diff --git a/CustomRobots/CMakeLists.txt b/CustomRobots/CMakeLists.txt index 0ed25c944..d92dce93c 100755 --- a/CustomRobots/CMakeLists.txt +++ b/CustomRobots/CMakeLists.txt @@ -133,6 +133,12 @@ install( palletizing/params palletizing/config + xlerobot/models + xlerobot/launch + + mmo500/models + mmo500/launch + DESTINATION share/${PROJECT_NAME}) # Palletizing box feeder node (ament_cmake package: install python node explicitly) diff --git a/CustomRobots/mmo500/LICENSE b/CustomRobots/mmo500/LICENSE new file mode 100644 index 000000000..6c714e9fb --- /dev/null +++ b/CustomRobots/mmo500/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2021 neobotix gmbh + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/CustomRobots/mmo500/NOTICE b/CustomRobots/mmo500/NOTICE new file mode 100644 index 000000000..20ee95e9c --- /dev/null +++ b/CustomRobots/mmo500/NOTICE @@ -0,0 +1,12 @@ +The mesh files under models/mmo500/meshes/ (MPO-500-BODY, MPO-500-WHEEL, +cabin, SICK-MICROSCAN3) come from neo_simulation2 in +https://github.com/neobotix/neo_simulation2, Copyright (c) 2021 neobotix gmbh, +MIT license, see LICENSE in this directory. + +The MPO-500 dimensions used in mmo500_common.urdf.xacro (wheel and laser +mount poses, cabinet and UR10 mount poses) were taken from the same source. + +The UR10 arm and the Robotiq 2F-85 gripper reuse the descriptions already in +this repository (robot_arms and robotiq_description). + +Everything else in this directory is original work for RoboticsAcademy. diff --git a/CustomRobots/mmo500/launch/mmo500.launch.py b/CustomRobots/mmo500/launch/mmo500.launch.py new file mode 100644 index 000000000..52bc52c56 --- /dev/null +++ b/CustomRobots/mmo500/launch/mmo500.launch.py @@ -0,0 +1,299 @@ +import os +import xacro +import yaml + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler +from launch.event_handlers import OnProcessExit +from launch_ros.actions import Node + + +def load_yaml(package_name, file_path): + pkg_path = get_package_share_directory(package_name) + with open(os.path.join(pkg_path, file_path), "r") as f: + return yaml.safe_load(f) + + +def load_file(package_name, file_path): + pkg_path = get_package_share_directory(package_name) + with open(os.path.join(pkg_path, file_path), "r") as f: + return f.read() + + +def launch_setup(context): + x = LaunchConfiguration("x") + y = LaunchConfiguration("y") + z = LaunchConfiguration("z") + R = LaunchConfiguration("R") + P = LaunchConfiguration("P") + Y = LaunchConfiguration("Y") + gz_namespace = LaunchConfiguration("namespace") + gz_entity = LaunchConfiguration("entity") + + package_dir = get_package_share_directory("custom_robots") + + namespace = gz_namespace.perform(context) + entity = gz_entity.perform(context) + + # Robot description + xacro_file = os.path.join( + package_dir, + "models", + "mmo500", + "mmo500.urdf.xacro", + ) + + controllers_file = os.path.join( + get_package_share_directory("mmo500_moveit_config"), + "config", + "controller_manager.yaml", + ) + + robot_description_content = xacro.process_file( + xacro_file, + mappings={ + "namespace": namespace, + "simulation_controllers": controllers_file, + }, + ).toxml() + + robot_description = {"robot_description": robot_description_content} + + # MoveIt configuration + robot_description_semantic = { + "robot_description_semantic": load_file( + "mmo500_moveit_config", "srdf/mmo500.srdf" + ) + } + + kinematics_yaml = load_yaml("mmo500_moveit_config", "config/kinematics.yaml") + kinematics_yaml = { + "robot_description_kinematics": kinematics_yaml["/**"]["ros__parameters"] + } + + moveit_controllers = load_yaml( + "mmo500_moveit_config", "config/moveit_controllers.yaml" + ) + moveit_controllers = moveit_controllers["/**"]["ros__parameters"] + + ompl_planning = load_yaml("mmo500_moveit_config", "config/ompl_planning.yaml") + ompl_planning = ompl_planning["/**"]["ros__parameters"] + + # Pilz provides the LIN and PTP planners used by Robmove + planning_pipelines_config = { + "planning_pipelines": ["ompl", "pilz_industrial_motion_planner"], + "default_planning_pipeline": "pilz_industrial_motion_planner", + "ompl": { + "planning_plugin": "ompl_interface/OMPLPlanner", + }, + "pilz_industrial_motion_planner": { + "planning_plugin": "pilz_industrial_motion_planner/CommandPlanner", + "request_adapters": "", + "start_state_max_bounds_error": 0.1, + "default_planner_config": "PTP", + }, + } + + joint_limits_yaml = load_yaml("mmo500_moveit_config", "config/joint_limits.yaml") + pilz_cartesian_limits = load_yaml( + "mmo500_moveit_config", "config/pilz_cartesian_limits.yaml" + ) + combined_planning = { + "robot_description_planning": {**joint_limits_yaml, **pilz_cartesian_limits} + } + + moveit_controller_manager_param = { + "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager" + } + + # Core nodes + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + namespace=gz_namespace, + output="screen", + parameters=[robot_description, {"use_sim_time": True}], + ) + + # No world transform because planning stays relative to base_footprint + + gz_spawn_entity = Node( + package="ros_gz_sim", + executable="create", + namespace=gz_namespace, + arguments=[ + "-topic", + f"/{namespace}/robot_description", + "-name", + entity, + "-allow_renaming", + "true", + "-x", + x, + "-y", + y, + "-z", + z, + "-R", + R, + "-P", + P, + "-Y", + Y, + ], + output="screen", + ) + + gz_ros2_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + namespace=gz_namespace, + arguments=[ + f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry", + f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist", + f"/{namespace}/front_laser/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan", + f"/{namespace}/back_laser/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan", + ], + output="screen", + ) + + # Controller spawners + def controller_spawner(controller_name): + return Node( + package="controller_manager", + executable="spawner", + namespace=gz_namespace, + # Long timeouts because the scene is still loading + arguments=[ + controller_name, + "--switch-timeout", + "90", + "--controller-manager-timeout", + "90", + "--service-call-timeout", + "90", + ], + output="screen", + ) + + joint_state_broadcaster_spawner = controller_spawner("joint_state_broadcaster") + arm_controller_spawner = controller_spawner("arm_controller") + gripper_controller_spawner = controller_spawner("gripper_controller") + + # MoveIt nodes + move_group = Node( + package="moveit_ros_move_group", + executable="move_group", + namespace=gz_namespace, + output="screen", + parameters=[ + robot_description, + robot_description_semantic, + kinematics_yaml, + planning_pipelines_config, + moveit_controllers, + combined_planning, + moveit_controller_manager_param, + {"use_sim_time": True}, + ], + ) + + # No move executable because mmo500 has no joint_specifications.yaml + robmove = Node( + package="ros2srrc_execution", + executable="robmove", + namespace=gz_namespace, + output="screen", + parameters=[ + robot_description, + robot_description_semantic, + kinematics_yaml, + moveit_controllers, + ompl_planning, + moveit_controller_manager_param, + {"use_sim_time": True}, + {"ROB_PARAM": "mmo500"}, + {"ROB_GROUP": "ur10_manipulator"}, + {"ACTION_NAME": f"/{namespace}/Robmove"}, + ], + ) + + robpose = Node( + package="ros2srrc_execution", + executable="robpose", + name="robpose", + namespace=gz_namespace, + output="screen", + parameters=[ + robot_description, + robot_description_semantic, + kinematics_yaml, + ompl_planning, + {"use_sim_time": True}, + {"ROB_PARAM": "mmo500"}, + {"ROB_GROUP": "ur10_manipulator"}, + ], + ) + + moveit_nodes = [move_group, robmove, robpose] + + # Startup order + # Each step starts when the previous one exits + after_spawn = RegisterEventHandler( + OnProcessExit( + target_action=gz_spawn_entity, + on_exit=[joint_state_broadcaster_spawner], + ) + ) + + after_joint_state_broadcaster = RegisterEventHandler( + OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[arm_controller_spawner], + ) + ) + + after_arm = RegisterEventHandler( + OnProcessExit( + target_action=arm_controller_spawner, + on_exit=[gripper_controller_spawner], + ) + ) + + after_gripper = RegisterEventHandler( + OnProcessExit( + target_action=gripper_controller_spawner, + on_exit=moveit_nodes, + ) + ) + + return [ + robot_state_publisher_node, + gz_spawn_entity, + gz_ros2_bridge, + after_spawn, + after_joint_state_broadcaster, + after_arm, + after_gripper, + ] + + +def generate_launch_description(): + declared_arguments = [ + DeclareLaunchArgument("use_sim_time", default_value="true"), + DeclareLaunchArgument("x", default_value="0"), + DeclareLaunchArgument("y", default_value="0"), + DeclareLaunchArgument("z", default_value="0"), + DeclareLaunchArgument("R", default_value="0"), + DeclareLaunchArgument("P", default_value="0"), + DeclareLaunchArgument("Y", default_value="0"), + DeclareLaunchArgument("namespace", default_value="mmo500"), + DeclareLaunchArgument("entity", default_value="mmo500"), + ] + + return LaunchDescription( + declared_arguments + [OpaqueFunction(function=launch_setup)] + ) diff --git a/CustomRobots/mmo500/models/mmo500/meshes/MPO-500-BODY.dae b/CustomRobots/mmo500/models/mmo500/meshes/MPO-500-BODY.dae new file mode 100644 index 000000000..e7e86f43e --- /dev/null +++ b/CustomRobots/mmo500/models/mmo500/meshes/MPO-500-BODY.dae @@ -0,0 +1,453 @@ + + + + + Blender User + Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b + + 2019-02-14T14:03:47 + 2019-02-14T14:03:47 + + Z_UP + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 8192 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 1 + 29.99998 + 75 + 0.15 + 1 + 0 + 1 + 2 + 1.000799 + 30.002 + 1 + 3 + 0.04999995 + 2880 + 3 + 1 + 0 + 0 + 2 + 1 + 1 + 1 + 0 + 1 + 0.1 + 0.1 + 1 + 0.000999987 + 1 + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 2 + 1 + 1 + 1 + 1 + 0 + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 8192 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 1 + 29.99998 + 75 + 0.15 + 1 + 0 + 1 + 2 + 1.000799 + 30.002 + 1 + 3 + 0.04999995 + 2880 + 3 + 1 + 0 + 0 + 2 + 1 + 1 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19081 28095 113996 19080 28094 113997 19081 28095 113998 19042 28056 113999 19042 28056 114000 19081 28095 114001 19043 28057 114002 19082 28096 114003 19083 28097 114004 19084 28098 114005 19084 28098 114006 19083 28097 114007 19085 28099 114008 19084 28098 114009 19085 28099 114010 19086 28100 114011 19086 28100 114012 19085 28099 114013 19087 28101 114014 19086 28100 114015 19087 28101 114016 19088 28102 114017 19088 28102 114018 19087 28101 114019 19089 28103 114020 19088 28102 114021 19089 28103 114022 19090 28104 114023 19090 28104 114024 19089 28103 114025 19091 28105 114026 19090 28104 114027 19091 28105 114028 19092 28106 114029 19092 28106 114030 19091 28105 114031 19093 28107 114032 19092 28106 114033 19093 28107 114034 19094 28108 114035 19094 28108 114036 19093 28107 114037 19095 28109 114038 19094 28108 114039 19095 28109 114040 19096 28110 114041 19096 28110 114042 19095 28109 114043 19097 28111 114044 19096 28110 114045 19097 28111 114046 19098 28112 114047 19098 28112 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6031 24536 104221 17884 24537 104222 17884 24537 104223 6031 24536 104224 6032 24538 104225 17884 24537 104226 6032 24538 104227 17885 24539 104228 17885 24539 104229 6032 24538 104230 6033 24540 104231 6033 24541 104232 6114 24542 104233 17885 24543 104234 17885 24543 104235 6114 24542 104236 17886 24544 104237 17886 24545 104238 6114 24546 104239 17887 24547 104240 17887 24547 104241 6114 24546 104242 6113 24548 104243 17887 24547 104244 6113 24548 104245 17888 24549 104246 17888 24549 104247 6113 24548 104248 6090 24550 104249 17888 24549 104250 6090 24550 104251 17889 24551 104252 17889 24551 104253 6090 24550 104254 6089 24552 104255 6112 24553 104256 17890 24554 104257 6089 24555 104258 6089 24555 104259 17890 24554 104260 17889 24556 104261 6112 24557 104262 6111 24558 104263 17890 24559 104264 17890 24559 104265 6111 24558 104266 17891 24560 104267 17891 24560 104268 6111 24558 104269 6110 24561 104270 17891 24560 104271 6110 24561 104272 17892 24562 104273 17892 24562 104274 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104328 17894 24589 104329 17895 24591 104330 17898 24590 104331 17895 24591 104332 17899 24592 104333 17899 24592 104334 17895 24591 104335 17896 24593 104336 17899 24592 104337 17896 24593 104338 17900 24594 104339 17900 24594 104340 17896 24593 104341 17901 24595 104342 17901 24595 104343 17896 24593 104344 17897 24596 104345 17874 24597 104346 17876 24598 104347 17898 24590 104348 17898 24590 104349 17876 24598 104350 17877 24599 104351 17898 24590 104352 17877 24599 104353 17878 24600 104354 17874 24597 104355 17875 24601 104356 17876 24598 104357 17898 24590 104358 17878 24600 104359 17893 24588 104360 17893 24588 104361 17878 24600 104362 17879 24602 104363 17893 24588 104364 17879 24602 104365 17892 24603 104366 17892 24603 104367 17879 24602 104368 17880 24604 104369 17892 24603 104370 17880 24604 104371 17891 24605 104372 17891 24605 104373 17880 24604 104374 17881 24606 104375 17891 24605 104376 17881 24606 104377 17890 24607 104378 17890 24607 104379 17881 24606 104380 17883 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+ + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/CustomRobots/mmo500/models/mmo500/mmo500.urdf.xacro b/CustomRobots/mmo500/models/mmo500/mmo500.urdf.xacro new file mode 100644 index 000000000..3634b2578 --- /dev/null +++ b/CustomRobots/mmo500/models/mmo500/mmo500.urdf.xacro @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro b/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro new file mode 100644 index 000000000..a1fbab856 --- /dev/null +++ b/CustomRobots/mmo500/models/mmo500/mmo500_common.urdf.xacro @@ -0,0 +1,198 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + + + + + + + + + + diff --git a/CustomRobots/mmo500/models/mmo500/mmo500_gz.urdf.xacro b/CustomRobots/mmo500/models/mmo500/mmo500_gz.urdf.xacro new file mode 100644 index 000000000..6c70b76fe --- /dev/null +++ b/CustomRobots/mmo500/models/mmo500/mmo500_gz.urdf.xacro @@ -0,0 +1,86 @@ + + + + + + + + + + + 0.0 + 1.0 + 0 1 0 + + + + + + + + + + + /${namespace}/cmd_vel + + + + + + + + odom + base_footprint + 50 + /${namespace}/odom + 3 + + + + + + + + + 1 + 0 + 10 + /${namespace}/${name}/scan + ${link} + + + + 720 + 1 + -1.48 + 1.48 + + + + 0.10 + 30.0 + 0.01 + + + gaussian + 0.0 + 0.01 + + + + + + + + + + + + ${namespace} + + ${simulation_controllers} + + + + + diff --git a/CustomRobots/pick_place/models/ground_logo_corner/meshes/RubberMat_logo.png b/CustomRobots/pick_place/models/ground_logo_corner/meshes/RubberMat_logo.png new file mode 100644 index 000000000..6824fe47b Binary files /dev/null and b/CustomRobots/pick_place/models/ground_logo_corner/meshes/RubberMat_logo.png differ diff --git a/CustomRobots/pick_place/models/ground_logo_corner/meshes/ground_logo.dae b/CustomRobots/pick_place/models/ground_logo_corner/meshes/ground_logo.dae index cedc83435..c39ae102e 100644 --- a/CustomRobots/pick_place/models/ground_logo_corner/meshes/ground_logo.dae +++ b/CustomRobots/pick_place/models/ground_logo_corner/meshes/ground_logo.dae @@ -3,78 +3,13 @@ Blender User - Blender 2.83.1 commit date:2020-06-25, commit time:09:47, hash:8289fc688b3e + Blender 4.5.13 LTS commit date:2026-08-24, commit time:11:28, hash:daeeeca98fb0 - 2020-07-07T15:53:27 - 2020-07-07T15:53:27 + 2026-09-25T11:38:54 + 2026-09-25T11:38:54 Z_UP - - - - - - 39.59775 - 1.777778 - 0.1 - 100 - - - - - - 0 - 0 - 10 - - - - - - - - - 1000 1000 1000 - 1 - 0 - 0.00111109 - - - - - 0 - 0 - 1 - 1 - 1 - 1 - 1 - 0 - 0 - 0 - 1000 - 29.99998 - 75 - 0.15 - 0 - 1 - 2 - 0.04999995 - 30.002 - 1 - 3 - 2880 - 3 - 1 - 1 - 0.1 - 0.1 - 1 - - - - @@ -94,7 +29,7 @@ 0 0 0 1 - + 1.45 @@ -138,7 +73,7 @@ - 1 0 0 1 0 0 1 0 1 1 0 1 + 1.769113 -0.7719147 0.001673758 0.9955238 0.001673758 -0.7719147 1.769113 -0.7719147 1.769113 0.9955238 0.001673758 0.9955238 @@ -166,20 +101,12 @@ - + - - 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - diff --git a/CustomRobots/pick_place/models/warehouse_floor/meshes/floor.dae b/CustomRobots/pick_place/models/warehouse_floor/meshes/floor.dae new file mode 100644 index 000000000..6c5d646e1 --- /dev/null +++ b/CustomRobots/pick_place/models/warehouse_floor/meshes/floor.dae @@ -0,0 +1,115 @@ + + + + + Blender User + Blender 4.5.13 LTS commit date:2026-08-24, commit time:11:28, hash:daeeeca98fb0 + + 2026-09-25T11:55:12 + 2026-09-25T11:55:12 + + Z_UP + + + + + + + porcelain_png + + + + + porcelain_png-surface + + + + + + 0 0 0 1 + + + + + + 1.45 + + + + + + + + + porcelain.png + + + + + + + + + + + + -1 -1 0 1 -1 0 -1 1 0 1 1 0 0.5486421 0.6301795 -2.348756 + + + + + + + + + + 0 0 1 + + + + + + + + + + 1.769113 -0.7719147 0.001673758 0.9955238 0.001673758 -0.7719147 1.769113 -0.7719147 1.769113 0.9955238 0.001673758 0.9955238 + + + + + + + + + + + + + + +

1 0 0 2 0 1 0 0 2 1 0 3 3 0 4 2 0 5

+ + + + + + + + 5.677794 0 0 0 0 5.946351 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/CustomRobots/pick_place/models/warehouse_floor/meshes/porcelain.png b/CustomRobots/pick_place/models/warehouse_floor/meshes/porcelain.png new file mode 100644 index 000000000..d603bebc5 Binary files /dev/null and b/CustomRobots/pick_place/models/warehouse_floor/meshes/porcelain.png differ diff --git a/CustomRobots/pick_place/models/warehouse_floor/model.config b/CustomRobots/pick_place/models/warehouse_floor/model.config new file mode 100644 index 000000000..81ef2f731 --- /dev/null +++ b/CustomRobots/pick_place/models/warehouse_floor/model.config @@ -0,0 +1,11 @@ + + + warehouse_floor + 1.0 + model.sdf + + + + + + diff --git a/CustomRobots/pick_place/models/warehouse_floor/model.sdf b/CustomRobots/pick_place/models/warehouse_floor/model.sdf new file mode 100644 index 000000000..d435a5089 --- /dev/null +++ b/CustomRobots/pick_place/models/warehouse_floor/model.sdf @@ -0,0 +1,17 @@ + + + + true + + + 0.0 0 0.001 0 0 0 + + + 0.5 0.5 0.5 + model://warehouse_floor/meshes/floor.dae + + + + + + diff --git a/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf b/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf index 8e7a725ad..6aaa6fcdb 100755 --- a/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf +++ b/CustomRobots/roomba_robot/models/mesa_comedor/model.sdf @@ -13,10 +13,12 @@ - 0.0 0.0 1.0 1.0 + 1.0 1.0 1.0 1.0 0.0 0.0 0.0 1.0 - + + meshes/wood.jpg + diff --git a/CustomRobots/xlerobot/LICENSE b/CustomRobots/xlerobot/LICENSE new file mode 100644 index 000000000..261eeb9e9 --- /dev/null +++ b/CustomRobots/xlerobot/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/CustomRobots/xlerobot/NOTICE b/CustomRobots/xlerobot/NOTICE new file mode 100644 index 000000000..c0ec21e36 --- /dev/null +++ b/CustomRobots/xlerobot/NOTICE @@ -0,0 +1,31 @@ +This directory (CustomRobots/xlerobot) includes files derived from the +XLeRobot project: + + https://github.com/Vector-Wangel/XLeRobot + +Copyright the XLeRobot contributors. Licensed under the Apache License, +Version 2.0 (see the LICENSE file in this directory). + +What was reused: + - The mesh files under models/xlerobot/meshes/ (except omni_wheel.stl, + see below) come from simulation/mujoco/assets/ and simulation/xlerobot_urdf.zip + in the upstream repository, unmodified. + - omni_wheel.stl comes from + simulation/mujoco/assets/simplify_4-Omni-Directional-Wheel_Single_Body-v1.stl + in the upstream repository, unmodified. + - The dual arm and head link and joint geometry (origins, joint limits, + masses, inertias) in xlerobot_common.urdf.xacro was ported from the URDF + shipped at simulation/xlerobot_urdf.zip in the upstream repository. The + arm and head joints are currently fixed instead of actuated, this is a + simplification made for the RoboticsAcademy integration, not part of the + upstream model. + - The chassis visual and collision geometry in xlerobot_common.urdf.xacro + also comes from that same shipped URDF. + +What is original to this integration, not from upstream: + - The 3 wheel mount positions and orientations (a holonomic layout matching + the mujoco model at simulation/mujoco/xlerobot.xml in the upstream repo, + which is a different hardware revision than the shipped URDF above), the + wheel collision shapes, the base_footprint frame, the xacro macro + structure, and every Gazebo/ROS 2 plugin wiring (xlerobot_gz.urdf.xacro, + xlerobot.launch.py). diff --git a/CustomRobots/xlerobot/launch/xlerobot.launch.py b/CustomRobots/xlerobot/launch/xlerobot.launch.py new file mode 100644 index 000000000..922aaee95 --- /dev/null +++ b/CustomRobots/xlerobot/launch/xlerobot.launch.py @@ -0,0 +1,388 @@ +import os +import xacro +import yaml + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler +from launch.event_handlers import OnProcessExit +from launch_ros.actions import Node + + +def load_yaml(package_name, file_path): + pkg_path = get_package_share_directory(package_name) + with open(os.path.join(pkg_path, file_path), "r") as f: + return yaml.safe_load(f) + + +def load_file(package_name, file_path): + pkg_path = get_package_share_directory(package_name) + with open(os.path.join(pkg_path, file_path), "r") as f: + return f.read() + + +def launch_setup(context): + x = LaunchConfiguration("x") + y = LaunchConfiguration("y") + z = LaunchConfiguration("z") + R = LaunchConfiguration("R") + P = LaunchConfiguration("P") + Y = LaunchConfiguration("Y") + gz_namespace = LaunchConfiguration("namespace") + gz_entity = LaunchConfiguration("entity") + + package_dir = get_package_share_directory("custom_robots") + + namespace = gz_namespace.perform(context) + entity = gz_entity.perform(context) + + # Robot description + xacro_file = os.path.join( + package_dir, + "models", + "xlerobot", + "xlerobot.urdf.xacro", + ) + + controllers_file = os.path.join( + get_package_share_directory("xlerobot_moveit_config"), + "config", + "controller_manager.yaml", + ) + + robot_description_content = xacro.process_file( + xacro_file, + mappings={ + "namespace": namespace, + "simulation_controllers": controllers_file, + }, + ).toxml() + + robot_description = {"robot_description": robot_description_content} + + # MoveIt configuration + robot_description_semantic = { + "robot_description_semantic": load_file( + "xlerobot_moveit_config", "srdf/xlerobot.srdf" + ) + } + + kinematics_yaml = load_yaml("xlerobot_moveit_config", "config/kinematics.yaml") + kinematics_yaml = { + "robot_description_kinematics": kinematics_yaml["/**"]["ros__parameters"] + } + + moveit_controllers = load_yaml( + "xlerobot_moveit_config", "config/moveit_controllers.yaml" + ) + moveit_controllers = moveit_controllers["/**"]["ros__parameters"] + + ompl_planning = load_yaml("xlerobot_moveit_config", "config/ompl_planning.yaml") + ompl_planning = ompl_planning["/**"]["ros__parameters"] + + # Pilz provides the LIN and PTP planners used by Robmove + planning_pipelines_config = { + "planning_pipelines": ["ompl", "pilz_industrial_motion_planner"], + "default_planning_pipeline": "pilz_industrial_motion_planner", + "ompl": { + "planning_plugin": "ompl_interface/OMPLPlanner", + }, + "pilz_industrial_motion_planner": { + "planning_plugin": "pilz_industrial_motion_planner/CommandPlanner", + "request_adapters": "", + "start_state_max_bounds_error": 0.1, + "default_planner_config": "PTP", + }, + } + + joint_limits_yaml = load_yaml("xlerobot_moveit_config", "config/joint_limits.yaml") + pilz_cartesian_limits = load_yaml( + "xlerobot_moveit_config", "config/pilz_cartesian_limits.yaml" + ) + combined_planning = { + "robot_description_planning": {**joint_limits_yaml, **pilz_cartesian_limits} + } + + moveit_controller_manager_param = { + "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager" + } + + # Core nodes + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + namespace=gz_namespace, + output="screen", + parameters=[robot_description, {"use_sim_time": True}], + ) + + # No world transform because planning stays relative to base_footprint + + gz_spawn_entity = Node( + package="ros_gz_sim", + executable="create", + namespace=gz_namespace, + arguments=[ + "-topic", + f"/{namespace}/robot_description", + "-name", + entity, + "-allow_renaming", + "true", + "-x", + x, + "-y", + y, + "-z", + z, + "-R", + R, + "-P", + P, + "-Y", + Y, + ], + output="screen", + ) + + gz_ros2_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + namespace=gz_namespace, + arguments=[ + f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry", + f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist", + f"/{namespace}/head_camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo", + f"/{namespace}/left_arm_camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo", + f"/{namespace}/right_arm_camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo", + ], + output="screen", + ) + + # Images use ros_gz_image because the parameter bridge does not support them + gz_ros2_image_bridge = Node( + package="ros_gz_image", + executable="image_bridge", + namespace=gz_namespace, + arguments=[ + f"/{namespace}/head_camera/image", + f"/{namespace}/head_camera/depth_image", + f"/{namespace}/left_arm_camera/image_raw", + f"/{namespace}/right_arm_camera/image_raw", + ], + output="screen", + ) + + # Controller spawners + def controller_spawner(controller_name): + return Node( + package="controller_manager", + executable="spawner", + namespace=gz_namespace, + # Long timeouts because the scene is still loading + arguments=[ + controller_name, + "--switch-timeout", + "90", + "--controller-manager-timeout", + "90", + "--service-call-timeout", + "90", + ], + output="screen", + ) + + joint_state_broadcaster_spawner = controller_spawner("joint_state_broadcaster") + left_arm_controller_spawner = controller_spawner("left_arm_controller") + right_arm_controller_spawner = controller_spawner("right_arm_controller") + left_gripper_controller_spawner = controller_spawner("left_gripper_controller") + right_gripper_controller_spawner = controller_spawner("right_gripper_controller") + head_controller_spawner = controller_spawner("head_controller") + + # MoveIt nodes + move_group = Node( + package="moveit_ros_move_group", + executable="move_group", + namespace=gz_namespace, + output="screen", + parameters=[ + robot_description, + robot_description_semantic, + kinematics_yaml, + planning_pipelines_config, + moveit_controllers, + combined_planning, + moveit_controller_manager_param, + {"use_sim_time": True}, + ], + ) + + # No move executable because xlerobot has no joint_specifications.yaml + # robmove has no name because it creates two nodes + + left_robmove = Node( + package="ros2srrc_execution", + executable="robmove", + namespace=gz_namespace, + output="screen", + parameters=[ + robot_description, + robot_description_semantic, + kinematics_yaml, + moveit_controllers, + ompl_planning, + moveit_controller_manager_param, + {"use_sim_time": True}, + {"ROB_PARAM": "xlerobot"}, + {"ROB_GROUP": "xlerobot_left_arm"}, + {"ACTION_NAME": f"/{namespace}/left_robmove/Robmove"}, + ], + ) + + right_robmove = Node( + package="ros2srrc_execution", + executable="robmove", + namespace=gz_namespace, + output="screen", + parameters=[ + robot_description, + robot_description_semantic, + kinematics_yaml, + moveit_controllers, + ompl_planning, + moveit_controller_manager_param, + {"use_sim_time": True}, + {"ROB_PARAM": "xlerobot"}, + {"ROB_GROUP": "xlerobot_right_arm"}, + {"ACTION_NAME": f"/{namespace}/right_robmove/Robmove"}, + ], + ) + + left_robpose = Node( + package="ros2srrc_execution", + executable="robpose", + name="left_robpose", + namespace=gz_namespace, + output="screen", + remappings=[("Robpose", "left_robpose/Robpose")], + parameters=[ + robot_description, + robot_description_semantic, + kinematics_yaml, + ompl_planning, + {"use_sim_time": True}, + {"ROB_PARAM": "xlerobot"}, + {"ROB_GROUP": "xlerobot_left_arm"}, + ], + ) + + right_robpose = Node( + package="ros2srrc_execution", + executable="robpose", + name="right_robpose", + namespace=gz_namespace, + output="screen", + remappings=[("Robpose", "right_robpose/Robpose")], + parameters=[ + robot_description, + robot_description_semantic, + kinematics_yaml, + ompl_planning, + {"use_sim_time": True}, + {"ROB_PARAM": "xlerobot"}, + {"ROB_GROUP": "xlerobot_right_arm"}, + ], + ) + + moveit_nodes = [ + move_group, + left_robmove, + right_robmove, + left_robpose, + right_robpose, + ] + + # Startup order + # Each step starts when the previous one exits + after_spawn = RegisterEventHandler( + OnProcessExit( + target_action=gz_spawn_entity, + on_exit=[joint_state_broadcaster_spawner], + ) + ) + + after_joint_state_broadcaster = RegisterEventHandler( + OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[left_arm_controller_spawner], + ) + ) + + after_left_arm = RegisterEventHandler( + OnProcessExit( + target_action=left_arm_controller_spawner, + on_exit=[right_arm_controller_spawner], + ) + ) + + after_right_arm = RegisterEventHandler( + OnProcessExit( + target_action=right_arm_controller_spawner, + on_exit=[left_gripper_controller_spawner], + ) + ) + + after_left_gripper = RegisterEventHandler( + OnProcessExit( + target_action=left_gripper_controller_spawner, + on_exit=[right_gripper_controller_spawner], + ) + ) + + after_right_gripper = RegisterEventHandler( + OnProcessExit( + target_action=right_gripper_controller_spawner, + on_exit=[head_controller_spawner], + ) + ) + + after_head = RegisterEventHandler( + OnProcessExit( + target_action=head_controller_spawner, + on_exit=moveit_nodes, + ) + ) + + return [ + robot_state_publisher_node, + gz_spawn_entity, + gz_ros2_bridge, + gz_ros2_image_bridge, + after_spawn, + after_joint_state_broadcaster, + after_left_arm, + after_right_arm, + after_left_gripper, + after_right_gripper, + after_head, + ] + + +def generate_launch_description(): + declared_arguments = [ + DeclareLaunchArgument("use_sim_time", default_value="true"), + DeclareLaunchArgument("x", default_value="0"), + DeclareLaunchArgument("y", default_value="0"), + DeclareLaunchArgument("z", default_value="0"), + DeclareLaunchArgument("R", default_value="0"), + DeclareLaunchArgument("P", default_value="0"), + DeclareLaunchArgument("Y", default_value="0"), + DeclareLaunchArgument("namespace", default_value="logistic_robot"), + DeclareLaunchArgument("entity", default_value="xlerobot"), + ] + + return LaunchDescription( + declared_arguments + [OpaqueFunction(function=launch_setup)] + ) diff --git a/CustomRobots/xlerobot/models/house_int2_no_chairs/model.config b/CustomRobots/xlerobot/models/house_int2_no_chairs/model.config new file mode 100644 index 000000000..4cb6f716c --- /dev/null +++ b/CustomRobots/xlerobot/models/house_int2_no_chairs/model.config @@ -0,0 +1,20 @@ + + + + House_int2_no_chairs + 1.0 + model.sdf + + + Aitor + + + + + Same house interior as house_int2, minus the 4 dining chairs, so a robot + can actually reach the dining table. Reuses house_int2's own meshes and + every other piece of furniture through model:// references, does not + duplicate any mesh file. + + + diff --git a/CustomRobots/xlerobot/models/house_int2_no_chairs/model.sdf b/CustomRobots/xlerobot/models/house_int2_no_chairs/model.sdf new file mode 100644 index 000000000..37bb35f79 --- /dev/null +++ b/CustomRobots/xlerobot/models/house_int2_no_chairs/model.sdf @@ -0,0 +1,129 @@ + + + + true + + + + + model://house_int2/meshes/model.dae + + walls + + + + + + + + model://house_int2/meshes/model.dae + + Plane + + + + + + + + model://house_int2/meshes/model.dae + + encimera + + + + + + + + model://house_int2/meshes/model.dae + + barra + + + + + + + + model://house_int2/meshes/model.dae + + frigo + + + + + + + + model://house_int2/meshes/model.dae + + + + + 0x01 + + + + + + model://mesa_comedor + -2.4 0.3 0 0 0 1.57 + true + + + Mesa salon + model://mesa_salon + -0.8 4.4 0 0 -0 0 + true + + + Sofa 1 + model://sofa_largo + -0.8 3.4 0 0 -0 3.14 + true + + + Sofa 2 + model://sofa + 0.5 4.4 0 0 0 -1.57 + true + + + Sofa 3 + model://sofa + -2.1 4.4 0 0 -0 1.57 + true + + + Estanteria 1 + model://estanteria + 4.7 4.48 0 0 -0 0 + true + + + Estanteria 2 + model://estanteria + 4.7 0.5 0 0 -0 0 + true + + + Mesita 1 + model://mesita + 2.4 -3.28 0 0 -0 0 + true + + + Mesita 2 + model://mesita + 4.4 -3.28 0 0 -0 0 + true + + + Cama + model://cama + 3.4 -2.41 0 0 0 -1.57 + true + + + diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Base.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Base.stl new file mode 100644 index 000000000..14e6ba55e Binary files /dev/null and b/CustomRobots/xlerobot/models/xlerobot/meshes/Base.stl differ diff --git a/CustomRobots/xlerobot/models/xlerobot/meshes/Base_Motor.stl b/CustomRobots/xlerobot/models/xlerobot/meshes/Base_Motor.stl new file mode 100644 index 000000000..748c29e70 Binary files /dev/null and b/CustomRobots/xlerobot/models/xlerobot/meshes/Base_Motor.stl differ diff --git 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100644 index 000000000..bc9c10a79 --- /dev/null +++ b/CustomRobots/xlerobot/models/xlerobot/xlerobot_gz.urdf.xacro @@ -0,0 +1,217 @@ + + + + + + + + + 1.0 + 1.0 + 20 + 0.05 + + + + + + + + + + 1.0 + 0.0 + ${fdir1} + + + + + + + + + + + + + + 0.2 + 0.001 + + + + + + + + + true + + + + + + /${namespace}/cmd_vel + + + + + + + + odom + base_footprint + 50 + /${namespace}/odom + 3 + + + + + + + + + true + false + 15 + /${namespace}/${name} + + /${namespace}/${name}/camera_info + 1.047 + + 640 + 480 + R8G8B8 + + + 0.05 + 8.0 + + + + + + + + + + -2.162.16 + + + + + -0.223.37 + + + + + -0.223.14 + + + + + -1.65806281.6580627 + + + + + -2.74384732.8412063 + + + + + -0.3745331.7453292 + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + + + + + -3.23.2 + + + + + -0.761.45 + + + + + + + + + + + + + + + + + + + + + + + + ${namespace} + + ${simulation_controllers} + + + + + + + + + true + 30 + + ${link}_collision + ${link}_collision_1 + ${link}_collision_2 + + + + + + + + + + true + false + 15 + /${namespace}/${name}/image_raw + + /${namespace}/${name}/camera_info + 1.5 + + 640 + 480 + R8G8B8 + + + 0.02 + 5.0 + + + + + + + diff --git a/Industrial/mmo500_moveit_config/CMakeLists.txt b/Industrial/mmo500_moveit_config/CMakeLists.txt new file mode 100644 index 000000000..d6c327cc6 --- /dev/null +++ b/Industrial/mmo500_moveit_config/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.8) +project(mmo500_moveit_config) + +find_package(ament_cmake REQUIRED) + +install(DIRECTORY config srdf + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/Industrial/mmo500_moveit_config/config/controller_manager.yaml b/Industrial/mmo500_moveit_config/config/controller_manager.yaml new file mode 100644 index 000000000..bda0b54e1 --- /dev/null +++ b/Industrial/mmo500_moveit_config/config/controller_manager.yaml @@ -0,0 +1,63 @@ +/**/controller_manager: + ros__parameters: + update_rate: 100 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + arm_controller: + type: joint_trajectory_controller/JointTrajectoryController + + gripper_controller: + type: joint_trajectory_controller/JointTrajectoryController + +/**/arm_controller: + ros__parameters: + joints: + - ur10_shoulder_pan_joint + - ur10_shoulder_lift_joint + - ur10_elbow_joint + - ur10_wrist_1_joint + - ur10_wrist_2_joint + - ur10_wrist_3_joint + + command_interfaces: + - position + + state_interfaces: + - position + - velocity + + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + allow_nonzero_velocity_at_trajectory_end: true + allow_integration_in_goal_trajectories: true + + constraints: + stopped_velocity_tolerance: 0.01 + goal_time: 0.0 + +/**/gripper_controller: + ros__parameters: + joints: + - robotiq_85_left_knuckle_joint + + command_interfaces: + - position + + state_interfaces: + - position + - velocity + + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + allow_integration_in_goal_trajectories: true + + constraints: + stopped_velocity_tolerance: 0.01 + goal_time: 0.0 + robotiq_85_left_knuckle_joint: + trajectory: 0.5 + goal: 0.5 diff --git a/Industrial/mmo500_moveit_config/config/joint_limits.yaml b/Industrial/mmo500_moveit_config/config/joint_limits.yaml new file mode 100644 index 000000000..6fb191021 --- /dev/null +++ b/Industrial/mmo500_moveit_config/config/joint_limits.yaml @@ -0,0 +1,36 @@ +joint_limits: + ur10_shoulder_pan_joint: + has_velocity_limits: true + max_velocity: 1.5 + has_acceleration_limits: true + max_acceleration: 5.0 + ur10_shoulder_lift_joint: + has_velocity_limits: true + max_velocity: 1.5 + has_acceleration_limits: true + max_acceleration: 5.0 + ur10_elbow_joint: + has_velocity_limits: true + max_velocity: 1.5 + has_acceleration_limits: true + max_acceleration: 5.0 + ur10_wrist_1_joint: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + ur10_wrist_2_joint: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + ur10_wrist_3_joint: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + robotiq_85_left_knuckle_joint: + has_velocity_limits: true + max_velocity: 1.0 + has_acceleration_limits: true + max_acceleration: 5.0 diff --git a/Industrial/mmo500_moveit_config/config/kinematics.yaml b/Industrial/mmo500_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..88f3d00f4 --- /dev/null +++ b/Industrial/mmo500_moveit_config/config/kinematics.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + ur10_manipulator: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.1 + kinematics_solver_attempts: 10 diff --git a/Industrial/mmo500_moveit_config/config/moveit_controllers.yaml b/Industrial/mmo500_moveit_config/config/moveit_controllers.yaml new file mode 100644 index 000000000..c6997c090 --- /dev/null +++ b/Industrial/mmo500_moveit_config/config/moveit_controllers.yaml @@ -0,0 +1,25 @@ +/**: + ros__parameters: + moveit_simple_controller_manager: + controller_names: + - arm_controller + - gripper_controller + + arm_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - ur10_shoulder_pan_joint + - ur10_shoulder_lift_joint + - ur10_elbow_joint + - ur10_wrist_1_joint + - ur10_wrist_2_joint + - ur10_wrist_3_joint + + gripper_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - robotiq_85_left_knuckle_joint diff --git a/Industrial/mmo500_moveit_config/config/ompl_planning.yaml b/Industrial/mmo500_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..b477af5ef --- /dev/null +++ b/Industrial/mmo500_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,70 @@ +/**: + ros__parameters: + planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECEkConfigDefault: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECEkConfigDefault: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRTkConfigDefault: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRTkConfigDefault: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expression. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar + ur10_manipulator: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + longest_valid_segment_fraction: 0.01 diff --git a/Industrial/mmo500_moveit_config/config/pilz_cartesian_limits.yaml b/Industrial/mmo500_moveit_config/config/pilz_cartesian_limits.yaml new file mode 100644 index 000000000..e33f19da2 --- /dev/null +++ b/Industrial/mmo500_moveit_config/config/pilz_cartesian_limits.yaml @@ -0,0 +1,5 @@ +cartesian_limits: + max_trans_vel: 0.25 + max_trans_acc: 0.25 + max_trans_dec: 0.25 + max_rot_vel: 2.0 diff --git a/Industrial/mmo500_moveit_config/package.xml b/Industrial/mmo500_moveit_config/package.xml new file mode 100644 index 000000000..59b2a1b92 --- /dev/null +++ b/Industrial/mmo500_moveit_config/package.xml @@ -0,0 +1,25 @@ + + + + mmo500_moveit_config + 0.0.0 + MoveIt2 configuration for the Neobotix MMO-500 mobile manipulator + maintainer + MIT + + ament_cmake + + moveit_kinematics + moveit_planners_ompl + moveit_ros_move_group + moveit_ros_visualization + moveit_simple_controller_manager + controller_manager + joint_trajectory_controller + joint_state_broadcaster + gz_ros2_control + + + ament_cmake + + diff --git a/Industrial/mmo500_moveit_config/srdf/mmo500.srdf b/Industrial/mmo500_moveit_config/srdf/mmo500.srdf new file mode 100644 index 000000000..cfc800f05 --- /dev/null +++ b/Industrial/mmo500_moveit_config/srdf/mmo500.srdf @@ -0,0 +1,149 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py index a21c9ba1c..a6a01bb9a 100644 --- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py +++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py @@ -58,19 +58,21 @@ class RobMoveCLIENT(Node): - def __init__(self): + # The defaults keep the single arm behaviour and a second arm passes its own names + def __init__(self, node_name="ros2srrc_RobMove_Client", action_name="/Robmove"): - super().__init__("ros2srrc_RobMove_Client") - self._action_client = ActionClient(self, Robmove, "/Robmove") + super().__init__(node_name) + self._action_client = ActionClient(self, Robmove, action_name) + self.action_name = action_name - print("[CLIENT - robot.py]: Initialising ROS2 /RobMove Action Client!") + print(f"[CLIENT - robot.py]: Initialising ROS2 {action_name} Action Client!") print( - "[CLIENT - robot.py]: Waiting for /Robmove ROS2 ActionServer to be available..." + f"[CLIENT - robot.py]: Waiting for {action_name} ROS2 ActionServer to be available..." ) self._action_client.wait_for_server() - print("[CLIENT - robot.py]: /Robmove ACTION SERVER detected, ready!") + print(f"[CLIENT - robot.py]: {action_name} ACTION SERVER detected, ready!") print("") print("") @@ -118,19 +120,20 @@ def get_result_callback(self, future): class MoveCLIENT(Node): - def __init__(self): + def __init__(self, node_name="ros2srrc_Move_Client", action_name="/Move"): - super().__init__("ros2srrc_Move_Client") - self._action_client = ActionClient(self, Move, "/Move") + super().__init__(node_name) + self._action_client = ActionClient(self, Move, action_name) + self.action_name = action_name - print("[CLIENT - robot.py]: Initialising ROS2 /Move Action Client!") + print(f"[CLIENT - robot.py]: Initialising ROS2 {action_name} Action Client!") print( - "[CLIENT - robot.py]: Waiting for /Move ROS2 ActionServer to be available..." + f"[CLIENT - robot.py]: Waiting for {action_name} ROS2 ActionServer to be available..." ) self._action_client.wait_for_server() - print("[CLIENT - robot.py]: /Move ACTION SERVER detected, ready!") + print(f"[CLIENT - robot.py]: {action_name} ACTION SERVER detected, ready!") print("") def send_goal(self, ACTION): @@ -180,16 +183,35 @@ def get_result_callback(self, future): class RBT: - def __init__(self): + # One RBT per arm with its own action servers + # use_move False skips the Move client for robots without that action server + def __init__( + self, + suffix="", + move_action="/Move", + robmove_action="/Robmove", + use_move=True, + ): # Initialise /Move and /RobMove Action Clients: - self.MoveClient = MoveCLIENT() - self.RobMoveClient = RobMoveCLIENT() + self.MoveClient = ( + MoveCLIENT(f"ros2srrc_Move_Client{suffix}", move_action) + if use_move + else None + ) + self.RobMoveClient = RobMoveCLIENT( + f"ros2srrc_RobMove_Client{suffix}", robmove_action + ) self.EXECUTING = "" def Move_EXECUTE(self, ACTION): + if self.MoveClient is None: + raise RuntimeError( + "This RBT was created with use_move=False, /Move is not available" + ) + global RES self.EXECUTING = "Move" diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp index dae42bab3..5cdb3349f 100644 --- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp +++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robmove.cpp @@ -106,9 +106,14 @@ class ActionServer : public rclcpp::Node param_ROB_GROUP.c_str() ); + // The action name is a parameter because a launch remap of a fully qualified action name is ignored + this->declare_parameter("ACTION_NAME", "/Robmove"); + std::string action_name = this->get_parameter("ACTION_NAME").as_string(); + RCLCPP_INFO(this->get_logger(), "ACTION_NAME received -> %s", action_name.c_str()); + action_server_ = rclcpp_action::create_server( this, - "/Robmove", + action_name, std::bind(&ActionServer::handle_goal, this, std::placeholders::_1, std::placeholders::_2), std::bind(&ActionServer::handle_cancel, this, std::placeholders::_1), std::bind(&ActionServer::handle_accepted, this, std::placeholders::_1) @@ -283,7 +288,9 @@ int main(int argc, char **argv) using moveit::planning_interface::MoveGroupInterface; - move_group_interface_ROB = MoveGroupInterface(moveit_node, param_ROB_GROUP); + // The namespace has to go through the options or the client waits on the unnamespaced move_action + MoveGroupInterface::Options options(param_ROB_GROUP, MoveGroupInterface::ROBOT_DESCRIPTION, moveit_node->get_namespace()); + move_group_interface_ROB = MoveGroupInterface(moveit_node, options); move_group_interface_ROB.setMaxVelocityScalingFactor(1.0); move_group_interface_ROB.setMaxAccelerationScalingFactor(1.0); diff --git a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp index fda708a04..e61cc243d 100644 --- a/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp +++ b/Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/robpose.cpp @@ -38,6 +38,7 @@ #include #include #include +#include using namespace std::chrono_literals; // Include MoveIt!2: @@ -125,9 +126,21 @@ int main(int argc, char **argv) param_ROB_GROUP.c_str() ); + // MoveGroupInterface gets its own node and executor so the blocking timer callback cannot starve it + auto moveit_node = std::make_shared( + "moveit_helper_node_robpose", + rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true) + ); + + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(moveit_node); + std::thread([&executor]() { executor.spin(); }).detach(); + // === MOVEIT === using moveit::planning_interface::MoveGroupInterface; - move_group_interface_ROB = MoveGroupInterface(node, param_ROB_GROUP); + // The namespace has to go through the options or the client waits on the unnamespaced move_action + MoveGroupInterface::Options options(param_ROB_GROUP, MoveGroupInterface::ROBOT_DESCRIPTION, moveit_node->get_namespace()); + move_group_interface_ROB = MoveGroupInterface(moveit_node, options); RCLCPP_INFO( node->get_logger(), diff --git a/Industrial/xlerobot_moveit_config/CMakeLists.txt b/Industrial/xlerobot_moveit_config/CMakeLists.txt new file mode 100644 index 000000000..9d5fd8e2a --- /dev/null +++ b/Industrial/xlerobot_moveit_config/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.8) +project(xlerobot_moveit_config) + +find_package(ament_cmake REQUIRED) + +install(DIRECTORY config srdf + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/Industrial/xlerobot_moveit_config/config/controller_manager.yaml b/Industrial/xlerobot_moveit_config/config/controller_manager.yaml new file mode 100644 index 000000000..c50aa458f --- /dev/null +++ b/Industrial/xlerobot_moveit_config/config/controller_manager.yaml @@ -0,0 +1,162 @@ +/**/controller_manager: + ros__parameters: + update_rate: 100 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + left_arm_controller: + type: joint_trajectory_controller/JointTrajectoryController + + right_arm_controller: + type: joint_trajectory_controller/JointTrajectoryController + + left_gripper_controller: + type: joint_trajectory_controller/JointTrajectoryController + + right_gripper_controller: + type: joint_trajectory_controller/JointTrajectoryController + + head_controller: + type: joint_trajectory_controller/JointTrajectoryController + +/**/joint_state_broadcaster: + ros__parameters: + joints: + - Rotation_L + - Pitch_L + - Elbow_L + - Wrist_Pitch_L + - Wrist_Roll_L + - Jaw_L + - Rotation_R + - Pitch_R + - Elbow_R + - Wrist_Pitch_R + - Wrist_Roll_R + - Jaw_R + - head_pan_joint + - head_tilt_joint + - wheel_1_joint + - wheel_2_joint + - wheel_3_joint + + interfaces: + - position + - velocity + +/**/left_arm_controller: + ros__parameters: + joints: + - Rotation_L + - Pitch_L + - Elbow_L + - Wrist_Pitch_L + - Wrist_Roll_L + + command_interfaces: + - position + + state_interfaces: + - position + - velocity + + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + allow_nonzero_velocity_at_trajectory_end: true + allow_integration_in_goal_trajectories: true + + constraints: + stopped_velocity_tolerance: 0.01 + goal_time: 0.0 + +/**/right_arm_controller: + ros__parameters: + joints: + - Rotation_R + - Pitch_R + - Elbow_R + - Wrist_Pitch_R + - Wrist_Roll_R + + command_interfaces: + - position + + state_interfaces: + - position + - velocity + + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + allow_nonzero_velocity_at_trajectory_end: true + allow_integration_in_goal_trajectories: true + + constraints: + stopped_velocity_tolerance: 0.01 + goal_time: 0.0 + +/**/left_gripper_controller: + ros__parameters: + joints: + - Jaw_L + + command_interfaces: + - position + + state_interfaces: + - position + - velocity + + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + allow_integration_in_goal_trajectories: true + + constraints: + stopped_velocity_tolerance: 0.01 + goal_time: 0.0 + +/**/right_gripper_controller: + ros__parameters: + joints: + - Jaw_R + + command_interfaces: + - position + + state_interfaces: + - position + - velocity + + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + allow_integration_in_goal_trajectories: true + + constraints: + stopped_velocity_tolerance: 0.01 + goal_time: 0.0 + +/**/head_controller: + ros__parameters: + joints: + - head_pan_joint + - head_tilt_joint + + command_interfaces: + - position + + state_interfaces: + - position + - velocity + + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + allow_integration_in_goal_trajectories: true + + constraints: + stopped_velocity_tolerance: 0.01 + goal_time: 0.0 diff --git a/Industrial/xlerobot_moveit_config/config/joint_limits.yaml b/Industrial/xlerobot_moveit_config/config/joint_limits.yaml new file mode 100644 index 000000000..14cff7407 --- /dev/null +++ b/Industrial/xlerobot_moveit_config/config/joint_limits.yaml @@ -0,0 +1,61 @@ +joint_limits: + Rotation_L: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + Pitch_L: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + Elbow_L: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + Wrist_Pitch_L: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + Wrist_Roll_L: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + Jaw_L: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + Rotation_R: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + Pitch_R: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + Elbow_R: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + Wrist_Pitch_R: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + Wrist_Roll_R: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 + Jaw_R: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 5.0 diff --git a/Industrial/xlerobot_moveit_config/config/kinematics.yaml b/Industrial/xlerobot_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..cedd8f0f8 --- /dev/null +++ b/Industrial/xlerobot_moveit_config/config/kinematics.yaml @@ -0,0 +1,12 @@ +/**: + ros__parameters: + xlerobot_left_arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.1 + kinematics_solver_attempts: 10 + xlerobot_right_arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.1 + kinematics_solver_attempts: 10 diff --git a/Industrial/xlerobot_moveit_config/config/moveit_controllers.yaml b/Industrial/xlerobot_moveit_config/config/moveit_controllers.yaml new file mode 100644 index 000000000..c497e9e56 --- /dev/null +++ b/Industrial/xlerobot_moveit_config/config/moveit_controllers.yaml @@ -0,0 +1,44 @@ +/**: + ros__parameters: + moveit_simple_controller_manager: + controller_names: + - left_arm_controller + - right_arm_controller + - left_gripper_controller + - right_gripper_controller + + left_arm_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - Rotation_L + - Pitch_L + - Elbow_L + - Wrist_Pitch_L + - Wrist_Roll_L + + right_arm_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - Rotation_R + - Pitch_R + - Elbow_R + - Wrist_Pitch_R + - Wrist_Roll_R + + left_gripper_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - Jaw_L + + right_gripper_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - Jaw_R diff --git a/Industrial/xlerobot_moveit_config/config/ompl_planning.yaml b/Industrial/xlerobot_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..72d7fdb1b --- /dev/null +++ b/Industrial/xlerobot_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,84 @@ +/**: + ros__parameters: + planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECEkConfigDefault: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECEkConfigDefault: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRTkConfigDefault: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRTkConfigDefault: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expression. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar + xlerobot_left_arm: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + longest_valid_segment_fraction: 0.01 + xlerobot_right_arm: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + longest_valid_segment_fraction: 0.01 diff --git a/Industrial/xlerobot_moveit_config/config/pilz_cartesian_limits.yaml b/Industrial/xlerobot_moveit_config/config/pilz_cartesian_limits.yaml new file mode 100644 index 000000000..d3cc46320 --- /dev/null +++ b/Industrial/xlerobot_moveit_config/config/pilz_cartesian_limits.yaml @@ -0,0 +1,7 @@ +cartesian_limits: + max_trans_vel: 0.15 + max_trans_acc: 0.15 + max_trans_dec: 0.15 + max_rot_vel: 1.0 + +# Conservative limits for the small servo arms diff --git a/Industrial/xlerobot_moveit_config/package.xml b/Industrial/xlerobot_moveit_config/package.xml new file mode 100644 index 000000000..f14e977e3 --- /dev/null +++ b/Industrial/xlerobot_moveit_config/package.xml @@ -0,0 +1,25 @@ + + + + xlerobot_moveit_config + 0.0.0 + MoveIt2 configuration for the XLeRobot dual arm + maintainer + Apache-2.0 + + ament_cmake + + moveit_kinematics + moveit_planners_ompl + moveit_ros_move_group + moveit_ros_visualization + moveit_simple_controller_manager + controller_manager + joint_trajectory_controller + joint_state_broadcaster + gz_ros2_control + + + ament_cmake + + diff --git a/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf b/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf new file mode 100644 index 000000000..895835698 --- /dev/null +++ b/Industrial/xlerobot_moveit_config/srdf/xlerobot.srdf @@ -0,0 +1,281 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Launchers/mobile_manipulation_warehouse.launch.py b/Launchers/mobile_manipulation_warehouse.launch.py new file mode 100644 index 000000000..ce02bebcd --- /dev/null +++ b/Launchers/mobile_manipulation_warehouse.launch.py @@ -0,0 +1,55 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, AppendEnvironmentVariable +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node + + +def generate_launch_description(): + ros_gz_sim = get_package_share_directory("ros_gz_sim") + + world_file_name = "mobile_manipulation_warehouse.world" + worlds_dir = "/opt/jderobot/Scenes" + world_path = os.path.join(worlds_dir, world_file_name) + + # The Robotiq gripper meshes use package:// URIs + robotiq_resource_path = AppendEnvironmentVariable( + name="GZ_SIM_RESOURCE_PATH", + value=os.path.dirname(get_package_share_directory("robotiq_description")), + ) + + gazebo_server = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py") + ), + launch_arguments={ + "gz_args": ["-s -v4 ", world_path], + "on_exit_shutdown": "true", + }.items(), + ) + + world_entity_cmd = Node( + package="ros_gz_sim", + executable="create", + arguments=["-name", "world", "-file", world_path], + output="screen", + ) + + gz_ros2_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", + ], + output="screen", + ) + + ld = LaunchDescription() + ld.add_action(robotiq_resource_path) + ld.add_action(gazebo_server) + ld.add_action(world_entity_cmd) + ld.add_action(gz_ros2_bridge) + + return ld diff --git a/Launchers/visualization/mobile_manipulation_warehouse.config b/Launchers/visualization/mobile_manipulation_warehouse.config new file mode 100644 index 000000000..75560e42b --- /dev/null +++ b/Launchers/visualization/mobile_manipulation_warehouse.config @@ -0,0 +1,157 @@ + + + + + + +