviz_config_file_move_group - }.items() - ) - - move_group_camera = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ - get_package_share_directory('crane_x7_moveit_config'), - '/launch/run_move_group.launch.py']), - condition=IfCondition(LaunchConfiguration('use_d435')), launch_arguments={ 'loaded_description': description, - 'rviz_config': rviz_config_file_camera + 'rviz_config': LaunchConfiguration('rviz_config') }.items() ) @@ -117,8 +118,9 @@ def generate_launch_description(): declare_port_name, declare_baudrate, declare_use_d435, + declare_rviz_config, + declare_rviz_config_camera, move_group, - move_group_camera, control_node, realsense_node ]) From 6224791fefacc22448e187ae2430725e648d967a Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 26 Dec 2024 15:37:51 +0900 Subject: [PATCH 17/29] =?UTF-8?q?=E5=A4=89=E6=95=B0=E5=90=8D=E3=80=81?= =?UTF-8?q?=E3=83=91=E3=83=A9=E3=83=A1=E3=83=BC=E3=82=BF=E5=A4=89=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../launch/crane_x7_with_table.launch.py | 10 ++++----- crane_x7_moveit_config/config/kinematics.yaml | 3 +-- .../config/ompl_planning.yaml | 21 ++++++++++++------- 3 files changed, 19 insertions(+), 15 deletions(-) diff --git a/crane_x7_gazebo/launch/crane_x7_with_table.launch.py b/crane_x7_gazebo/launch/crane_x7_with_table.launch.py index 93fdb1bb..4effda42 100644 --- a/crane_x7_gazebo/launch/crane_x7_with_table.launch.py +++ b/crane_x7_gazebo/launch/crane_x7_with_table.launch.py @@ -15,8 +15,7 @@ import os from ament_index_python.packages import get_package_share_directory -from crane_x7_description.robot_description_loader \ - import RobotDescriptionLoader +from crane_x7_description.robot_description_loader import RobotDescriptionLoader from launch import LaunchDescription from launch.actions import ExecuteProcess from launch.actions import IncludeLaunchDescription @@ -42,7 +41,7 @@ def generate_launch_description(): shell=True ) - gazebo_spawn_entity = Node( + gz_sim_spawn_entity = Node( package='ros_gz_sim', executable='create', output='screen', @@ -55,8 +54,7 @@ def generate_launch_description(): description_loader = RobotDescriptionLoader() description_loader.use_gazebo = 'true' description_loader.gz_control_config_package = 'crane_x7_control' - description_loader.gz_control_config_file_path = \ - 'config/crane_x7_controllers.yaml' + description_loader.gz_control_config_file_path = 'config/crane_x7_controllers.yaml' description = description_loader.load() move_group = IncludeLaunchDescription( @@ -105,7 +103,7 @@ def generate_launch_description(): return LaunchDescription([ SetParameter(name='use_sim_time', value=True), gz_sim, - gazebo_spawn_entity, + gz_sim_spawn_entity, move_group, spawn_joint_state_controller, spawn_arm_controller, diff --git a/crane_x7_moveit_config/config/kinematics.yaml b/crane_x7_moveit_config/config/kinematics.yaml index a1f17d08..05573e5c 100644 --- a/crane_x7_moveit_config/config/kinematics.yaml +++ b/crane_x7_moveit_config/config/kinematics.yaml @@ -1,5 +1,4 @@ arm: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 - kinematics_solver_attempts: 3 \ No newline at end of file + kinematics_solver_timeout: 0.005 \ No newline at end of file diff --git a/crane_x7_moveit_config/config/ompl_planning.yaml b/crane_x7_moveit_config/config/ompl_planning.yaml index 266ad7f1..f4204450 100644 --- a/crane_x7_moveit_config/config/ompl_planning.yaml +++ b/crane_x7_moveit_config/config/ompl_planning.yaml @@ -41,7 +41,7 @@ planner_configs: 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 + 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 @@ -65,7 +65,7 @@ planner_configs: 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() + 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: @@ -96,9 +96,9 @@ planner_configs: 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 + 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 + 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 @@ -109,13 +109,13 @@ planner_configs: 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_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 + 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 @@ -123,7 +123,7 @@ planner_configs: 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 + 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() @@ -141,6 +141,9 @@ planner_configs: 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 + TrajOptDefault: + type: geometric::TrajOpt + arm: planner_configs: - APSConfigDefault @@ -167,6 +170,8 @@ arm: - LazyPRMstarkConfigDefault - SPARSkConfigDefault - SPARStwokConfigDefault + - TrajOptDefault + gripper: planner_configs: - APSConfigDefault @@ -193,5 +198,7 @@ gripper: - LazyPRMstarkConfigDefault - SPARSkConfigDefault - SPARStwokConfigDefault + - TrajOptDefault + projection_evaluator: joints(crane_x7_gripper_finger_a_joint,crane_x7_gripper_finger_b_joint) longest_valid_segment_fraction: 0.005 \ No newline at end of file From 51554bece392b913f592bfd82157d0e38d72f0ec Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 26 Dec 2024 15:38:14 +0900 Subject: [PATCH 18/29] =?UTF-8?q?RViz=E3=82=B3=E3=83=B3=E3=83=95=E3=82=A3?= =?UTF-8?q?=E3=82=B0=E3=83=95=E3=82=A1=E3=82=A4=E3=83=AB=E5=A4=89=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_moveit_config/config/moveit.rviz | 405 ++++++++++++++++- .../launch/run_move_group.rviz | 416 ------------------ 2 files changed, 385 insertions(+), 436 deletions(-) delete mode 100644 crane_x7_moveit_config/launch/run_move_group.rviz diff --git a/crane_x7_moveit_config/config/moveit.rviz b/crane_x7_moveit_config/config/moveit.rviz index f31651ed..18e520aa 100644 --- a/crane_x7_moveit_config/config/moveit.rviz +++ b/crane_x7_moveit_config/config/moveit.rviz @@ -1,51 +1,416 @@ Panels: - Class: rviz_common/Displays + Help Height: 78 Name: Displays Property Tree Widget: Expanded: - - /MotionPlanning1 - - Class: rviz_common/Help - Name: Help + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 219 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 - Class: rviz_common/Views + Expanded: + - /Current View1 Name: Views + Splitter Ratio: 0.5 Visualization Manager: + Class: "" Displays: - - Class: rviz_default_plugins/Grid + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/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: Value: true - - Class: moveit_rviz_plugin/MotionPlanning + - Acceleration_Scaling_Factor: 0.1 + 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_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: false + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 Name: MotionPlanning Planned Path: - Loop Animation: true + 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 + crane_x7_gripper_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_gripper_finger_a_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_gripper_finger_b_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_fixed_part_joint_cover_l_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_fixed_part_joint_cover_r_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_fixed_part_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_revolute_part_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_revolute_part_logo_symbol_l_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_revolute_part_logo_symbol_r_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_revolute_part_logo_text_l_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_revolute_part_logo_text_r_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_mounting_plate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_shoulder_fixed_part_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_shoulder_revolute_part_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_upper_arm_fixed_part_joint_cover_l_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_upper_arm_fixed_part_joint_cover_r_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_upper_arm_fixed_part_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_upper_arm_revolute_part_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_wrist_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: true + Show Trail: false State Display Time: 0.05 s - Trajectory Topic: display_planned_path - Planning Scene Topic: monitored_planning_scene + Trail Step Size: 1 + Trajectory Topic: /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: 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: /monitored_planning_scene Robot Description: robot_description Scene Geometry: - Scene Alpha: 1 + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels Scene Robot: - Robot Alpha: 0.5 + 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 + crane_x7_gripper_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_gripper_finger_a_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_gripper_finger_b_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_fixed_part_joint_cover_l_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_fixed_part_joint_cover_r_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_fixed_part_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_revolute_part_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_revolute_part_logo_symbol_l_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_revolute_part_logo_symbol_r_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_revolute_part_logo_text_l_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_lower_arm_revolute_part_logo_text_r_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_mounting_plate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_shoulder_fixed_part_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_shoulder_revolute_part_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_upper_arm_fixed_part_joint_cover_l_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_upper_arm_fixed_part_joint_cover_r_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_upper_arm_fixed_part_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_upper_arm_revolute_part_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + crane_x7_wrist_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true Value: true + Velocity_Scaling_Factor: 0.1 + Enabled: true Global Options: - Fixed Frame: world + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root Tools: - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true - Class: rviz_default_plugins/MoveCamera - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: Class: rviz_default_plugins/Orbit - Distance: 2.0 + Distance: 2 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false Focal Point: - X: -0.1 - Y: 0.25 - Z: 0.30 + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Pitch: 0.5 - Target Frame: world - Yaw: -0.623 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ Window Geometry: - Height: 975 - QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + "": + collapsed: false + " - Trajectory Slider": + collapsed: false + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000266000002f4fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000166000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffbffffffff01000001a9000001880000017d00ffffff000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000012f000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false Width: 1200 + X: 60 + Y: 60 diff --git a/crane_x7_moveit_config/launch/run_move_group.rviz b/crane_x7_moveit_config/launch/run_move_group.rviz deleted file mode 100644 index 18e520aa..00000000 --- a/crane_x7_moveit_config/launch/run_move_group.rviz +++ /dev/null @@ -1,416 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 219 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/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: - Value: true - - Acceleration_Scaling_Factor: 0.1 - 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_Planning_Attempts: 10 - MoveIt_Planning_Time: 5 - MoveIt_Use_Cartesian_Path: false - MoveIt_Use_Constraint_Aware_IK: false - MoveIt_Warehouse_Host: 127.0.0.1 - MoveIt_Warehouse_Port: 33829 - 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 - crane_x7_gripper_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_gripper_finger_a_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_gripper_finger_b_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_fixed_part_joint_cover_l_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_fixed_part_joint_cover_r_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_fixed_part_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_revolute_part_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_revolute_part_logo_symbol_l_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_revolute_part_logo_symbol_r_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_revolute_part_logo_text_l_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_revolute_part_logo_text_r_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_mounting_plate_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_shoulder_fixed_part_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_shoulder_revolute_part_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_upper_arm_fixed_part_joint_cover_l_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_upper_arm_fixed_part_joint_cover_r_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_upper_arm_fixed_part_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_upper_arm_revolute_part_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_wrist_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: true - Show Trail: false - State Display Time: 0.05 s - Trail Step Size: 1 - Trajectory Topic: /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: 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: /monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 0.8999999761581421 - 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 - crane_x7_gripper_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_gripper_finger_a_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_gripper_finger_b_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_fixed_part_joint_cover_l_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_fixed_part_joint_cover_r_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_fixed_part_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_revolute_part_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_revolute_part_logo_symbol_l_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_revolute_part_logo_symbol_r_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_revolute_part_logo_text_l_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_lower_arm_revolute_part_logo_text_r_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_mounting_plate_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_shoulder_fixed_part_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_shoulder_revolute_part_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_upper_arm_fixed_part_joint_cover_l_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_upper_arm_fixed_part_joint_cover_r_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_upper_arm_fixed_part_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_upper_arm_revolute_part_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - crane_x7_wrist_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: true - Velocity_Scaling_Factor: 0.1 - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 2 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.785398006439209 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.785398006439209 - Saved: ~ -Window Geometry: - "": - collapsed: false - " - Trajectory Slider": - collapsed: false - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000266000002f4fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000166000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffbffffffff01000001a9000001880000017d00ffffff000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000012f000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 60 - Y: 60 From 7965404711c405fb40de8ac6cb565b9e8fa0bab7 Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 26 Dec 2024 15:47:03 +0900 Subject: [PATCH 19/29] =?UTF-8?q?=E4=B8=8D=E8=A6=81=E3=81=AA=E8=A8=98?= =?UTF-8?q?=E8=BF=B0=E3=82=92=E5=89=8A=E9=99=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../launch/run_move_group.launch.py | 80 +++---------------- 1 file changed, 9 insertions(+), 71 deletions(-) diff --git a/crane_x7_moveit_config/launch/run_move_group.launch.py b/crane_x7_moveit_config/launch/run_move_group.launch.py index ab3cff79..e88bb271 100644 --- a/crane_x7_moveit_config/launch/run_move_group.launch.py +++ b/crane_x7_moveit_config/launch/run_move_group.launch.py @@ -14,97 +14,39 @@ import os -from ament_index_python.packages import get_package_share_directory +from crane_x7_description.robot_description_loader import RobotDescriptionLoader from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration -from launch_ros.actions import Node from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launch_utils import DeclareBooleanLaunchArg from moveit_configs_utils.launches import generate_move_group_launch from moveit_configs_utils.launches import generate_moveit_rviz_launch -from moveit_configs_utils.launches \ - import generate_static_virtual_joint_tfs_launch +from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch from moveit_configs_utils.launches import generate_rsp_launch -import yaml - - -def load_file(package_name, file_path): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - with open(absolute_file_path, 'r') as file: - return file.read() - except ( - EnvironmentError - ): # parent of IOError, OSError *and* WindowsError where available - return None - - -def load_yaml(package_name, file_path): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - with open(absolute_file_path, 'r') as file: - return yaml.safe_load(file) - except ( - EnvironmentError - ): # parent of IOError, OSError *and* WindowsError where available - return None def generate_launch_description(): ld = LaunchDescription() - declare_loaded_description = DeclareLaunchArgument( - 'loaded_description', - default_value='', - description='Set robot_description text. \ - It is recommended to use RobotDescriptionLoader() in \ - crane_x7_description.', - ) - - ld.add_action(declare_loaded_description) - - ld.add_action(DeclareBooleanLaunchArg('debug', default_value=False)) + description_loader = RobotDescriptionLoader() ld.add_action( DeclareLaunchArgument( - 'rviz_config', - default_value=get_package_share_directory('crane_x7_moveit_config') - + '/config/moveit.rviz', - description='Set the path to rviz configuration file.', + 'loaded_description', + default_value=description_loader.load(), + description='Set robot_description text. \ + It is recommended to use RobotDescriptionLoader() in \ + crane_x7_description.', ) ) - rviz_config = LaunchConfiguration('rviz_config') - moveit_config = ( MoveItConfigsBuilder('crane_x7') .planning_scene_monitor( publish_robot_description=True, publish_robot_description_semantic=True, ) - .robot_description( - file_path=os.path.join( - get_package_share_directory('crane_x7_description'), - 'urdf', - 'crane_x7.urdf.xacro', - ), - mappings={}, - ) - .robot_description_semantic( - file_path='config/crane_x7.srdf', - mappings={'model': 'crane_x7'}, - ) - .joint_limits(file_path='config/joint_limits.yaml') - .trajectory_execution( - file_path='config/controllers.yaml', moveit_manage_controllers=True - ) .planning_pipelines(pipelines=['ompl']) - .robot_description_kinematics(file_path='config/kinematics.yaml') .to_moveit_configs() ) @@ -120,11 +62,7 @@ def generate_launch_description(): ld.add_entity(generate_move_group_launch(moveit_config)) # RViz - rviz_entities = generate_moveit_rviz_launch(moveit_config).entities - for entity in rviz_entities: - if isinstance(entity, Node): - entity.cmd.extend(['--ros-args', '--params-file', rviz_config]) - ld.add_entity(entity) + ld.add_entity(generate_moveit_rviz_launch(moveit_config)) # Static TF ld.add_entity(generate_static_virtual_joint_tfs_launch(moveit_config)) From 6f51a9a24d1b5f328e6df42f8e3e8733f1e96b60 Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 26 Dec 2024 15:54:05 +0900 Subject: [PATCH 20/29] =?UTF-8?q?setup=5Fassistant=E8=A8=AD=E5=AE=9A?= =?UTF-8?q?=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_moveit_config/.setup_assistant | 25 +++++++++++++++++++ .../launch/setup_assistant.launch.py | 24 ++++++++++++++++++ 2 files changed, 49 insertions(+) create mode 100644 crane_x7_moveit_config/.setup_assistant create mode 100755 crane_x7_moveit_config/launch/setup_assistant.launch.py diff --git a/crane_x7_moveit_config/.setup_assistant b/crane_x7_moveit_config/.setup_assistant new file mode 100644 index 00000000..6561fcf7 --- /dev/null +++ b/crane_x7_moveit_config/.setup_assistant @@ -0,0 +1,25 @@ +moveit_setup_assistant_config: + urdf: + package: crane_x7_description + relative_path: urdf/crane_x7.urdf.xacro + srdf: + relative_path: config/crane_x7.srdf + package_settings: + author_name: RT Corporation + author_email: shop@rt-net.jp + generated_timestamp: 1721799427 + control_xacro: + command: + - position + state: + - position + - velocity + modified_urdf: + xacros: + - control_xacro + control_xacro: + command: + - position + state: + - position + - velocity \ No newline at end of file diff --git a/crane_x7_moveit_config/launch/setup_assistant.launch.py b/crane_x7_moveit_config/launch/setup_assistant.launch.py new file mode 100755 index 00000000..007d389a --- /dev/null +++ b/crane_x7_moveit_config/launch/setup_assistant.launch.py @@ -0,0 +1,24 @@ +# Copyright 2024 RT Corporation +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + + +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_setup_assistant_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder( + 'crane_x7', package_name='crane_x7_moveit_config' + ).to_moveit_configs() + return generate_setup_assistant_launch(moveit_config) From 88eccafe25f0b5ab0c8ef6abf7b9770914c3935d Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 26 Dec 2024 15:54:36 +0900 Subject: [PATCH 21/29] =?UTF-8?q?=E3=83=91=E3=83=83=E3=82=B1=E3=83=BC?= =?UTF-8?q?=E3=82=B8=E6=83=85=E5=A0=B1=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_moveit_config/CMakeLists.txt | 9 ++++----- crane_x7_moveit_config/package.xml | 22 ++++++++++++++++++---- 2 files changed, 22 insertions(+), 9 deletions(-) diff --git a/crane_x7_moveit_config/CMakeLists.txt b/crane_x7_moveit_config/CMakeLists.txt index 568710b7..64bae52e 100644 --- a/crane_x7_moveit_config/CMakeLists.txt +++ b/crane_x7_moveit_config/CMakeLists.txt @@ -3,11 +3,10 @@ project(crane_x7_moveit_config) find_package(ament_cmake REQUIRED) -install(DIRECTORY - launch - config - DESTINATION share/${PROJECT_NAME}/ -) +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) +install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) diff --git a/crane_x7_moveit_config/package.xml b/crane_x7_moveit_config/package.xml index 3543aac6..52c0bb79 100644 --- a/crane_x7_moveit_config/package.xml +++ b/crane_x7_moveit_config/package.xml @@ -14,10 +14,24 @@ ament_cmake crane_x7_description - moveit - robot_state_publisher - rviz2 - tf2_ros + moveit_kinematics + moveit_planners + moveit_simple_controller_manager + joint_state_publisher + joint_state_publisher_gui + tf2_ros + xacro + controller_manager + crane_plus_description + moveit_configs_utils + moveit_ros_move_group + moveit_ros_visualization + moveit_ros_warehouse + moveit_setup_assistant + robot_state_publisher + rviz2 + rviz_common + rviz_default_plugins ament_lint_auto ament_lint_common From bdba0c24cdf05eae632b9147c1ef99288f88df4c Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 26 Dec 2024 17:42:05 +0900 Subject: [PATCH 22/29] =?UTF-8?q?=E3=82=B9=E3=82=BF=E3=82=A4=E3=83=AB?= =?UTF-8?q?=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_examples/launch/camera_example.launch.py | 4 ++-- crane_x7_examples/launch/example.launch.py | 2 +- crane_x7_moveit_config/launch/run_move_group.launch.py | 4 +--- 3 files changed, 4 insertions(+), 6 deletions(-) diff --git a/crane_x7_examples/launch/camera_example.launch.py b/crane_x7_examples/launch/camera_example.launch.py index 03a25fe1..1500b927 100644 --- a/crane_x7_examples/launch/camera_example.launch.py +++ b/crane_x7_examples/launch/camera_example.launch.py @@ -19,8 +19,8 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration -from launch_ros.actions import SetParameter from launch_ros.actions import Node +from launch_ros.actions import SetParameter import yaml @@ -67,7 +67,7 @@ def generate_launch_description(): description=('Set true when using the gazebo simulator.') ) - picking_node = Node(name="pick_and_place_tf", + picking_node = Node(name='pick_and_place_tf', package='crane_x7_examples', executable='pick_and_place_tf', output='screen', diff --git a/crane_x7_examples/launch/example.launch.py b/crane_x7_examples/launch/example.launch.py index 15b71bf4..6e8bc635 100644 --- a/crane_x7_examples/launch/example.launch.py +++ b/crane_x7_examples/launch/example.launch.py @@ -18,9 +18,9 @@ from crane_x7_description.robot_description_loader import RobotDescriptionLoader from launch import LaunchDescription from launch.actions import DeclareLaunchArgument -from launch_ros.actions import SetParameter from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node +from launch_ros.actions import SetParameter import yaml diff --git a/crane_x7_moveit_config/launch/run_move_group.launch.py b/crane_x7_moveit_config/launch/run_move_group.launch.py index e88bb271..12701324 100644 --- a/crane_x7_moveit_config/launch/run_move_group.launch.py +++ b/crane_x7_moveit_config/launch/run_move_group.launch.py @@ -12,8 +12,6 @@ # See the License for the specific language governing permissions and # limitations under the License. -import os - from crane_x7_description.robot_description_loader import RobotDescriptionLoader from launch import LaunchDescription from launch.actions import DeclareLaunchArgument @@ -21,8 +19,8 @@ from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_move_group_launch from moveit_configs_utils.launches import generate_moveit_rviz_launch -from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch from moveit_configs_utils.launches import generate_rsp_launch +from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch def generate_launch_description(): From df55cbfcad5c3c13759e7f6e397b0bbbf8c1e0b7 Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 26 Dec 2024 18:06:51 +0900 Subject: [PATCH 23/29] Update README --- README.en.md | 3 --- README.md | 3 --- 2 files changed, 6 deletions(-) diff --git a/README.en.md b/README.en.md index a01104a3..e31cd22d 100644 --- a/README.en.md +++ b/README.en.md @@ -47,9 +47,6 @@ ROS 2 package suite of CRANE-X7. ### Build from source ```sh -# Setup ROS environment -$ source /opt/ros/jazzy/setup.bash - # Download crane_x7 repositories $ mkdir -p ~/ros2_ws/src $ cd ~/ros2_ws/src diff --git a/README.md b/README.md index 1d983e5d..5a4ba829 100644 --- a/README.md +++ b/README.md @@ -48,9 +48,6 @@ ROS 2 package suite of CRANE-X7. ### Build from source ```sh -# Setup ROS environment -$ source /opt/ros/jazzy/setup.bash - # Download crane_x7 repositories $ mkdir -p ~/ros2_ws/src $ cd ~/ros2_ws/src From f475a248c42da49e65277394a5d25e060e5371f4 Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 26 Dec 2024 18:19:32 +0900 Subject: [PATCH 24/29] =?UTF-8?q?Gazebo=E3=82=AB=E3=83=A1=E3=83=A9?= =?UTF-8?q?=E4=BD=8D=E7=BD=AE=E8=AA=BF=E6=95=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_gazebo/gui/gui.config | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/crane_x7_gazebo/gui/gui.config b/crane_x7_gazebo/gui/gui.config index b9719161..3d479808 100644 --- a/crane_x7_gazebo/gui/gui.config +++ b/crane_x7_gazebo/gui/gui.config @@ -38,7 +38,8 @@ scene 0.4 0.4 0.4 0.8 0.8 0.8 - 1.0 0 2.0 0 0.5 3.14 + 1.0 0 1.7 0 0.4 3.14 + 50 @@ -123,7 +124,6 @@ false false 72 - 121 1 floating @@ -203,9 +203,6 @@ false #777777 - - - false From a96c6073b14d4df0ebc491e2d71c1a8e7d962dea Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Mon, 6 Jan 2025 16:46:00 +0900 Subject: [PATCH 25/29] =?UTF-8?q?move=5Fgroup=5Fcapabilities=E3=81=AE?= =?UTF-8?q?=E5=A4=89=E6=9B=B4=E3=81=AB=E5=AF=BE=E5=BF=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_moveit_config/launch/run_move_group.launch.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/crane_x7_moveit_config/launch/run_move_group.launch.py b/crane_x7_moveit_config/launch/run_move_group.launch.py index 12701324..615663dd 100644 --- a/crane_x7_moveit_config/launch/run_move_group.launch.py +++ b/crane_x7_moveit_config/launch/run_move_group.launch.py @@ -52,10 +52,6 @@ def generate_launch_description(): 'robot_description': LaunchConfiguration('loaded_description') } - moveit_config.move_group_capabilities = { - 'capabilities': '' - } - # Move group ld.add_entity(generate_move_group_launch(moveit_config)) From 6d7394ffb46cf645cdc67ccdbc165a3880d8d2e8 Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Tue, 7 Jan 2025 14:04:01 +0900 Subject: [PATCH 26/29] =?UTF-8?q?=E4=BE=9D=E5=AD=98=E3=83=91=E3=83=83?= =?UTF-8?q?=E3=82=B1=E3=83=BC=E3=82=B8=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_moveit_config/package.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/crane_x7_moveit_config/package.xml b/crane_x7_moveit_config/package.xml index 52c0bb79..62e72863 100644 --- a/crane_x7_moveit_config/package.xml +++ b/crane_x7_moveit_config/package.xml @@ -22,7 +22,6 @@ tf2_ros xacro controller_manager - crane_plus_description moveit_configs_utils moveit_ros_move_group moveit_ros_visualization From 3c0d5314b8cc5e72054f4afc91ef1a55ec60485b Mon Sep 17 00:00:00 2001 From: Kuwamai Date: Wed, 8 Jan 2025 16:37:14 +0900 Subject: [PATCH 27/29] =?UTF-8?q?CI=E3=81=AE=E3=83=90=E3=83=BC=E3=82=B8?= =?UTF-8?q?=E3=83=A7=E3=83=B3=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: YusukeKato --- .github/workflows/industrial_ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml index 2f3302f0..5bf1c933 100644 --- a/.github/workflows/industrial_ci.yml +++ b/.github/workflows/industrial_ci.yml @@ -20,6 +20,6 @@ jobs: - { ROS_DISTRO: jazzy, ROS_REPO: ros } runs-on: ubuntu-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - uses: "ros-industrial/industrial_ci@master" env: ${{ matrix.env }} From 0646b3725521232f6fe23a1fb591ad0e3706804c Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 9 Jan 2025 16:54:08 +0900 Subject: [PATCH 28/29] =?UTF-8?q?=E3=83=98=E3=83=83=E3=83=80=E3=83=BC?= =?UTF-8?q?=E3=83=95=E3=82=A1=E3=82=A4=E3=83=AB=E5=90=8D=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_examples/src/gripper_control.cpp | 2 +- crane_x7_examples/src/joint_values.cpp | 2 +- crane_x7_examples/src/pick_and_place.cpp | 2 +- crane_x7_examples/src/pick_and_place_tf.cpp | 2 +- crane_x7_examples/src/pose_groupstate.cpp | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/crane_x7_examples/src/gripper_control.cpp b/crane_x7_examples/src/gripper_control.cpp index b5594bd9..d3a2161b 100644 --- a/crane_x7_examples/src/gripper_control.cpp +++ b/crane_x7_examples/src/gripper_control.cpp @@ -19,7 +19,7 @@ #include #include "angles/angles.h" -#include "moveit/move_group_interface/move_group_interface.h" +#include "moveit/move_group_interface/move_group_interface.hpp" #include "rclcpp/rclcpp.hpp" using MoveGroupInterface = moveit::planning_interface::MoveGroupInterface; diff --git a/crane_x7_examples/src/joint_values.cpp b/crane_x7_examples/src/joint_values.cpp index f2575360..e1d180aa 100644 --- a/crane_x7_examples/src/joint_values.cpp +++ b/crane_x7_examples/src/joint_values.cpp @@ -18,7 +18,7 @@ // /src/move_group_interface_tutorial.cpp #include "angles/angles.h" -#include "moveit/move_group_interface/move_group_interface.h" +#include "moveit/move_group_interface/move_group_interface.hpp" #include "rclcpp/rclcpp.hpp" using MoveGroupInterface = moveit::planning_interface::MoveGroupInterface; diff --git a/crane_x7_examples/src/pick_and_place.cpp b/crane_x7_examples/src/pick_and_place.cpp index ad987bff..f6095b1e 100644 --- a/crane_x7_examples/src/pick_and_place.cpp +++ b/crane_x7_examples/src/pick_and_place.cpp @@ -22,7 +22,7 @@ #include "angles/angles.h" #include "geometry_msgs/msg/pose.hpp" #include "geometry_msgs/msg/quaternion.hpp" -#include "moveit/move_group_interface/move_group_interface.h" +#include "moveit/move_group_interface/move_group_interface.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" diff --git a/crane_x7_examples/src/pick_and_place_tf.cpp b/crane_x7_examples/src/pick_and_place_tf.cpp index 82c0fe83..8bfbceb1 100644 --- a/crane_x7_examples/src/pick_and_place_tf.cpp +++ b/crane_x7_examples/src/pick_and_place_tf.cpp @@ -28,7 +28,7 @@ #include "geometry_msgs/msg/quaternion.hpp" #include "geometry_msgs/msg/transform_stamped.hpp" #include "geometry_msgs/msg/twist.hpp" -#include "moveit/move_group_interface/move_group_interface.h" +#include "moveit/move_group_interface/move_group_interface.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" #include "tf2/convert.h" diff --git a/crane_x7_examples/src/pose_groupstate.cpp b/crane_x7_examples/src/pose_groupstate.cpp index 490bfd67..6ed4b751 100644 --- a/crane_x7_examples/src/pose_groupstate.cpp +++ b/crane_x7_examples/src/pose_groupstate.cpp @@ -17,7 +17,7 @@ // /5c15da709e9ea8529b54b313dc570f164f9a713e/doc/examples/subframes // /src/subframes_tutorial.cpp -#include "moveit/move_group_interface/move_group_interface.h" +#include "moveit/move_group_interface/move_group_interface.hpp" #include "rclcpp/rclcpp.hpp" using MoveGroupInterface = moveit::planning_interface::MoveGroupInterface; From ff53fcbdc5bfba994d9f72439d0cd858c9b246b1 Mon Sep 17 00:00:00 2001 From: Atsushi Kuwagata Date: Thu, 9 Jan 2025 16:54:49 +0900 Subject: [PATCH 29/29] =?UTF-8?q?computeCartesianPath=E3=81=AE=E5=A4=89?= =?UTF-8?q?=E6=9B=B4=E3=81=AB=E5=AF=BE=E5=BF=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_x7_examples/src/cartesian_path.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/crane_x7_examples/src/cartesian_path.cpp b/crane_x7_examples/src/cartesian_path.cpp index de6d07d9..1807a999 100644 --- a/crane_x7_examples/src/cartesian_path.cpp +++ b/crane_x7_examples/src/cartesian_path.cpp @@ -23,7 +23,7 @@ #include "angles/angles.h" #include "geometry_msgs/msg/pose.hpp" #include "geometry_msgs/msg/quaternion.hpp" -#include "moveit/move_group_interface/move_group_interface.h" +#include "moveit/move_group_interface/move_group_interface.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" @@ -90,11 +90,8 @@ int main(int argc, char ** argv) } moveit_msgs::msg::RobotTrajectory trajectory; - const double jump_threshold = 0.0; const double eef_step = 0.01; - move_group_arm.computeCartesianPath( - waypoints, eef_step, jump_threshold, - trajectory); + move_group_arm.computeCartesianPath(waypoints, eef_step, trajectory); move_group_arm.execute(trajectory); // SRDFに定義されている"home"の姿勢にする