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--- Co-authored-by: Mario Prats <[email protected]>
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cmake_minimum_required(VERSION 3.22) | ||
project(picknik_ur_mobile_config) | ||
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find_package(ament_cmake REQUIRED) | ||
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install( | ||
DIRECTORY | ||
config | ||
description | ||
launch | ||
objectives | ||
waypoints | ||
DESTINATION | ||
share/${PROJECT_NAME} | ||
) | ||
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if(BUILD_TESTING) | ||
find_package(ament_lint_auto REQUIRED) | ||
ament_lint_auto_find_test_dependencies() | ||
endif() | ||
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ament_package() |
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Redistribution and use in source and binary forms, with or without | ||
modification, are permitted provided that the following conditions are met: | ||
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* Redistributions of source code must retain the above copyright | ||
notice, this list of conditions and the following disclaimer. | ||
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* Redistributions in binary form must reproduce the above copyright | ||
notice, this list of conditions and the following disclaimer in the | ||
documentation and/or other materials provided with the distribution. | ||
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* Neither the name of the copyright holder nor the names of its | ||
contributors may be used to endorse or promote products derived from | ||
this software without specific prior written permission. | ||
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
POSSIBILITY OF SUCH DAMAGE. |
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# picknik_ur_mobile_config | ||
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A MoveIt Pro MuJoCo simulation of a UR5 arm on a mobile Ridgeback base. | ||
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For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/) |
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# | ||
# This contains information for a unique instance of a robot. | ||
# | ||
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# Name of the package to specialize | ||
based_on_package: "picknik_ur_base_config" | ||
hardware: | ||
# Parameters used to configure the robot description through XACRO. | ||
# A URDF and SRDF are both required. | ||
# [Required] | ||
robot_description: | ||
urdf: | ||
package: "picknik_ur_mobile_config" | ||
path: "description/picknik_ur.xacro" | ||
srdf: | ||
package: "picknik_ur_mobile_config" | ||
path: "config/moveit/picknik_ur.srdf" | ||
urdf_params: | ||
- joint_limits_parameters_file: | ||
package: "picknik_ur_mobile_config" | ||
path: "config/moveit/joint_limits.yaml" | ||
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moveit_params: | ||
servo: | ||
package: "picknik_ur_mobile_config" | ||
path: "config/moveit/ur_servo.yaml" | ||
joint_limits: | ||
package: "picknik_ur_mobile_config" | ||
path: "config/moveit/joint_limits.yaml" | ||
servo_joint_limits: | ||
package: "picknik_ur_mobile_config" | ||
path: "config/moveit/hard_joint_limits.yaml" | ||
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# Configuration for loading behaviors and objectives. | ||
# [Required] | ||
objectives: | ||
# List of plugins for loading custom behaviors. | ||
# [Required] | ||
behavior_loader_plugins: | ||
# This plugin will load the core MoveIt Pro Behaviors. | ||
# Add additional plugin loaders as needed. | ||
core: | ||
- "moveit_studio::behaviors::CoreBehaviorsLoader" | ||
- "moveit_studio::behaviors::MTCCoreBehaviorsLoader" | ||
- "moveit_studio::behaviors::ServoBehaviorsLoader" | ||
- "moveit_studio::behaviors::VisionBehaviorsLoader" | ||
# Specify source folder for objectives | ||
# [Required] | ||
objective_library_paths: | ||
sim_objectives: | ||
package_name: "picknik_ur_mobile_config" | ||
relative_path: "objectives" | ||
# Specify the location of the saved waypoints file. | ||
# [Required] | ||
waypoints_file: | ||
package_name: "picknik_ur_mobile_config" | ||
relative_path: "waypoints/ur_waypoints.yaml" | ||
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# Configuration for launching ros2_control processes. | ||
# [Required, if using ros2_control] | ||
ros2_control: | ||
config: | ||
package: "picknik_ur_mobile_config" | ||
path: "config/control/picknik_ur.ros2_control.yaml" | ||
# MoveIt Pro will load and activate these controllers at start up to ensure they are available. | ||
# If not specified, it is up to the user to ensure the appropriate controllers are active and available | ||
# for running the application. | ||
# [Optional, default=[]] | ||
controllers_active_at_startup: | ||
- "force_torque_sensor_broadcaster" | ||
- "robotiq_gripper_controller" | ||
- "joint_state_broadcaster" | ||
- "servo_controller" | ||
# Load but do not start these controllers so they can be activated later if needed. | ||
controllers_inactive_at_startup: | ||
- "joint_trajectory_controller" | ||
# Any controllers here will not be spawned by MoveIt Pro. | ||
# [Optional, default=[]] | ||
controllers_not_managed: [] | ||
# Optionally configure remapping rules to let multiple controllers receive commands on the same topic. | ||
# [Optional, default=[]] | ||
controller_shared_topics: [] | ||
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# Octomap manager configuration parameters | ||
octomap_manager: | ||
# Input point cloud topic name. The *output* point cloud topic published by | ||
# the Octomap manager node is defined in sensors_3d.yaml. | ||
input_point_cloud_topic: "/wrist_camera/points" |
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src/picknik_ur_mobile_config/config/control/picknik_ur.ros2_control.yaml
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controller_manager: | ||
ros__parameters: | ||
update_rate: 600 # Hz | ||
joint_state_broadcaster: | ||
type: joint_state_broadcaster/JointStateBroadcaster | ||
joint_trajectory_controller: | ||
type: joint_trajectory_controller/JointTrajectoryController | ||
robotiq_gripper_controller: | ||
type: position_controllers/GripperActionController | ||
servo_controller: | ||
type: joint_trajectory_controller/JointTrajectoryController | ||
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force_torque_sensor_broadcaster: | ||
type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster | ||
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joint_state_broadcaster: | ||
ros__parameters: | ||
use_local_topics: false | ||
joints: | ||
- linear_x_joint | ||
- linear_y_joint | ||
- rotational_yaw_joint | ||
- shoulder_pan_joint | ||
- shoulder_lift_joint | ||
- elbow_joint | ||
- wrist_1_joint | ||
- wrist_2_joint | ||
- wrist_3_joint | ||
- robotiq_85_left_knuckle_joint | ||
interfaces: | ||
- position | ||
- velocity | ||
- effort | ||
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joint_trajectory_controller: | ||
ros__parameters: | ||
joints: | ||
- linear_x_joint | ||
- linear_y_joint | ||
- rotational_yaw_joint | ||
- shoulder_pan_joint | ||
- shoulder_lift_joint | ||
- elbow_joint | ||
- wrist_1_joint | ||
- wrist_2_joint | ||
- wrist_3_joint | ||
command_interfaces: | ||
- position | ||
state_interfaces: | ||
- position | ||
- velocity | ||
command_joints: | ||
- linear_x_joint | ||
- linear_y_joint | ||
- rotational_yaw_joint | ||
- shoulder_pan_joint | ||
- shoulder_lift_joint | ||
- elbow_joint | ||
- wrist_1_joint | ||
- wrist_2_joint | ||
- wrist_3_joint | ||
state_publish_rate: 100.0 | ||
action_monitor_rate: 20.0 | ||
allow_partial_joints_goal: false | ||
constraints: | ||
stopped_velocity_tolerance: 0.0 | ||
goal_time: 0.0 | ||
linear_x_joint: | ||
goal: 0.05 | ||
linear_y_joint: | ||
goal: 0.05 | ||
rotational_yaw_joint: | ||
goal: 0.05 | ||
shoulder_pan_joint: | ||
goal: 0.05 | ||
shoulder_lift_joint: | ||
goal: 0.05 | ||
elbow_joint: | ||
goal: 0.05 | ||
wrist_1_joint: | ||
goal: 0.05 | ||
wrist_2_joint: | ||
goal: 0.05 | ||
wrist_3_joint: | ||
goal: 0.05 | ||
acceleration_limits: | ||
linear_x_joint: 10.0 | ||
linear_y_joint: 10.0 | ||
rotational_yaw_joint: 10.0 | ||
shoulder_pan_joint: 10.0 | ||
shoulder_lift_joint: 10.0 | ||
elbow_joint: 10.0 | ||
wrist_1_joint: 10.0 | ||
wrist_2_joint: 10.0 | ||
wrist_3_joint: 10.0 | ||
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robotiq_gripper_controller: | ||
ros__parameters: | ||
default: true | ||
joint: robotiq_85_left_knuckle_joint | ||
allow_stalling: true | ||
servo_controller: | ||
ros__parameters: | ||
joints: | ||
- linear_x_joint | ||
- linear_y_joint | ||
- rotational_yaw_joint | ||
- shoulder_pan_joint | ||
- shoulder_lift_joint | ||
- elbow_joint | ||
- wrist_1_joint | ||
- wrist_2_joint | ||
- wrist_3_joint | ||
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command_interfaces: | ||
- position | ||
state_interfaces: | ||
- position | ||
- velocity | ||
command_joints: | ||
- linear_x_joint | ||
- linear_y_joint | ||
- rotational_yaw_joint | ||
- shoulder_pan_joint | ||
- shoulder_lift_joint | ||
- elbow_joint | ||
- wrist_1_joint | ||
- wrist_2_joint | ||
- wrist_3_joint | ||
state_publish_rate: 100.0 | ||
action_monitor_rate: 20.0 | ||
allow_partial_joints_goal: false | ||
constraints: | ||
stopped_velocity_tolerance: 0.0 | ||
goal_time: 0.0 | ||
linear_x_joint: | ||
goal: 0.05 | ||
linear_y_joint: | ||
goal: 0.05 | ||
rotational_yaw_joint: | ||
goal: 0.05 | ||
shoulder_pan_joint: | ||
goal: 0.05 | ||
shoulder_lift_joint: | ||
goal: 0.05 | ||
elbow_joint: | ||
goal: 0.05 | ||
wrist_1_joint: | ||
goal: 0.05 | ||
wrist_2_joint: | ||
goal: 0.05 | ||
wrist_3_joint: | ||
goal: 0.05 | ||
acceleration_limits: | ||
linear_x_joint: 10.0 | ||
linear_y_joint: 10.0 | ||
rotational_yaw_joint: 10.0 | ||
shoulder_pan_joint: 10.0 | ||
shoulder_lift_joint: 10.0 | ||
elbow_joint: 10.0 | ||
wrist_1_joint: 10.0 | ||
wrist_2_joint: 10.0 | ||
wrist_3_joint: 10.0 | ||
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force_torque_sensor_broadcaster: | ||
ros__parameters: | ||
sensor_name: robotiq_ft_sensor | ||
state_interface_names: | ||
- force.x | ||
- force.y | ||
- force.z | ||
- torque.x | ||
- torque.y | ||
- torque.z | ||
frame_id: fts_link |
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linear_x_joint: 1.5 | ||
linear_y_joint: 1.5 | ||
rotational_yaw_joint: 0.0 | ||
shoulder_pan_joint: 0.0 | ||
shoulder_lift_joint: -1.41 | ||
elbow_joint: -0.7 | ||
wrist_1_joint: -2.12 | ||
wrist_2_joint: 1.67 | ||
wrist_3_joint: 0.0 |
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