Base config clean-up (#302)

* Move door controllers from base to site config

* Remove 3 waypoint pick and place from base config

src/picknik_ur_base_config/config/config.yaml

@@ -183,8 +183,6 @@ ros2_control:
   # [Optional, default=[]]
   controllers_inactive_at_startup:
     - "joint_trajectory_controller"
-    - "admittance_controller_open_door"
-    - "joint_trajectory_controller_chained_open_door"
     - "joint_trajectory_admittance_controller"
     - "velocity_force_controller"
   # Any controllers here will not be spawned by MoveIt Pro.

src/picknik_ur_base_config/config/control/picknik_ur.ros2_control.yaml

@@ -15,10 +15,6 @@ controller_manager:
       type: robotiq_controllers/RobotiqActivationController
     servo_controller:
       type: joint_trajectory_controller/JointTrajectoryController
-    admittance_controller_open_door:
-      type: admittance_controller/AdmittanceController
-    joint_trajectory_controller_chained_open_door:
-      type: joint_trajectory_controller/JointTrajectoryController
     joint_trajectory_admittance_controller:
       type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
     velocity_force_controller:
@@ -81,47 +77,6 @@ joint_trajectory_controller:
       wrist_3_joint:
         goal: 0.05
 
-joint_trajectory_controller_chained_open_door:
-  ros__parameters:
-    joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-    command_interfaces:
-      - position
-      - velocity
-    state_interfaces:
-      - position
-      - velocity
-    command_joints:
-      - admittance_controller_open_door/shoulder_pan_joint
-      - admittance_controller_open_door/shoulder_lift_joint
-      - admittance_controller_open_door/elbow_joint
-      - admittance_controller_open_door/wrist_1_joint
-      - admittance_controller_open_door/wrist_2_joint
-      - admittance_controller_open_door/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
-      shoulder_pan_joint:
-        goal: 0.25
-      shoulder_lift_joint:
-        goal: 0.25
-      elbow_joint:
-        goal: 0.25
-      wrist_1_joint:
-        goal: 0.25
-      wrist_2_joint:
-        goal: 0.25
-      wrist_3_joint:
-        goal: 0.25
-
 servo_controller:
   ros__parameters:
     joints:
@@ -172,97 +127,6 @@ robotiq_activation_controller:
   ros__parameters:
     default: true
 
-admittance_controller_open_door:
-  ros__parameters:
-    joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
-
-    command_interfaces:
-      - position
-
-    state_interfaces:
-      - position
-      - velocity
-
-    chainable_command_interfaces:
-      - position
-      - velocity
-
-    kinematics:
-      plugin_name: kinematics_interface_kdl/KinematicsInterfaceKDL
-      plugin_package: kinematics_interface
-      base: base_link  # Assumed to be stationary
-      tip: grasp_link  # The end effector frame
-      alpha: 0.05
-
-    ft_sensor:
-      name: tcp_fts_sensor
-      frame:
-        id: wrist_3_link  # Wrench measurements are in this frame
-      filter_coefficient: 0.1
-
-    control:
-      frame:
-        id: grasp_link  # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector
-
-    fixed_world_frame:
-      frame:            # Gravity points down (neg. Z) in this frame (Usually: world or base_link)
-        id: base_link   # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector
-
-    gravity_compensation:
-      frame:
-        id: wrist_3_link
-
-      CoG:  # specifies the center of gravity of the end effector
-        pos:
-          - 0.1  # x
-          - 0.0  # y
-          - 0.0  # z
-        force: 0.0  # mass * 9.81
-
-    admittance:
-      selected_axes:
-        - true  # x
-        - true  # y
-        - true  # z
-        - true  # rx
-        - true  # ry
-        - true  # rz
-
-      # Having ".0" at the end is MUST, otherwise there is a loading error
-      # F = M*a + D*v + S*(x - x_d)
-      mass:
-        - 10.0  # x
-        - 10.0  # y
-        - 10.0  # z
-        - 5.0  # rx
-        - 5.0  # ry
-        - 5.0  # rz
-
-      damping_ratio:  # damping can be used instead: zeta = D / (2 * sqrt( M * S ))
-        - 5.0  # x
-        - 5.0  # y
-        - 5.0  # z
-        - 5.0  # rx
-        - 5.0  # ry
-        - 5.0  # rz
-
-      stiffness:
-        - 500.0  # x
-        - 500.0  # y
-        - 500.0  # z
-        - 100.0  # rx
-        - 100.0  # ry
-        - 100.0  # rz
-
-    # general settings
-    enable_parameter_update_without_reactivation: true
-
 joint_trajectory_admittance_controller:
   ros__parameters:
     joints:

src/picknik_ur_site_config/config/config.yaml

@@ -13,3 +13,35 @@ objectives:
     custom_objectives:
       package_name: "picknik_ur_site_config"
       relative_path: "objectives"
+
+# Configuration for launching ros2_control processes.
+# [Required, if using ros2_control]
+ros2_control:
+  config:
+    package: "picknik_ur_site_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"
+    - "io_and_status_controller"
+    - "robotiq_activation_controller"
+  # Load but do not start these controllers so they can be activated later if needed.
+  # [Optional, default=[]]
+  controllers_inactive_at_startup:
+    - "joint_trajectory_controller"
+    - "admittance_controller_open_door"
+    - "joint_trajectory_controller_chained_open_door"
+    - "joint_trajectory_admittance_controller"
+    - "velocity_force_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: []