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Add mobile ur config (#304)
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---
Co-authored-by: Mario Prats <[email protected]>
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sjahr authored Jul 11, 2024
1 parent 506d4d1 commit cf6d254
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8 changes: 8 additions & 0 deletions .gitmodules
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path = src/external_dependencies/gz_ros2_control
url = https://github.com/PickNikRobotics/gz_ros2_control.git
branch = mimic-joint-feature-humble
[submodule "src/external_dependencies/LMS1xx"]
path = src/external_dependencies/LMS1xx
url = https://github.com/clearpathrobotics/LMS1xx.git
branch = humble-devel
[submodule "src/external_dependencies/ridgeback"]
path = src/external_dependencies/ridgeback
url = https://github.com/sjahr/ridgeback.git
branch = ros2
1 change: 1 addition & 0 deletions src/external_dependencies/LMS1xx
Submodule LMS1xx added at 90001a
1 change: 1 addition & 0 deletions src/external_dependencies/ridgeback
Submodule ridgeback added at dae972
22 changes: 22 additions & 0 deletions src/picknik_ur_mobile_config/CMakeLists.txt
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cmake_minimum_required(VERSION 3.22)
project(picknik_ur_mobile_config)

find_package(ament_cmake REQUIRED)

install(
DIRECTORY
config
description
launch
objectives
waypoints
DESTINATION
share/${PROJECT_NAME}
)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()

ament_package()
25 changes: 25 additions & 0 deletions src/picknik_ur_mobile_config/LICENSE
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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:

* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.

* 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.

* 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.

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.
5 changes: 5 additions & 0 deletions src/picknik_ur_mobile_config/README.md
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# picknik_ur_mobile_config

A MoveIt Pro MuJoCo simulation of a UR5 arm on a mobile Ridgeback base.

For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)
89 changes: 89 additions & 0 deletions src/picknik_ur_mobile_config/config/config.yaml
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#
# This contains information for a unique instance of a robot.
#

# 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"

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"

# 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"


# 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: []

# 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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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

force_torque_sensor_broadcaster:
type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster

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

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

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

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

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
9 changes: 9 additions & 0 deletions src/picknik_ur_mobile_config/config/initial_positions.yaml
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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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