From b83e29b8a74c323df1b342d66a883fd0a13ced0d Mon Sep 17 00:00:00 2001 From: Martina Gloria Date: Thu, 28 Nov 2024 10:24:08 +0100 Subject: [PATCH 1/5] Rename packages with prefix xcub --- README.md | 45 ++++++++++--------- .../.setup_assistant | 0 .../CMakeLists.txt | 2 +- .../config/ergocub.ros2_control.xacro | 0 .../config/ergocub.srdf | 0 .../config/ergocub.urdf.xacro | 0 .../config/initial_positions.yaml | 0 .../config/joint_limits.yaml | 0 .../config/kinematics.yaml | 0 .../config/moveit.rviz | 0 .../config/moveit_controllers.yaml | 0 .../config/ompl_planning.yaml | 0 .../config/pilz_cartesian_limits.yaml | 0 .../config/ros2_controllers.yaml | 0 .../config/sensors_3d.yaml | 0 .../launch/demo.launch.py | 2 +- .../launch/move_group.launch.py | 2 +- .../launch/moveit_rviz.launch.py | 2 +- .../launch/rsp.launch.py | 2 +- .../launch/setup_assistant.launch.py | 2 +- .../launch/spawn_controllers.launch.py | 2 +- .../launch/static_virtual_joint_tfs.launch.py | 2 +- .../launch/warehouse_db.launch.py | 2 +- .../package.xml | 2 +- {grasp_moveit => xcub_grasp}/CMakeLists.txt | 2 +- {grasp_moveit => xcub_grasp}/package.xml | 2 +- {grasp_moveit => xcub_grasp}/src/grasp.cpp | 0 .../.setup_assistant | 0 .../CMakeLists.txt | 2 +- .../config/icub.ros2_control.xacro | 0 .../config/icub.srdf | 0 .../config/icub.urdf.xacro | 0 .../config/initial_positions.yaml | 0 .../config/joint_limits.yaml | 0 .../config/kinematics.yaml | 0 .../config/moveit.rviz | 0 .../config/moveit_controllers.yaml | 0 .../config/ompl_planning.yaml | 0 .../config/pilz_cartesian_limits.yaml | 0 .../config/ros2_controllers.yaml | 0 .../config/sensors_3d.yaml | 0 .../launch/demo.launch.py | 2 +- .../launch/move_group.launch.py | 2 +- .../launch/moveit_rviz.launch.py | 2 +- .../launch/rsp.launch.py | 2 +- .../launch/setup_assistant.launch.py | 2 +- .../launch/spawn_controllers.launch.py | 2 +- .../launch/static_virtual_joint_tfs.launch.py | 2 +- .../launch/warehouse_db.launch.py | 2 +- .../package.xml | 2 +- xcub_moveit2_all_packages/CMakeLists.txt | 12 ++--- .../CMakeLists.txt | 4 +- .../README.md | 0 .../launch/test_controller.launch.py | 12 ++--- .../package.xml | 2 +- .../src/test_controller.cpp | 2 +- .../utils/trac_ik_params_tuning.m | 0 .../utils/workspace_estimation.m | 0 {robot_moveit => xcub_robot}/CMakeLists.txt | 12 ++--- .../launch/circle_demo.launch.py | 8 ++-- .../launch/grasp_demo.launch.py | 6 +-- .../launch/launch_icub.launch.py | 4 +- .../launch/robot.launch.py | 8 ++-- .../launch/robot_controls.launch.py | 29 ++++++------ .../launch/robot_sim.launch.py | 26 +++++------ .../launch/spawn_model.py | 2 +- {robot_moveit => xcub_robot}/package.xml | 2 +- .../src/robot_moveit.cpp | 0 .../CMakeLists.txt | 2 +- .../robot_controller/robot_controller.hpp | 0 .../robot_controller/visibility_control.h | 0 .../package.xml | 2 +- .../src/robot_controller.cpp | 0 .../xcub_ros2_controllers.xml | 2 +- 74 files changed, 116 insertions(+), 108 deletions(-) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/.setup_assistant (100%) rename {icub_moveit_config => xcub_ergocub_moveit_config}/CMakeLists.txt (89%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/config/ergocub.ros2_control.xacro (100%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/config/ergocub.srdf (100%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/config/ergocub.urdf.xacro (100%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/config/initial_positions.yaml (100%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/config/joint_limits.yaml (100%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/config/kinematics.yaml (100%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/config/moveit.rviz (100%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/config/moveit_controllers.yaml (100%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/config/ompl_planning.yaml (100%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/config/pilz_cartesian_limits.yaml (100%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/config/ros2_controllers.yaml (100%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/config/sensors_3d.yaml (100%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/launch/demo.launch.py (85%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/launch/move_group.launch.py (85%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/launch/moveit_rviz.launch.py (85%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/launch/rsp.launch.py (85%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/launch/setup_assistant.launch.py (86%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/launch/spawn_controllers.launch.py (86%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/launch/static_virtual_joint_tfs.launch.py (86%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/launch/warehouse_db.launch.py (85%) rename {ergocub_moveit_config => xcub_ergocub_moveit_config}/package.xml (96%) rename {grasp_moveit => xcub_grasp}/CMakeLists.txt (98%) rename {grasp_moveit => xcub_grasp}/package.xml (96%) rename {grasp_moveit => xcub_grasp}/src/grasp.cpp (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/.setup_assistant (100%) rename {ergocub_moveit_config => xcub_icub_moveit_config}/CMakeLists.txt (90%) rename {icub_moveit_config => xcub_icub_moveit_config}/config/icub.ros2_control.xacro (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/config/icub.srdf (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/config/icub.urdf.xacro (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/config/initial_positions.yaml (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/config/joint_limits.yaml (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/config/kinematics.yaml (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/config/moveit.rviz (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/config/moveit_controllers.yaml (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/config/ompl_planning.yaml (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/config/pilz_cartesian_limits.yaml (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/config/ros2_controllers.yaml (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/config/sensors_3d.yaml (100%) rename {icub_moveit_config => xcub_icub_moveit_config}/launch/demo.launch.py (65%) rename {icub_moveit_config => xcub_icub_moveit_config}/launch/move_group.launch.py (67%) rename {icub_moveit_config => xcub_icub_moveit_config}/launch/moveit_rviz.launch.py (67%) rename {icub_moveit_config => xcub_icub_moveit_config}/launch/rsp.launch.py (65%) rename {icub_moveit_config => xcub_icub_moveit_config}/launch/setup_assistant.launch.py (68%) rename {icub_moveit_config => xcub_icub_moveit_config}/launch/spawn_controllers.launch.py (68%) rename {icub_moveit_config => xcub_icub_moveit_config}/launch/static_virtual_joint_tfs.launch.py (69%) rename {icub_moveit_config => xcub_icub_moveit_config}/launch/warehouse_db.launch.py (67%) rename {icub_moveit_config => xcub_icub_moveit_config}/package.xml (98%) rename {test_controller => xcub_moveit_test_controller}/CMakeLists.txt (94%) rename {test_controller => xcub_moveit_test_controller}/README.md (100%) rename {test_controller => xcub_moveit_test_controller}/launch/test_controller.launch.py (75%) rename {test_controller => xcub_moveit_test_controller}/package.xml (95%) rename {test_controller => xcub_moveit_test_controller}/src/test_controller.cpp (98%) rename {test_controller => xcub_moveit_test_controller}/utils/trac_ik_params_tuning.m (100%) rename {test_controller => xcub_moveit_test_controller}/utils/workspace_estimation.m (100%) rename {robot_moveit => xcub_robot}/CMakeLists.txt (84%) rename {robot_moveit => xcub_robot}/launch/circle_demo.launch.py (84%) rename {robot_moveit => xcub_robot}/launch/grasp_demo.launch.py (86%) rename {robot_moveit => xcub_robot}/launch/launch_icub.launch.py (96%) rename {robot_moveit => xcub_robot}/launch/robot.launch.py (91%) rename {robot_moveit => xcub_robot}/launch/robot_controls.launch.py (78%) rename {robot_moveit => xcub_robot}/launch/robot_sim.launch.py (84%) rename {robot_moveit => xcub_robot}/launch/spawn_model.py (89%) rename {robot_moveit => xcub_robot}/package.xml (96%) rename {robot_moveit => xcub_robot}/src/robot_moveit.cpp (100%) rename {robot_controller => xcub_ros2_controllers}/CMakeLists.txt (98%) rename {robot_controller => xcub_ros2_controllers}/include/robot_controller/robot_controller.hpp (100%) rename {robot_controller => xcub_ros2_controllers}/include/robot_controller/visibility_control.h (100%) rename {robot_controller => xcub_ros2_controllers}/package.xml (96%) rename {robot_controller => xcub_ros2_controllers}/src/robot_controller.cpp (100%) rename robot_controller/robot_controller.xml => xcub_ros2_controllers/xcub_ros2_controllers.xml (88%) diff --git a/README.md b/README.md index 0619268..f977b3e 100644 --- a/README.md +++ b/README.md @@ -88,11 +88,11 @@ source install/setup.bash ### Install as a single CMake project -If you want to build this repository as a single CMake project, you can use the `CMakeLists.txt` provided in `xcub_moveit2_all_packages`: +If you want to build this repository as a single CMake project, you can use the `CMakeLists.txt` provided in `xcub_all_packages`: ~~~shell git clone https://github.com/icub-tech-iit/xcub-moveit2/ -cd xcub-moveit2/xcub_moveit2_all_packages +cd xcub-moveit2/xcub_all_packages cmake -Bbuild -S. -DCMAKE_INSTALL_PREFIX= cmake --build build cmake --install build @@ -123,15 +123,15 @@ However, if you want to work in simulation instead of on the real hardware, you This section aims to give a brief description of what each package contains. -### robot_controller +### xcub_ros2_controllers -This package contains `robot_controller` plugin that is used in [ros2_control](https://control.ros.org/master/index.html) framework. It includes: +This package contains `xcub_ros2_controllers` plugin that is used in [ros2_control](https://control.ros.org/master/index.html) framework. It includes: - a `position state interface` used to read the position of each joint; - a `velocity state interface` used to read the velocity of each joint; - a `position command interface` used to forward the desired position to the joints. -### robot_moveit +### xcub_robot This package contains some launch files, depending on the nodes you want to run. @@ -140,26 +140,31 @@ This package contains some launch files, depending on the nodes you want to run. - **`robot_controls.launch.py`**: this launch file allows to run the `controller manager` node for ros2_control and the nodes for the single controllers (one for each part). - **`circle_demo.launch.py`** and **`grasp_demo.launch.py`**: as the name suggests, they are two examples of commanding the robot in the cartesian space using `torso + right_arm` as planning group. - Before running the nodes, make sure that your environment variable `YARP_ROBOT_NAME` is properly set with the name of your robot. If not, set it for each shell according to the chosen model, for example: ```shell -export YARP_ROBOT_NAME="icub" +export YARP_ROBOT_NAME="iCubGenova11" +``` + +or, for simulated models: + +```shell +export YARP_ROBOT_NAME="iCubGazeboV2_5" ``` -### icub_moveit_config +### xcub_icub_moveit_config This package contains the configuration files to make iCub working with MoveIt2. In particular, each of the parts of iCub robot (head, left_arm, right_arm, torso, left_leg and right_leg) are defined in terms of `planning group`, and for each of them a ros2_control of type `FollowJointTrajectory` is set. -### ergocub_moveit_config +### xcub_ergocub_moveit_config It contains the same information described in the previous paragraph, but customized with ergoCub specs. -### test_controller +### xcub_moveit_test_controller In this folder, a test to sample the reaching space is available. It can be run as a ros2 node with the provided launch file called `test_controller.launch.py`. For this purpose, you can find more info in the [Use case](#use-case) paragraph above. -Moreover, a detailed report about the controller performance can be found [here](https://github.com/icub-tech-iit/xcub-moveit2/blob/master/test_controller/README.md#test-on-the-controller-performance) 📝. +Moreover, a detailed report about the controller performance can be found [here](https://github.com/icub-tech-iit/xcub-moveit2/blob/master/xcub_test_controller/README.md#test-on-the-controller-performance) 📝. ## Use case @@ -175,10 +180,10 @@ colcon build source install/setup.bash # Remember to check if your robot name variable is set. If not: -export YARP_ROBOT_NAME="icub" +export YARP_ROBOT_NAME="iCubGazeboV2_5" # Launch the start-up nodes -ros2 launch robot_moveit robot_sim.launch.py +ros2 launch xcub_robot robot_sim.launch.py ``` In this way, both rviz2 and gazebo windows are opened with the iCub model spawned in the two environments. At this point, open another shell, build and source the enviroment and then launch the ros2_control nodes: @@ -188,10 +193,10 @@ cd ~/ source /opt/ros/humble/setup.bash colcon build source install/setup.bash -export YARP_ROBOT_NAME="icub" +export YARP_ROBOT_NAME="iCubGazeboV2_5" # Launch the ros2_control nodes -ros2 launch robot_moveit robot_controls.launch.py +ros2 launch xcub_robot robot_controls.launch.py ``` To verify that everthing has been done successfully, you can run in a separate shell: @@ -208,16 +213,16 @@ cd ~/ source /opt/ros/humble/setup.bash colcon build source install/setup.bash -export YARP_ROBOT_NAME="icub" +export YARP_ROBOT_NAME="iCubGazeboV2_5" # For the grasping demo -ros2 launch robot_moveit grasp_demo.launch.py +ros2 launch xcub_robot grasp_demo.launch.py ``` If you want to see iCub performing a circle movement, instead of the last line, you can run: ```shell -ros2 launch robot_moveit circle_demo.launch.py +ros2 launch xcub_robot circle_demo.launch.py ``` and follow the instructions on the third shell you opened. @@ -228,10 +233,10 @@ You should have something like this: ### Controller performance -If you want to test the ros2_control `robot_controller` performance, you can rely to the `test_controller` package. It contains a simple script to sample the reaching space in front of iCub model. To run the simulation, please follow the first two steps described in the [Run the demos](#run-the-demos) section. After that, open another shell, source your workspace and then launch: +If you want to test the ros2_control `xcub_ros2_controllers` performance, you can rely to the `xcub_moveit_test_controller` package. It contains a simple script to sample the reaching space in front of iCub model. To run the simulation, please follow the first two steps described in the [Run the demos](#run-the-demos) section. After that, open another shell, source your workspace and then launch: ```shell -ros2 launch test_controller test_controller.launch.py +ros2 launch xcub_moveit_test_controller test_controller.launch.py ``` In this way, the test will start and the acquired data in terms of ideal and real poses are saved in two separated files in your current directory. Finally, you can plot them using the Matlab scripts provided in the `utils` folder. diff --git a/ergocub_moveit_config/.setup_assistant b/xcub_ergocub_moveit_config/.setup_assistant similarity index 100% rename from ergocub_moveit_config/.setup_assistant rename to xcub_ergocub_moveit_config/.setup_assistant diff --git a/icub_moveit_config/CMakeLists.txt b/xcub_ergocub_moveit_config/CMakeLists.txt similarity index 89% rename from icub_moveit_config/CMakeLists.txt rename to xcub_ergocub_moveit_config/CMakeLists.txt index 13b503f..66f3898 100644 --- a/icub_moveit_config/CMakeLists.txt +++ b/xcub_ergocub_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.22) -project(icub_moveit_config) +project(xcub_ergocub_moveit_config) find_package(ament_cmake REQUIRED) diff --git a/ergocub_moveit_config/config/ergocub.ros2_control.xacro b/xcub_ergocub_moveit_config/config/ergocub.ros2_control.xacro similarity index 100% rename from ergocub_moveit_config/config/ergocub.ros2_control.xacro rename to xcub_ergocub_moveit_config/config/ergocub.ros2_control.xacro diff --git a/ergocub_moveit_config/config/ergocub.srdf b/xcub_ergocub_moveit_config/config/ergocub.srdf similarity index 100% rename from ergocub_moveit_config/config/ergocub.srdf rename to xcub_ergocub_moveit_config/config/ergocub.srdf diff --git a/ergocub_moveit_config/config/ergocub.urdf.xacro b/xcub_ergocub_moveit_config/config/ergocub.urdf.xacro similarity index 100% rename from ergocub_moveit_config/config/ergocub.urdf.xacro rename to xcub_ergocub_moveit_config/config/ergocub.urdf.xacro diff --git a/ergocub_moveit_config/config/initial_positions.yaml b/xcub_ergocub_moveit_config/config/initial_positions.yaml similarity index 100% rename from ergocub_moveit_config/config/initial_positions.yaml rename to xcub_ergocub_moveit_config/config/initial_positions.yaml diff --git a/ergocub_moveit_config/config/joint_limits.yaml b/xcub_ergocub_moveit_config/config/joint_limits.yaml similarity index 100% rename from ergocub_moveit_config/config/joint_limits.yaml rename to xcub_ergocub_moveit_config/config/joint_limits.yaml diff --git a/ergocub_moveit_config/config/kinematics.yaml b/xcub_ergocub_moveit_config/config/kinematics.yaml similarity index 100% rename from ergocub_moveit_config/config/kinematics.yaml rename to xcub_ergocub_moveit_config/config/kinematics.yaml diff --git a/ergocub_moveit_config/config/moveit.rviz b/xcub_ergocub_moveit_config/config/moveit.rviz similarity index 100% rename from ergocub_moveit_config/config/moveit.rviz rename to xcub_ergocub_moveit_config/config/moveit.rviz diff --git a/ergocub_moveit_config/config/moveit_controllers.yaml b/xcub_ergocub_moveit_config/config/moveit_controllers.yaml similarity index 100% rename from ergocub_moveit_config/config/moveit_controllers.yaml rename to xcub_ergocub_moveit_config/config/moveit_controllers.yaml diff --git a/ergocub_moveit_config/config/ompl_planning.yaml b/xcub_ergocub_moveit_config/config/ompl_planning.yaml similarity index 100% rename from ergocub_moveit_config/config/ompl_planning.yaml rename to xcub_ergocub_moveit_config/config/ompl_planning.yaml diff --git a/ergocub_moveit_config/config/pilz_cartesian_limits.yaml b/xcub_ergocub_moveit_config/config/pilz_cartesian_limits.yaml similarity index 100% rename from ergocub_moveit_config/config/pilz_cartesian_limits.yaml rename to xcub_ergocub_moveit_config/config/pilz_cartesian_limits.yaml diff --git a/ergocub_moveit_config/config/ros2_controllers.yaml b/xcub_ergocub_moveit_config/config/ros2_controllers.yaml similarity index 100% rename from ergocub_moveit_config/config/ros2_controllers.yaml rename to xcub_ergocub_moveit_config/config/ros2_controllers.yaml diff --git a/ergocub_moveit_config/config/sensors_3d.yaml b/xcub_ergocub_moveit_config/config/sensors_3d.yaml similarity index 100% rename from ergocub_moveit_config/config/sensors_3d.yaml rename to xcub_ergocub_moveit_config/config/sensors_3d.yaml diff --git a/ergocub_moveit_config/launch/demo.launch.py b/xcub_ergocub_moveit_config/launch/demo.launch.py similarity index 85% rename from ergocub_moveit_config/launch/demo.launch.py rename to xcub_ergocub_moveit_config/launch/demo.launch.py index aa3e335..57d107f 100644 --- a/ergocub_moveit_config/launch/demo.launch.py +++ b/xcub_ergocub_moveit_config/launch/demo.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() return generate_demo_launch(moveit_config) diff --git a/ergocub_moveit_config/launch/move_group.launch.py b/xcub_ergocub_moveit_config/launch/move_group.launch.py similarity index 85% rename from ergocub_moveit_config/launch/move_group.launch.py rename to xcub_ergocub_moveit_config/launch/move_group.launch.py index 0d1a604..66a4a89 100644 --- a/ergocub_moveit_config/launch/move_group.launch.py +++ b/xcub_ergocub_moveit_config/launch/move_group.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() return generate_move_group_launch(moveit_config) diff --git a/ergocub_moveit_config/launch/moveit_rviz.launch.py b/xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py similarity index 85% rename from ergocub_moveit_config/launch/moveit_rviz.launch.py rename to xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py index ca10fc9..454294a 100644 --- a/ergocub_moveit_config/launch/moveit_rviz.launch.py +++ b/xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() return generate_moveit_rviz_launch(moveit_config) diff --git a/ergocub_moveit_config/launch/rsp.launch.py b/xcub_ergocub_moveit_config/launch/rsp.launch.py similarity index 85% rename from ergocub_moveit_config/launch/rsp.launch.py rename to xcub_ergocub_moveit_config/launch/rsp.launch.py index ba5c01c..0870d05 100644 --- a/ergocub_moveit_config/launch/rsp.launch.py +++ b/xcub_ergocub_moveit_config/launch/rsp.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() return generate_rsp_launch(moveit_config) diff --git a/ergocub_moveit_config/launch/setup_assistant.launch.py b/xcub_ergocub_moveit_config/launch/setup_assistant.launch.py similarity index 86% rename from ergocub_moveit_config/launch/setup_assistant.launch.py rename to xcub_ergocub_moveit_config/launch/setup_assistant.launch.py index 3e25787..a7dd098 100644 --- a/ergocub_moveit_config/launch/setup_assistant.launch.py +++ b/xcub_ergocub_moveit_config/launch/setup_assistant.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() return generate_setup_assistant_launch(moveit_config) diff --git a/ergocub_moveit_config/launch/spawn_controllers.launch.py b/xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py similarity index 86% rename from ergocub_moveit_config/launch/spawn_controllers.launch.py rename to xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py index 9473b61..3b2e9ab 100644 --- a/ergocub_moveit_config/launch/spawn_controllers.launch.py +++ b/xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() return generate_spawn_controllers_launch(moveit_config) diff --git a/ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py b/xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py similarity index 86% rename from ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py rename to xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py index fe0c7de..f6b06d4 100644 --- a/ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ b/xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/ergocub_moveit_config/launch/warehouse_db.launch.py b/xcub_ergocub_moveit_config/launch/warehouse_db.launch.py similarity index 85% rename from ergocub_moveit_config/launch/warehouse_db.launch.py rename to xcub_ergocub_moveit_config/launch/warehouse_db.launch.py index 38210a7..1979aa6 100644 --- a/ergocub_moveit_config/launch/warehouse_db.launch.py +++ b/xcub_ergocub_moveit_config/launch/warehouse_db.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() return generate_warehouse_db_launch(moveit_config) diff --git a/ergocub_moveit_config/package.xml b/xcub_ergocub_moveit_config/package.xml similarity index 96% rename from ergocub_moveit_config/package.xml rename to xcub_ergocub_moveit_config/package.xml index e390852..0dd08ab 100644 --- a/ergocub_moveit_config/package.xml +++ b/xcub_ergocub_moveit_config/package.xml @@ -1,7 +1,7 @@ - ergocub_moveit_config + xcub_ergocub_moveit_config 0.3.0 A ROS2 package with the configuration and launch files for using the ergoCub with the MoveIt Motion Planning Framework diff --git a/grasp_moveit/CMakeLists.txt b/xcub_grasp/CMakeLists.txt similarity index 98% rename from grasp_moveit/CMakeLists.txt rename to xcub_grasp/CMakeLists.txt index 778d798..26c82eb 100644 --- a/grasp_moveit/CMakeLists.txt +++ b/xcub_grasp/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(grasp_moveit) +project(xcub_grasp) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) diff --git a/grasp_moveit/package.xml b/xcub_grasp/package.xml similarity index 96% rename from grasp_moveit/package.xml rename to xcub_grasp/package.xml index 3249118..10696eb 100644 --- a/grasp_moveit/package.xml +++ b/xcub_grasp/package.xml @@ -1,7 +1,7 @@ - grasp_moveit + xcub_grasp 0.0.0 ROS2 package for grasping task Martina Gloria diff --git a/grasp_moveit/src/grasp.cpp b/xcub_grasp/src/grasp.cpp similarity index 100% rename from grasp_moveit/src/grasp.cpp rename to xcub_grasp/src/grasp.cpp diff --git a/icub_moveit_config/.setup_assistant b/xcub_icub_moveit_config/.setup_assistant similarity index 100% rename from icub_moveit_config/.setup_assistant rename to xcub_icub_moveit_config/.setup_assistant diff --git a/ergocub_moveit_config/CMakeLists.txt b/xcub_icub_moveit_config/CMakeLists.txt similarity index 90% rename from ergocub_moveit_config/CMakeLists.txt rename to xcub_icub_moveit_config/CMakeLists.txt index 7880778..fdc1d51 100644 --- a/ergocub_moveit_config/CMakeLists.txt +++ b/xcub_icub_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.22) -project(ergocub_moveit_config) +project(xcub_icub_moveit_config) find_package(ament_cmake REQUIRED) diff --git a/icub_moveit_config/config/icub.ros2_control.xacro b/xcub_icub_moveit_config/config/icub.ros2_control.xacro similarity index 100% rename from icub_moveit_config/config/icub.ros2_control.xacro rename to xcub_icub_moveit_config/config/icub.ros2_control.xacro diff --git a/icub_moveit_config/config/icub.srdf b/xcub_icub_moveit_config/config/icub.srdf similarity index 100% rename from icub_moveit_config/config/icub.srdf rename to xcub_icub_moveit_config/config/icub.srdf diff --git a/icub_moveit_config/config/icub.urdf.xacro b/xcub_icub_moveit_config/config/icub.urdf.xacro similarity index 100% rename from icub_moveit_config/config/icub.urdf.xacro rename to xcub_icub_moveit_config/config/icub.urdf.xacro diff --git a/icub_moveit_config/config/initial_positions.yaml b/xcub_icub_moveit_config/config/initial_positions.yaml similarity index 100% rename from icub_moveit_config/config/initial_positions.yaml rename to xcub_icub_moveit_config/config/initial_positions.yaml diff --git a/icub_moveit_config/config/joint_limits.yaml b/xcub_icub_moveit_config/config/joint_limits.yaml similarity index 100% rename from icub_moveit_config/config/joint_limits.yaml rename to xcub_icub_moveit_config/config/joint_limits.yaml diff --git a/icub_moveit_config/config/kinematics.yaml b/xcub_icub_moveit_config/config/kinematics.yaml similarity index 100% rename from icub_moveit_config/config/kinematics.yaml rename to xcub_icub_moveit_config/config/kinematics.yaml diff --git a/icub_moveit_config/config/moveit.rviz b/xcub_icub_moveit_config/config/moveit.rviz similarity index 100% rename from icub_moveit_config/config/moveit.rviz rename to xcub_icub_moveit_config/config/moveit.rviz diff --git a/icub_moveit_config/config/moveit_controllers.yaml b/xcub_icub_moveit_config/config/moveit_controllers.yaml similarity index 100% rename from icub_moveit_config/config/moveit_controllers.yaml rename to xcub_icub_moveit_config/config/moveit_controllers.yaml diff --git a/icub_moveit_config/config/ompl_planning.yaml b/xcub_icub_moveit_config/config/ompl_planning.yaml similarity index 100% rename from icub_moveit_config/config/ompl_planning.yaml rename to xcub_icub_moveit_config/config/ompl_planning.yaml diff --git a/icub_moveit_config/config/pilz_cartesian_limits.yaml b/xcub_icub_moveit_config/config/pilz_cartesian_limits.yaml similarity index 100% rename from icub_moveit_config/config/pilz_cartesian_limits.yaml rename to xcub_icub_moveit_config/config/pilz_cartesian_limits.yaml diff --git a/icub_moveit_config/config/ros2_controllers.yaml b/xcub_icub_moveit_config/config/ros2_controllers.yaml similarity index 100% rename from icub_moveit_config/config/ros2_controllers.yaml rename to xcub_icub_moveit_config/config/ros2_controllers.yaml diff --git a/icub_moveit_config/config/sensors_3d.yaml b/xcub_icub_moveit_config/config/sensors_3d.yaml similarity index 100% rename from icub_moveit_config/config/sensors_3d.yaml rename to xcub_icub_moveit_config/config/sensors_3d.yaml diff --git a/icub_moveit_config/launch/demo.launch.py b/xcub_icub_moveit_config/launch/demo.launch.py similarity index 65% rename from icub_moveit_config/launch/demo.launch.py rename to xcub_icub_moveit_config/launch/demo.launch.py index db21b2b..d6bfb78 100644 --- a/icub_moveit_config/launch/demo.launch.py +++ b/xcub_icub_moveit_config/launch/demo.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() return generate_demo_launch(moveit_config) diff --git a/icub_moveit_config/launch/move_group.launch.py b/xcub_icub_moveit_config/launch/move_group.launch.py similarity index 67% rename from icub_moveit_config/launch/move_group.launch.py rename to xcub_icub_moveit_config/launch/move_group.launch.py index d4108da..3d9cb82 100644 --- a/icub_moveit_config/launch/move_group.launch.py +++ b/xcub_icub_moveit_config/launch/move_group.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() return generate_move_group_launch(moveit_config) diff --git a/icub_moveit_config/launch/moveit_rviz.launch.py b/xcub_icub_moveit_config/launch/moveit_rviz.launch.py similarity index 67% rename from icub_moveit_config/launch/moveit_rviz.launch.py rename to xcub_icub_moveit_config/launch/moveit_rviz.launch.py index 485ca47..c22bebe 100644 --- a/icub_moveit_config/launch/moveit_rviz.launch.py +++ b/xcub_icub_moveit_config/launch/moveit_rviz.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() return generate_moveit_rviz_launch(moveit_config) diff --git a/icub_moveit_config/launch/rsp.launch.py b/xcub_icub_moveit_config/launch/rsp.launch.py similarity index 65% rename from icub_moveit_config/launch/rsp.launch.py rename to xcub_icub_moveit_config/launch/rsp.launch.py index 3dce589..4802aac 100644 --- a/icub_moveit_config/launch/rsp.launch.py +++ b/xcub_icub_moveit_config/launch/rsp.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() return generate_rsp_launch(moveit_config) diff --git a/icub_moveit_config/launch/setup_assistant.launch.py b/xcub_icub_moveit_config/launch/setup_assistant.launch.py similarity index 68% rename from icub_moveit_config/launch/setup_assistant.launch.py rename to xcub_icub_moveit_config/launch/setup_assistant.launch.py index 2a4ddfb..cbf4c74 100644 --- a/icub_moveit_config/launch/setup_assistant.launch.py +++ b/xcub_icub_moveit_config/launch/setup_assistant.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() return generate_setup_assistant_launch(moveit_config) diff --git a/icub_moveit_config/launch/spawn_controllers.launch.py b/xcub_icub_moveit_config/launch/spawn_controllers.launch.py similarity index 68% rename from icub_moveit_config/launch/spawn_controllers.launch.py rename to xcub_icub_moveit_config/launch/spawn_controllers.launch.py index 7ef66a1..e64a134 100644 --- a/icub_moveit_config/launch/spawn_controllers.launch.py +++ b/xcub_icub_moveit_config/launch/spawn_controllers.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() return generate_spawn_controllers_launch(moveit_config) diff --git a/icub_moveit_config/launch/static_virtual_joint_tfs.launch.py b/xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py similarity index 69% rename from icub_moveit_config/launch/static_virtual_joint_tfs.launch.py rename to xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py index 4804dca..7ab8c7a 100644 --- a/icub_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ b/xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/icub_moveit_config/launch/warehouse_db.launch.py b/xcub_icub_moveit_config/launch/warehouse_db.launch.py similarity index 67% rename from icub_moveit_config/launch/warehouse_db.launch.py rename to xcub_icub_moveit_config/launch/warehouse_db.launch.py index ca8e753..14c32d3 100644 --- a/icub_moveit_config/launch/warehouse_db.launch.py +++ b/xcub_icub_moveit_config/launch/warehouse_db.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() return generate_warehouse_db_launch(moveit_config) diff --git a/icub_moveit_config/package.xml b/xcub_icub_moveit_config/package.xml similarity index 98% rename from icub_moveit_config/package.xml rename to xcub_icub_moveit_config/package.xml index faf72b7..fa39359 100644 --- a/icub_moveit_config/package.xml +++ b/xcub_icub_moveit_config/package.xml @@ -1,7 +1,7 @@ - icub_moveit_config + xcub_icub_moveit_config 0.3.0 An automatically generated package with all the configuration and launch files for using the iCub with the MoveIt Motion Planning Framework diff --git a/xcub_moveit2_all_packages/CMakeLists.txt b/xcub_moveit2_all_packages/CMakeLists.txt index 59585ff..ff9e12d 100644 --- a/xcub_moveit2_all_packages/CMakeLists.txt +++ b/xcub_moveit2_all_packages/CMakeLists.txt @@ -8,10 +8,10 @@ project(xcub-moveit2) # so that it will be excluded automatically by the colcon build command # The order of inclusion was taken from colcon graph output -add_subdirectory(../ergocub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/ergocub_moveit_config) -add_subdirectory(../grasp_moveit ${CMAKE_CURRENT_BINARY_DIR}/grasp_moveit) -add_subdirectory(../icub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/icub_moveit_config) -add_subdirectory(../robot_controller ${CMAKE_CURRENT_BINARY_DIR}/robot_controller) -add_subdirectory(../robot_moveit ${CMAKE_CURRENT_BINARY_DIR}/robot_moveit) -add_subdirectory(../test_controller ${CMAKE_CURRENT_BINARY_DIR}/test_controller) +add_subdirectory(../xcub_ergocub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/xcub_ergocub_moveit_config) +add_subdirectory(../xcub_grasp ${CMAKE_CURRENT_BINARY_DIR}/xcub_grasp) +add_subdirectory(../xcub_icub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/xcub_icub_moveit_config) +add_subdirectory(../xcub_ros2_controllers ${CMAKE_CURRENT_BINARY_DIR}/xcub_ros2_controllers) +add_subdirectory(../xcub_robot ${CMAKE_CURRENT_BINARY_DIR}/xcub_robot) +add_subdirectory(../xcub_moveit_test_controller ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_test_controller) diff --git a/test_controller/CMakeLists.txt b/xcub_moveit_test_controller/CMakeLists.txt similarity index 94% rename from test_controller/CMakeLists.txt rename to xcub_moveit_test_controller/CMakeLists.txt index 8e4b489..4f539e4 100644 --- a/test_controller/CMakeLists.txt +++ b/xcub_moveit_test_controller/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(test_controller) +project(xcub_moveit_test_controller) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) @@ -35,7 +35,7 @@ ament_target_dependencies( "hardware_interface" ) -target_sources(test_controller PRIVATE src/test_controller.cpp) +target_sources(xcub_moveit_test_controller PRIVATE src/test_controller.cpp) target_link_libraries(${PROJECT_NAME} ${YARP_LIBRARIES}) install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME}) diff --git a/test_controller/README.md b/xcub_moveit_test_controller/README.md similarity index 100% rename from test_controller/README.md rename to xcub_moveit_test_controller/README.md diff --git a/test_controller/launch/test_controller.launch.py b/xcub_moveit_test_controller/launch/test_controller.launch.py similarity index 75% rename from test_controller/launch/test_controller.launch.py rename to xcub_moveit_test_controller/launch/test_controller.launch.py index b2a2c09..d8d5837 100644 --- a/test_controller/launch/test_controller.launch.py +++ b/xcub_moveit_test_controller/launch/test_controller.launch.py @@ -17,12 +17,12 @@ def generate_launch_description(): robot_name = check_robot_name() - moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs() + moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() - test_controller_node = Node( - name="test_controller", - package="test_controller", - executable="test_controller", + xcub_test_controller_node = Node( + name="xcub_moveit_test_controller", + package="xcub_moveit_test_controller", + executable="xcub_moveit_test_controller", output="screen", parameters=[ moveit_config.robot_description, @@ -33,5 +33,5 @@ def generate_launch_description(): ) return LaunchDescription([ - test_controller_node + xcub_test_controller_node ]) \ No newline at end of file diff --git a/test_controller/package.xml b/xcub_moveit_test_controller/package.xml similarity index 95% rename from test_controller/package.xml rename to xcub_moveit_test_controller/package.xml index 2327b7a..8aca0d4 100644 --- a/test_controller/package.xml +++ b/xcub_moveit_test_controller/package.xml @@ -1,7 +1,7 @@ - test_controller + xcub_moveit_test_controller 0.0.0 TODO: Package description martinagloria diff --git a/test_controller/src/test_controller.cpp b/xcub_moveit_test_controller/src/test_controller.cpp similarity index 98% rename from test_controller/src/test_controller.cpp rename to xcub_moveit_test_controller/src/test_controller.cpp index cfc6400..216add0 100644 --- a/test_controller/src/test_controller.cpp +++ b/xcub_moveit_test_controller/src/test_controller.cpp @@ -16,7 +16,7 @@ using namespace std::chrono_literals; -static const rclcpp::Logger LOGGER = rclcpp::get_logger("test_controller"); +static const rclcpp::Logger LOGGER = rclcpp::get_logger("xcub_test_controller"); int main(int argc, char** argv) { diff --git a/test_controller/utils/trac_ik_params_tuning.m b/xcub_moveit_test_controller/utils/trac_ik_params_tuning.m similarity index 100% rename from test_controller/utils/trac_ik_params_tuning.m rename to xcub_moveit_test_controller/utils/trac_ik_params_tuning.m diff --git a/test_controller/utils/workspace_estimation.m b/xcub_moveit_test_controller/utils/workspace_estimation.m similarity index 100% rename from test_controller/utils/workspace_estimation.m rename to xcub_moveit_test_controller/utils/workspace_estimation.m diff --git a/robot_moveit/CMakeLists.txt b/xcub_robot/CMakeLists.txt similarity index 84% rename from robot_moveit/CMakeLists.txt rename to xcub_robot/CMakeLists.txt index 223f561..5559e49 100644 --- a/robot_moveit/CMakeLists.txt +++ b/xcub_robot/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(robot_moveit) +project(xcub_robot) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) @@ -18,13 +18,13 @@ find_package(hardware_interface REQUIRED) find_package(yarp_control_msgs REQUIRED) find_package(YARP REQUIRED) -add_executable(robot_moveit src/robot_moveit.cpp launch/spawn_model.py) -target_include_directories(robot_moveit PUBLIC +add_executable(xcub_robot src/robot_moveit.cpp launch/spawn_model.py) +target_include_directories(xcub_robot PUBLIC $ $) -target_compile_features(robot_moveit PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 +target_compile_features(xcub_robot PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 ament_target_dependencies( - robot_moveit + xcub_robot "moveit_ros_planning_interface" "rclcpp" "rclpy" @@ -38,7 +38,7 @@ ament_target_dependencies( target_sources(${PROJECT_NAME} PRIVATE src/robot_moveit.cpp) target_link_libraries(${PROJECT_NAME} ${YARP_LIBRARIES}) -install(TARGETS robot_moveit DESTINATION lib/${PROJECT_NAME}) +install(TARGETS xcub_robot DESTINATION lib/${PROJECT_NAME}) install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) install(PROGRAMS launch/spawn_model.py DESTINATION lib/${PROJECT_NAME}) diff --git a/robot_moveit/launch/circle_demo.launch.py b/xcub_robot/launch/circle_demo.launch.py similarity index 84% rename from robot_moveit/launch/circle_demo.launch.py rename to xcub_robot/launch/circle_demo.launch.py index ab472be..de8ad15 100644 --- a/robot_moveit/launch/circle_demo.launch.py +++ b/xcub_robot/launch/circle_demo.launch.py @@ -17,12 +17,12 @@ def generate_launch_description(): robot_name = check_robot_name() - moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs() + moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() circle_demo = Node( - name="robot_moveit", - package="robot_moveit", - executable="robot_moveit", + name="xcub_robot", + package="xcub_robot", + executable="xcub_robot", output="screen", parameters=[ moveit_config.robot_description, diff --git a/robot_moveit/launch/grasp_demo.launch.py b/xcub_robot/launch/grasp_demo.launch.py similarity index 86% rename from robot_moveit/launch/grasp_demo.launch.py rename to xcub_robot/launch/grasp_demo.launch.py index cb062d3..b11e0e5 100644 --- a/robot_moveit/launch/grasp_demo.launch.py +++ b/xcub_robot/launch/grasp_demo.launch.py @@ -17,12 +17,12 @@ def generate_launch_description(): robot_name = check_robot_name() - moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs() + moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() grasping_demo = Node( name="grasping", - package="grasp_moveit", - executable="grasp_moveit", + package="xcub_grasp", + executable="xcub_grasp", output="screen", parameters=[ moveit_config.robot_description, diff --git a/robot_moveit/launch/launch_icub.launch.py b/xcub_robot/launch/launch_icub.launch.py similarity index 96% rename from robot_moveit/launch/launch_icub.launch.py rename to xcub_robot/launch/launch_icub.launch.py index 4cecf3c..b336a5c 100644 --- a/robot_moveit/launch/launch_icub.launch.py +++ b/xcub_robot/launch/launch_icub.launch.py @@ -35,7 +35,7 @@ def generate_launch_description(): ) rviz2 = ExecuteProcess( - cmd=['ros2', 'launch', 'icub_moveit_config', 'moveit_rviz.launch.py'], + cmd=['ros2', 'launch', 'xcub_icub_config', 'moveit_rviz.launch.py'], output='screen' ) @@ -67,7 +67,7 @@ def generate_launch_description(): ) ros2_controllers_path = os.path.join( - get_package_share_directory("icub_moveit_config"), + get_package_share_directory("xcub_icub_config"), "config", "ros2_controllers.yaml", ) diff --git a/robot_moveit/launch/robot.launch.py b/xcub_robot/launch/robot.launch.py similarity index 91% rename from robot_moveit/launch/robot.launch.py rename to xcub_robot/launch/robot.launch.py index 6f704e4..7fbb9fc 100644 --- a/robot_moveit/launch/robot.launch.py +++ b/xcub_robot/launch/robot.launch.py @@ -56,7 +56,7 @@ def generate_launch_description(): {"use_sim_time": False}], ) - robot_description_semantic_file = load_file(robot_name+"_moveit_config", "config/"+robot_name+".srdf") + robot_description_semantic_file = load_file("xcub_"+robot_name+"_moveit_config", "config/"+robot_name+".srdf") robot_description_semantic = {"robot_description_semantic": robot_description_semantic_file} ompl_planning_pipeline_config = { @@ -66,10 +66,10 @@ def generate_launch_description(): "start_state_max_bounds_error": 0.1, } } - ompl_planning_file = load_yaml(robot_name+"_moveit_config", "config/ompl_planning.yaml") + ompl_planning_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/ompl_planning.yaml") ompl_planning_pipeline_config["move_group"].update(ompl_planning_file) - moveit_controllers_file = load_yaml(robot_name+"_moveit_config", "config/moveit_controllers.yaml") + moveit_controllers_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/moveit_controllers.yaml") moveit_controllers = {"moveit_simple_controller_manager": moveit_controllers_file, "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"} @@ -107,7 +107,7 @@ def generate_launch_description(): {"use_sim_time": False}], ) - rviz_moveit = os.path.join(get_package_share_directory(robot_name+"_moveit_config"), "config/moveit.rviz") + rviz_moveit = os.path.join(get_package_share_directory("xcub_"+robot_name+"_moveit_config"), "config/moveit.rviz") rviz2 = Node( package="rviz2", executable="rviz2", diff --git a/robot_moveit/launch/robot_controls.launch.py b/xcub_robot/launch/robot_controls.launch.py similarity index 78% rename from robot_moveit/launch/robot_controls.launch.py rename to xcub_robot/launch/robot_controls.launch.py index c3db551..e0b4c7e 100644 --- a/robot_moveit/launch/robot_controls.launch.py +++ b/xcub_robot/launch/robot_controls.launch.py @@ -5,6 +5,7 @@ from launch.actions import RegisterEventHandler from launch.event_handlers import OnProcessExit from ament_index_python.packages import get_package_share_directory +from launch.substitutions import PathJoinSubstitution def check_robot_name(): try: @@ -20,69 +21,71 @@ def generate_launch_description(): robot_name = check_robot_name() - moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs() + moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() ros2_controllers_path = os.path.join( - get_package_share_directory(robot_name+"_moveit_config"), + get_package_share_directory("xcub_"+robot_name+"_moveit_config"), "config", "ros2_controllers.yaml", ) - + ros2_control_node = Node( package="controller_manager", executable="ros2_control_node", - parameters=[moveit_config.robot_description, ros2_controllers_path, - {"use_sim_time": False}], - output="log", + parameters=[ros2_controllers_path], + output="both", + remappings=[ + ("~/robot_description", "/robot_description"), + ], ) right_arm_torso_controller_spawner = Node( package="controller_manager", executable="spawner", arguments=["right_arm_torso_controller", "-c", "/controller_manager"], - parameters=[{"use_sim_time": False}], + parameters=[{"use_sim_time": True}], ) left_arm_controller_spawner = Node( package="controller_manager", executable="spawner", arguments=["left_arm_controller", "-c", "/controller_manager"], - parameters=[{"use_sim_time": False}], + parameters=[{"use_sim_time": True}], ) right_arm_controller_spawner = Node( package="controller_manager", executable="spawner", arguments=["right_arm_controller", "-c", "/controller_manager", "--inactive"], - parameters=[{"use_sim_time": False}], + parameters=[{"use_sim_time": True}], ) left_leg_controller_spawner = Node( package="controller_manager", executable="spawner", arguments=["left_leg_controller", "-c", "/controller_manager"], - parameters=[{"use_sim_time": False}], + parameters=[{"use_sim_time": True}], ) right_leg_controller_spawner = Node( package="controller_manager", executable="spawner", arguments=["right_leg_controller", "-c", "/controller_manager"], - parameters=[{"use_sim_time": False}], + parameters=[{"use_sim_time": True}], ) head_controller_spawner = Node( package="controller_manager", executable="spawner", arguments=["head_controller", "-c", "/controller_manager"], - parameters=[{"use_sim_time": False}], + parameters=[{"use_sim_time": True}], ) torso_controller_spawner = Node( package="controller_manager", executable="spawner", arguments=["torso_controller", "-c", "/controller_manager", "--inactive"], - parameters=[{"use_sim_time": False}], + parameters=[{"use_sim_time": True}], ) return LaunchDescription([ diff --git a/robot_moveit/launch/robot_sim.launch.py b/xcub_robot/launch/robot_sim.launch.py similarity index 84% rename from robot_moveit/launch/robot_sim.launch.py rename to xcub_robot/launch/robot_sim.launch.py index 4ac836e..7c124e6 100644 --- a/robot_moveit/launch/robot_sim.launch.py +++ b/xcub_robot/launch/robot_sim.launch.py @@ -43,8 +43,8 @@ def generate_launch_description(): PythonLaunchDescriptionSource([os.path.join(get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']) ) - moveit_config = ( - MoveItConfigsBuilder(robot_name) + config = ( + MoveItConfigsBuilder("xcub_"+robot_name) .robot_description(file_path="config/"+robot_name+".urdf.xacro") .robot_description_semantic(file_path="config/"+robot_name+".srdf") .robot_description_kinematics(file_path="config/kinematics.yaml") @@ -54,7 +54,7 @@ def generate_launch_description(): ) model_spawner = Node( - package='robot_moveit', + package='xcub_robot', executable='spawn_model.py', name='spawn_entity', output='screen', @@ -65,11 +65,11 @@ def generate_launch_description(): executable="robot_state_publisher", name="robot_state_publisher", output="both", - parameters=[moveit_config.robot_description, + parameters=[config.robot_description, {"use_sim_time": True}], ) - robot_description_semantic_file = load_file(robot_name+"_moveit_config", "config/"+robot_name+".srdf") + robot_description_semantic_file = load_file("xcub_"+robot_name+"_moveit_config", "config/"+robot_name+".srdf") robot_description_semantic = {"robot_description_semantic": robot_description_semantic_file} ompl_planning_pipeline_config = { @@ -79,10 +79,10 @@ def generate_launch_description(): "start_state_max_bounds_error": 0.1, } } - ompl_planning_file = load_yaml(robot_name+"_moveit_config", "config/ompl_planning.yaml") + ompl_planning_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/ompl_planning.yaml") ompl_planning_pipeline_config["move_group"].update(ompl_planning_file) - moveit_controllers_file = load_yaml(robot_name+"_moveit_config", "config/moveit_controllers.yaml") + moveit_controllers_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/moveit_controllers.yaml") moveit_controllers = {"moveit_simple_controller_manager": moveit_controllers_file, "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"} @@ -108,9 +108,9 @@ def generate_launch_description(): package="moveit_ros_move_group", executable="move_group", output="screen", - parameters=[moveit_config.robot_description, + parameters=[config.robot_description, robot_description_semantic, - moveit_config.robot_description_kinematics, + config.robot_description_kinematics, ompl_planning_pipeline_config, moveit_controllers, trajectory_execution, @@ -119,17 +119,17 @@ def generate_launch_description(): {"use_sim_time": True}], ) - rviz_moveit = os.path.join(get_package_share_directory(robot_name+"_moveit_config"), "config/moveit.rviz") + rviz_moveit = os.path.join(get_package_share_directory("xcub_"+robot_name+"_moveit_config"), "config/moveit.rviz") rviz2 = Node( package="rviz2", executable="rviz2", name="rviz2", output="log", arguments=["-d", rviz_moveit], - parameters=[moveit_config.robot_description, + parameters=[config.robot_description, robot_description_semantic, - moveit_config.robot_description_kinematics, - moveit_config.planning_pipelines, + config.robot_description_kinematics, + config.planning_pipelines, ompl_planning_pipeline_config, planning_scene_monitor_parameters, {"use_sim_time": True}] diff --git a/robot_moveit/launch/spawn_model.py b/xcub_robot/launch/spawn_model.py similarity index 89% rename from robot_moveit/launch/spawn_model.py rename to xcub_robot/launch/spawn_model.py index 4196570..03bc430 100644 --- a/robot_moveit/launch/spawn_model.py +++ b/xcub_robot/launch/spawn_model.py @@ -13,7 +13,7 @@ def main(args=None): robot_name = os.environ["YARP_ROBOT_NAME"] - xacro_file = os.path.join(get_package_share_directory(robot_name+'_moveit_config'), 'config', robot_name+'.urdf.xacro') + xacro_file = os.path.join(get_package_share_directory('xcub_'+robot_name+'_moveit_config'), 'config', robot_name+'.urdf.xacro') assert os.path.exists(xacro_file) robot_desc = xacro.process_file(xacro_file) robot_model = robot_desc.toprettyxml() diff --git a/robot_moveit/package.xml b/xcub_robot/package.xml similarity index 96% rename from robot_moveit/package.xml rename to xcub_robot/package.xml index 0cf7e19..0cbc029 100644 --- a/robot_moveit/package.xml +++ b/xcub_robot/package.xml @@ -1,7 +1,7 @@ - robot_moveit + xcub_robot 0.0.0 TODO: Package description martinagloria diff --git a/robot_moveit/src/robot_moveit.cpp b/xcub_robot/src/robot_moveit.cpp similarity index 100% rename from robot_moveit/src/robot_moveit.cpp rename to xcub_robot/src/robot_moveit.cpp diff --git a/robot_controller/CMakeLists.txt b/xcub_ros2_controllers/CMakeLists.txt similarity index 98% rename from robot_controller/CMakeLists.txt rename to xcub_ros2_controllers/CMakeLists.txt index b4f7ddd..fae890f 100644 --- a/robot_controller/CMakeLists.txt +++ b/xcub_ros2_controllers/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(robot_controller) +project(xcub_ros2_controllers) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) diff --git a/robot_controller/include/robot_controller/robot_controller.hpp b/xcub_ros2_controllers/include/robot_controller/robot_controller.hpp similarity index 100% rename from robot_controller/include/robot_controller/robot_controller.hpp rename to xcub_ros2_controllers/include/robot_controller/robot_controller.hpp diff --git a/robot_controller/include/robot_controller/visibility_control.h b/xcub_ros2_controllers/include/robot_controller/visibility_control.h similarity index 100% rename from robot_controller/include/robot_controller/visibility_control.h rename to xcub_ros2_controllers/include/robot_controller/visibility_control.h diff --git a/robot_controller/package.xml b/xcub_ros2_controllers/package.xml similarity index 96% rename from robot_controller/package.xml rename to xcub_ros2_controllers/package.xml index 0d1a7a9..42d7acb 100644 --- a/robot_controller/package.xml +++ b/xcub_ros2_controllers/package.xml @@ -1,7 +1,7 @@ - robot_controller + xcub_ros2_controllers 0.0.0 TODO: Package description martinagloria diff --git a/robot_controller/src/robot_controller.cpp b/xcub_ros2_controllers/src/robot_controller.cpp similarity index 100% rename from robot_controller/src/robot_controller.cpp rename to xcub_ros2_controllers/src/robot_controller.cpp diff --git a/robot_controller/robot_controller.xml b/xcub_ros2_controllers/xcub_ros2_controllers.xml similarity index 88% rename from robot_controller/robot_controller.xml rename to xcub_ros2_controllers/xcub_ros2_controllers.xml index 2093823..efe80d1 100644 --- a/robot_controller/robot_controller.xml +++ b/xcub_ros2_controllers/xcub_ros2_controllers.xml @@ -1,4 +1,4 @@ - + From 13e9797b518cce25a26742d899c888e5f3b8dc2b Mon Sep 17 00:00:00 2001 From: Martina Gloria Date: Thu, 28 Nov 2024 10:34:47 +0100 Subject: [PATCH 2/5] Fix leftover --- xcub_ergocub_moveit_config/launch/demo.launch.py | 2 +- xcub_ergocub_moveit_config/launch/move_group.launch.py | 2 +- xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py | 2 +- xcub_ergocub_moveit_config/launch/rsp.launch.py | 2 +- xcub_ergocub_moveit_config/launch/setup_assistant.launch.py | 2 +- xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py | 2 +- .../launch/static_virtual_joint_tfs.launch.py | 2 +- xcub_ergocub_moveit_config/launch/warehouse_db.launch.py | 2 +- xcub_icub_moveit_config/launch/demo.launch.py | 2 +- xcub_icub_moveit_config/launch/move_group.launch.py | 2 +- xcub_icub_moveit_config/launch/moveit_rviz.launch.py | 2 +- xcub_icub_moveit_config/launch/rsp.launch.py | 2 +- xcub_icub_moveit_config/launch/setup_assistant.launch.py | 2 +- xcub_icub_moveit_config/launch/spawn_controllers.launch.py | 2 +- .../launch/static_virtual_joint_tfs.launch.py | 2 +- xcub_icub_moveit_config/launch/warehouse_db.launch.py | 2 +- xcub_robot/launch/launch_icub.launch.py | 4 ++-- xcub_robot/launch/robot.launch.py | 2 +- 18 files changed, 19 insertions(+), 19 deletions(-) diff --git a/xcub_ergocub_moveit_config/launch/demo.launch.py b/xcub_ergocub_moveit_config/launch/demo.launch.py index 57d107f..03d6d27 100644 --- a/xcub_ergocub_moveit_config/launch/demo.launch.py +++ b/xcub_ergocub_moveit_config/launch/demo.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() return generate_demo_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/move_group.launch.py b/xcub_ergocub_moveit_config/launch/move_group.launch.py index 66a4a89..75fdc25 100644 --- a/xcub_ergocub_moveit_config/launch/move_group.launch.py +++ b/xcub_ergocub_moveit_config/launch/move_group.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() return generate_move_group_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py b/xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py index 454294a..0b9a995 100644 --- a/xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py +++ b/xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() return generate_moveit_rviz_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/rsp.launch.py b/xcub_ergocub_moveit_config/launch/rsp.launch.py index 0870d05..c4469b6 100644 --- a/xcub_ergocub_moveit_config/launch/rsp.launch.py +++ b/xcub_ergocub_moveit_config/launch/rsp.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() return generate_rsp_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/setup_assistant.launch.py b/xcub_ergocub_moveit_config/launch/setup_assistant.launch.py index a7dd098..cae7606 100644 --- a/xcub_ergocub_moveit_config/launch/setup_assistant.launch.py +++ b/xcub_ergocub_moveit_config/launch/setup_assistant.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() return generate_setup_assistant_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py b/xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py index 3b2e9ab..7943491 100644 --- a/xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py +++ b/xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() return generate_spawn_controllers_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py b/xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py index f6b06d4..84a6658 100644 --- a/xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ b/xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/warehouse_db.launch.py b/xcub_ergocub_moveit_config/launch/warehouse_db.launch.py index 1979aa6..e635761 100644 --- a/xcub_ergocub_moveit_config/launch/warehouse_db.launch.py +++ b/xcub_ergocub_moveit_config/launch/warehouse_db.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() return generate_warehouse_db_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/demo.launch.py b/xcub_icub_moveit_config/launch/demo.launch.py index d6bfb78..c26379a 100644 --- a/xcub_icub_moveit_config/launch/demo.launch.py +++ b/xcub_icub_moveit_config/launch/demo.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() return generate_demo_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/move_group.launch.py b/xcub_icub_moveit_config/launch/move_group.launch.py index 3d9cb82..5d0a5c2 100644 --- a/xcub_icub_moveit_config/launch/move_group.launch.py +++ b/xcub_icub_moveit_config/launch/move_group.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() return generate_move_group_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/moveit_rviz.launch.py b/xcub_icub_moveit_config/launch/moveit_rviz.launch.py index c22bebe..798a246 100644 --- a/xcub_icub_moveit_config/launch/moveit_rviz.launch.py +++ b/xcub_icub_moveit_config/launch/moveit_rviz.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() return generate_moveit_rviz_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/rsp.launch.py b/xcub_icub_moveit_config/launch/rsp.launch.py index 4802aac..d6a412b 100644 --- a/xcub_icub_moveit_config/launch/rsp.launch.py +++ b/xcub_icub_moveit_config/launch/rsp.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() return generate_rsp_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/setup_assistant.launch.py b/xcub_icub_moveit_config/launch/setup_assistant.launch.py index cbf4c74..39313b6 100644 --- a/xcub_icub_moveit_config/launch/setup_assistant.launch.py +++ b/xcub_icub_moveit_config/launch/setup_assistant.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() return generate_setup_assistant_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/spawn_controllers.launch.py b/xcub_icub_moveit_config/launch/spawn_controllers.launch.py index e64a134..7597577 100644 --- a/xcub_icub_moveit_config/launch/spawn_controllers.launch.py +++ b/xcub_icub_moveit_config/launch/spawn_controllers.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() return generate_spawn_controllers_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py b/xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py index 7ab8c7a..359a0e8 100644 --- a/xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ b/xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/warehouse_db.launch.py b/xcub_icub_moveit_config/launch/warehouse_db.launch.py index 14c32d3..5db8b9c 100644 --- a/xcub_icub_moveit_config/launch/warehouse_db.launch.py +++ b/xcub_icub_moveit_config/launch/warehouse_db.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() return generate_warehouse_db_launch(moveit_config) diff --git a/xcub_robot/launch/launch_icub.launch.py b/xcub_robot/launch/launch_icub.launch.py index b336a5c..05cd77d 100644 --- a/xcub_robot/launch/launch_icub.launch.py +++ b/xcub_robot/launch/launch_icub.launch.py @@ -35,7 +35,7 @@ def generate_launch_description(): ) rviz2 = ExecuteProcess( - cmd=['ros2', 'launch', 'xcub_icub_config', 'moveit_rviz.launch.py'], + cmd=['ros2', 'launch', 'xcub_icub_moveit_config', 'moveit_rviz.launch.py'], output='screen' ) @@ -67,7 +67,7 @@ def generate_launch_description(): ) ros2_controllers_path = os.path.join( - get_package_share_directory("xcub_icub_config"), + get_package_share_directory("xcub_icub_moveit_config"), "config", "ros2_controllers.yaml", ) diff --git a/xcub_robot/launch/robot.launch.py b/xcub_robot/launch/robot.launch.py index 7fbb9fc..f6130e5 100644 --- a/xcub_robot/launch/robot.launch.py +++ b/xcub_robot/launch/robot.launch.py @@ -38,7 +38,7 @@ def generate_launch_description(): robot_name = check_robot_name() moveit_config = ( - MoveItConfigsBuilder(robot_name) + MoveItConfigsBuilder("xcub_"+robot_name) .robot_description(file_path="config/"+robot_name+".urdf.xacro") .robot_description_semantic(file_path="config/"+robot_name+".srdf") .robot_description_kinematics(file_path="config/kinematics.yaml") From 49e2b9604183cb5c59a2c137f772a297d5945b61 Mon Sep 17 00:00:00 2001 From: Martina Gloria Date: Thu, 28 Nov 2024 10:37:46 +0100 Subject: [PATCH 3/5] Align all_packages folder name --- README.md | 4 ++-- .../CMakeLists.txt | 0 .../COLCON_IGNORE | 0 3 files changed, 2 insertions(+), 2 deletions(-) rename {xcub_moveit2_all_packages => xcub_moveit_all_packages}/CMakeLists.txt (100%) rename {xcub_moveit2_all_packages => xcub_moveit_all_packages}/COLCON_IGNORE (100%) diff --git a/README.md b/README.md index f977b3e..5cc79a9 100644 --- a/README.md +++ b/README.md @@ -88,11 +88,11 @@ source install/setup.bash ### Install as a single CMake project -If you want to build this repository as a single CMake project, you can use the `CMakeLists.txt` provided in `xcub_all_packages`: +If you want to build this repository as a single CMake project, you can use the `CMakeLists.txt` provided in `xcub_moveit_all_packages`: ~~~shell git clone https://github.com/icub-tech-iit/xcub-moveit2/ -cd xcub-moveit2/xcub_all_packages +cd xcub-moveit2/xcub_moveit_all_packages cmake -Bbuild -S. -DCMAKE_INSTALL_PREFIX= cmake --build build cmake --install build diff --git a/xcub_moveit2_all_packages/CMakeLists.txt b/xcub_moveit_all_packages/CMakeLists.txt similarity index 100% rename from xcub_moveit2_all_packages/CMakeLists.txt rename to xcub_moveit_all_packages/CMakeLists.txt diff --git a/xcub_moveit2_all_packages/COLCON_IGNORE b/xcub_moveit_all_packages/COLCON_IGNORE similarity index 100% rename from xcub_moveit2_all_packages/COLCON_IGNORE rename to xcub_moveit_all_packages/COLCON_IGNORE From d40c7148180d3f7c9b1c9818e7ea84f8b18549cd Mon Sep 17 00:00:00 2001 From: Martina Gloria Date: Thu, 28 Nov 2024 11:21:43 +0100 Subject: [PATCH 4/5] Use more specific package names --- README.md | 10 +++++----- xcub_moveit_all_packages/CMakeLists.txt | 4 ++-- {xcub_grasp => xcub_moveit_grasp}/CMakeLists.txt | 2 +- {xcub_grasp => xcub_moveit_grasp}/package.xml | 2 +- {xcub_grasp => xcub_moveit_grasp}/src/grasp.cpp | 0 {xcub_robot => xcub_moveit_robot}/CMakeLists.txt | 12 ++++++------ .../launch/circle_demo.launch.py | 6 +++--- .../launch/grasp_demo.launch.py | 4 ++-- .../launch/launch_icub.launch.py | 0 .../launch/robot.launch.py | 0 .../launch/robot_controls.launch.py | 0 .../launch/robot_sim.launch.py | 2 +- .../launch/spawn_model.py | 0 {xcub_robot => xcub_moveit_robot}/package.xml | 2 +- .../src/robot_moveit.cpp | 0 15 files changed, 22 insertions(+), 22 deletions(-) rename {xcub_grasp => xcub_moveit_grasp}/CMakeLists.txt (98%) rename {xcub_grasp => xcub_moveit_grasp}/package.xml (96%) rename {xcub_grasp => xcub_moveit_grasp}/src/grasp.cpp (100%) rename {xcub_robot => xcub_moveit_robot}/CMakeLists.txt (83%) rename {xcub_robot => xcub_moveit_robot}/launch/circle_demo.launch.py (90%) rename {xcub_robot => xcub_moveit_robot}/launch/grasp_demo.launch.py (93%) rename {xcub_robot => xcub_moveit_robot}/launch/launch_icub.launch.py (100%) rename {xcub_robot => xcub_moveit_robot}/launch/robot.launch.py (100%) rename {xcub_robot => xcub_moveit_robot}/launch/robot_controls.launch.py (100%) rename {xcub_robot => xcub_moveit_robot}/launch/robot_sim.launch.py (99%) rename {xcub_robot => xcub_moveit_robot}/launch/spawn_model.py (100%) rename {xcub_robot => xcub_moveit_robot}/package.xml (96%) rename {xcub_robot => xcub_moveit_robot}/src/robot_moveit.cpp (100%) diff --git a/README.md b/README.md index 5cc79a9..7cc929a 100644 --- a/README.md +++ b/README.md @@ -131,7 +131,7 @@ This package contains `xcub_ros2_controllers` plugin that is used in [ros2_contr - a `velocity state interface` used to read the velocity of each joint; - a `position command interface` used to forward the desired position to the joints. -### xcub_robot +### xcub_moveit_robot This package contains some launch files, depending on the nodes you want to run. @@ -183,7 +183,7 @@ source install/setup.bash export YARP_ROBOT_NAME="iCubGazeboV2_5" # Launch the start-up nodes -ros2 launch xcub_robot robot_sim.launch.py +ros2 launch xcub_moveit_robot robot_sim.launch.py ``` In this way, both rviz2 and gazebo windows are opened with the iCub model spawned in the two environments. At this point, open another shell, build and source the enviroment and then launch the ros2_control nodes: @@ -196,7 +196,7 @@ source install/setup.bash export YARP_ROBOT_NAME="iCubGazeboV2_5" # Launch the ros2_control nodes -ros2 launch xcub_robot robot_controls.launch.py +ros2 launch xcub_moveit_robot robot_controls.launch.py ``` To verify that everthing has been done successfully, you can run in a separate shell: @@ -216,13 +216,13 @@ source install/setup.bash export YARP_ROBOT_NAME="iCubGazeboV2_5" # For the grasping demo -ros2 launch xcub_robot grasp_demo.launch.py +ros2 launch xcub_moveit_robot grasp_demo.launch.py ``` If you want to see iCub performing a circle movement, instead of the last line, you can run: ```shell -ros2 launch xcub_robot circle_demo.launch.py +ros2 launch xcub_moveit_robot circle_demo.launch.py ``` and follow the instructions on the third shell you opened. diff --git a/xcub_moveit_all_packages/CMakeLists.txt b/xcub_moveit_all_packages/CMakeLists.txt index ff9e12d..72c3a38 100644 --- a/xcub_moveit_all_packages/CMakeLists.txt +++ b/xcub_moveit_all_packages/CMakeLists.txt @@ -9,9 +9,9 @@ project(xcub-moveit2) # The order of inclusion was taken from colcon graph output add_subdirectory(../xcub_ergocub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/xcub_ergocub_moveit_config) -add_subdirectory(../xcub_grasp ${CMAKE_CURRENT_BINARY_DIR}/xcub_grasp) +add_subdirectory(../xcub_moveit_grasp ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_grasp) add_subdirectory(../xcub_icub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/xcub_icub_moveit_config) add_subdirectory(../xcub_ros2_controllers ${CMAKE_CURRENT_BINARY_DIR}/xcub_ros2_controllers) -add_subdirectory(../xcub_robot ${CMAKE_CURRENT_BINARY_DIR}/xcub_robot) +add_subdirectory(../xcub_moveit_robot ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_robot) add_subdirectory(../xcub_moveit_test_controller ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_test_controller) diff --git a/xcub_grasp/CMakeLists.txt b/xcub_moveit_grasp/CMakeLists.txt similarity index 98% rename from xcub_grasp/CMakeLists.txt rename to xcub_moveit_grasp/CMakeLists.txt index 26c82eb..1ef2305 100644 --- a/xcub_grasp/CMakeLists.txt +++ b/xcub_moveit_grasp/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(xcub_grasp) +project(xcub_moveit_grasp) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) diff --git a/xcub_grasp/package.xml b/xcub_moveit_grasp/package.xml similarity index 96% rename from xcub_grasp/package.xml rename to xcub_moveit_grasp/package.xml index 10696eb..bfb0d89 100644 --- a/xcub_grasp/package.xml +++ b/xcub_moveit_grasp/package.xml @@ -1,7 +1,7 @@ - xcub_grasp + xcub_moveit_grasp 0.0.0 ROS2 package for grasping task Martina Gloria diff --git a/xcub_grasp/src/grasp.cpp b/xcub_moveit_grasp/src/grasp.cpp similarity index 100% rename from xcub_grasp/src/grasp.cpp rename to xcub_moveit_grasp/src/grasp.cpp diff --git a/xcub_robot/CMakeLists.txt b/xcub_moveit_robot/CMakeLists.txt similarity index 83% rename from xcub_robot/CMakeLists.txt rename to xcub_moveit_robot/CMakeLists.txt index 5559e49..04cd77f 100644 --- a/xcub_robot/CMakeLists.txt +++ b/xcub_moveit_robot/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(xcub_robot) +project(xcub_moveit_robot) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) @@ -18,13 +18,13 @@ find_package(hardware_interface REQUIRED) find_package(yarp_control_msgs REQUIRED) find_package(YARP REQUIRED) -add_executable(xcub_robot src/robot_moveit.cpp launch/spawn_model.py) -target_include_directories(xcub_robot PUBLIC +add_executable(xcub_moveit_robot src/robot_moveit.cpp launch/spawn_model.py) +target_include_directories(xcub_moveit_robot PUBLIC $ $) -target_compile_features(xcub_robot PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 +target_compile_features(xcub_moveit_robot PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 ament_target_dependencies( - xcub_robot + xcub_moveit_robot "moveit_ros_planning_interface" "rclcpp" "rclpy" @@ -38,7 +38,7 @@ ament_target_dependencies( target_sources(${PROJECT_NAME} PRIVATE src/robot_moveit.cpp) target_link_libraries(${PROJECT_NAME} ${YARP_LIBRARIES}) -install(TARGETS xcub_robot DESTINATION lib/${PROJECT_NAME}) +install(TARGETS xcub_moveit_robot DESTINATION lib/${PROJECT_NAME}) install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) install(PROGRAMS launch/spawn_model.py DESTINATION lib/${PROJECT_NAME}) diff --git a/xcub_robot/launch/circle_demo.launch.py b/xcub_moveit_robot/launch/circle_demo.launch.py similarity index 90% rename from xcub_robot/launch/circle_demo.launch.py rename to xcub_moveit_robot/launch/circle_demo.launch.py index de8ad15..152f3d5 100644 --- a/xcub_robot/launch/circle_demo.launch.py +++ b/xcub_moveit_robot/launch/circle_demo.launch.py @@ -20,9 +20,9 @@ def generate_launch_description(): moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() circle_demo = Node( - name="xcub_robot", - package="xcub_robot", - executable="xcub_robot", + name="xcub_moveit_robot", + package="xcub_moveit_robot", + executable="xcub_moveit_robot", output="screen", parameters=[ moveit_config.robot_description, diff --git a/xcub_robot/launch/grasp_demo.launch.py b/xcub_moveit_robot/launch/grasp_demo.launch.py similarity index 93% rename from xcub_robot/launch/grasp_demo.launch.py rename to xcub_moveit_robot/launch/grasp_demo.launch.py index b11e0e5..452cef4 100644 --- a/xcub_robot/launch/grasp_demo.launch.py +++ b/xcub_moveit_robot/launch/grasp_demo.launch.py @@ -21,8 +21,8 @@ def generate_launch_description(): grasping_demo = Node( name="grasping", - package="xcub_grasp", - executable="xcub_grasp", + package="xcub_moveit_grasp", + executable="xcub_moveit_grasp", output="screen", parameters=[ moveit_config.robot_description, diff --git a/xcub_robot/launch/launch_icub.launch.py b/xcub_moveit_robot/launch/launch_icub.launch.py similarity index 100% rename from xcub_robot/launch/launch_icub.launch.py rename to xcub_moveit_robot/launch/launch_icub.launch.py diff --git a/xcub_robot/launch/robot.launch.py b/xcub_moveit_robot/launch/robot.launch.py similarity index 100% rename from xcub_robot/launch/robot.launch.py rename to xcub_moveit_robot/launch/robot.launch.py diff --git a/xcub_robot/launch/robot_controls.launch.py b/xcub_moveit_robot/launch/robot_controls.launch.py similarity index 100% rename from xcub_robot/launch/robot_controls.launch.py rename to xcub_moveit_robot/launch/robot_controls.launch.py diff --git a/xcub_robot/launch/robot_sim.launch.py b/xcub_moveit_robot/launch/robot_sim.launch.py similarity index 99% rename from xcub_robot/launch/robot_sim.launch.py rename to xcub_moveit_robot/launch/robot_sim.launch.py index 7c124e6..71c4911 100644 --- a/xcub_robot/launch/robot_sim.launch.py +++ b/xcub_moveit_robot/launch/robot_sim.launch.py @@ -54,7 +54,7 @@ def generate_launch_description(): ) model_spawner = Node( - package='xcub_robot', + package='xcub_moveit_robot', executable='spawn_model.py', name='spawn_entity', output='screen', diff --git a/xcub_robot/launch/spawn_model.py b/xcub_moveit_robot/launch/spawn_model.py similarity index 100% rename from xcub_robot/launch/spawn_model.py rename to xcub_moveit_robot/launch/spawn_model.py diff --git a/xcub_robot/package.xml b/xcub_moveit_robot/package.xml similarity index 96% rename from xcub_robot/package.xml rename to xcub_moveit_robot/package.xml index 0cbc029..a392921 100644 --- a/xcub_robot/package.xml +++ b/xcub_moveit_robot/package.xml @@ -1,7 +1,7 @@ - xcub_robot + xcub_moveit_robot 0.0.0 TODO: Package description martinagloria diff --git a/xcub_robot/src/robot_moveit.cpp b/xcub_moveit_robot/src/robot_moveit.cpp similarity index 100% rename from xcub_robot/src/robot_moveit.cpp rename to xcub_moveit_robot/src/robot_moveit.cpp From cf29de6e66c3625c345b93728c833b357f5ad678 Mon Sep 17 00:00:00 2001 From: Martina Gloria Date: Thu, 28 Nov 2024 15:16:29 +0100 Subject: [PATCH 5/5] Remove xcub prefix from icub/ergocub config packages --- README.md | 4 ++-- .../.setup_assistant | 0 .../CMakeLists.txt | 2 +- .../config/ergocub.ros2_control.xacro | 0 .../config/ergocub.srdf | 0 .../config/ergocub.urdf.xacro | 0 .../config/initial_positions.yaml | 0 .../config/joint_limits.yaml | 0 .../config/kinematics.yaml | 0 .../config/moveit.rviz | 0 .../config/moveit_controllers.yaml | 0 .../config/ompl_planning.yaml | 0 .../config/pilz_cartesian_limits.yaml | 0 .../config/ros2_controllers.yaml | 0 .../config/sensors_3d.yaml | 0 .../launch/demo.launch.py | 2 +- .../launch/move_group.launch.py | 2 +- .../launch/moveit_rviz.launch.py | 2 +- .../launch/rsp.launch.py | 2 +- .../launch/setup_assistant.launch.py | 2 +- .../launch/spawn_controllers.launch.py | 2 +- .../launch/static_virtual_joint_tfs.launch.py | 2 +- .../launch/warehouse_db.launch.py | 2 +- .../package.xml | 2 +- .../.setup_assistant | 0 .../CMakeLists.txt | 2 +- .../config/icub.ros2_control.xacro | 0 .../config/icub.srdf | 0 .../config/icub.urdf.xacro | 0 .../config/initial_positions.yaml | 0 .../config/joint_limits.yaml | 0 .../config/kinematics.yaml | 0 .../config/moveit.rviz | 0 .../config/moveit_controllers.yaml | 0 .../config/ompl_planning.yaml | 0 .../config/pilz_cartesian_limits.yaml | 0 .../config/ros2_controllers.yaml | 0 .../config/sensors_3d.yaml | 0 .../launch/demo.launch.py | 2 +- .../launch/move_group.launch.py | 2 +- .../launch/moveit_rviz.launch.py | 2 +- .../launch/rsp.launch.py | 2 +- .../launch/setup_assistant.launch.py | 2 +- .../launch/spawn_controllers.launch.py | 2 +- .../launch/static_virtual_joint_tfs.launch.py | 2 +- .../launch/warehouse_db.launch.py | 2 +- .../package.xml | 2 +- xcub_moveit_all_packages/CMakeLists.txt | 4 ++-- xcub_moveit_robot/launch/circle_demo.launch.py | 2 +- xcub_moveit_robot/launch/grasp_demo.launch.py | 2 +- xcub_moveit_robot/launch/launch_icub.launch.py | 4 ++-- xcub_moveit_robot/launch/robot.launch.py | 10 +++++----- xcub_moveit_robot/launch/robot_controls.launch.py | 4 ++-- xcub_moveit_robot/launch/robot_sim.launch.py | 10 +++++----- xcub_moveit_robot/launch/spawn_model.py | 2 +- .../launch/test_controller.launch.py | 2 +- 56 files changed, 42 insertions(+), 42 deletions(-) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/.setup_assistant (100%) rename {xcub_icub_moveit_config => ergocub_moveit_config}/CMakeLists.txt (90%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/ergocub.ros2_control.xacro (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/ergocub.srdf (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/ergocub.urdf.xacro (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/initial_positions.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/joint_limits.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/kinematics.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/moveit.rviz (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/moveit_controllers.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/ompl_planning.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/pilz_cartesian_limits.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/ros2_controllers.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/sensors_3d.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/demo.launch.py (83%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/move_group.launch.py (84%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/moveit_rviz.launch.py (84%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/rsp.launch.py (83%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/setup_assistant.launch.py (84%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/spawn_controllers.launch.py (85%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/static_virtual_joint_tfs.launch.py (85%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/warehouse_db.launch.py (84%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/package.xml (96%) rename {xcub_icub_moveit_config => icub_moveit_config}/.setup_assistant (100%) rename {xcub_ergocub_moveit_config => icub_moveit_config}/CMakeLists.txt (89%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/icub.ros2_control.xacro (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/icub.srdf (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/icub.urdf.xacro (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/initial_positions.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/joint_limits.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/kinematics.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/moveit.rviz (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/moveit_controllers.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/ompl_planning.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/pilz_cartesian_limits.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/ros2_controllers.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/sensors_3d.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/demo.launch.py (64%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/move_group.launch.py (66%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/moveit_rviz.launch.py (66%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/rsp.launch.py (64%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/setup_assistant.launch.py (67%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/spawn_controllers.launch.py (67%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/static_virtual_joint_tfs.launch.py (68%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/warehouse_db.launch.py (66%) rename {xcub_icub_moveit_config => icub_moveit_config}/package.xml (98%) diff --git a/README.md b/README.md index 7cc929a..07f1b34 100644 --- a/README.md +++ b/README.md @@ -152,11 +152,11 @@ or, for simulated models: export YARP_ROBOT_NAME="iCubGazeboV2_5" ``` -### xcub_icub_moveit_config +### icub_moveit_config This package contains the configuration files to make iCub working with MoveIt2. In particular, each of the parts of iCub robot (head, left_arm, right_arm, torso, left_leg and right_leg) are defined in terms of `planning group`, and for each of them a ros2_control of type `FollowJointTrajectory` is set. -### xcub_ergocub_moveit_config +### ergocub_moveit_config It contains the same information described in the previous paragraph, but customized with ergoCub specs. diff --git a/xcub_ergocub_moveit_config/.setup_assistant b/ergocub_moveit_config/.setup_assistant similarity index 100% rename from xcub_ergocub_moveit_config/.setup_assistant rename to ergocub_moveit_config/.setup_assistant diff --git a/xcub_icub_moveit_config/CMakeLists.txt b/ergocub_moveit_config/CMakeLists.txt similarity index 90% rename from xcub_icub_moveit_config/CMakeLists.txt rename to ergocub_moveit_config/CMakeLists.txt index fdc1d51..7880778 100644 --- a/xcub_icub_moveit_config/CMakeLists.txt +++ b/ergocub_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.22) -project(xcub_icub_moveit_config) +project(ergocub_moveit_config) find_package(ament_cmake REQUIRED) diff --git a/xcub_ergocub_moveit_config/config/ergocub.ros2_control.xacro b/ergocub_moveit_config/config/ergocub.ros2_control.xacro similarity index 100% rename from xcub_ergocub_moveit_config/config/ergocub.ros2_control.xacro rename to ergocub_moveit_config/config/ergocub.ros2_control.xacro diff --git a/xcub_ergocub_moveit_config/config/ergocub.srdf b/ergocub_moveit_config/config/ergocub.srdf similarity index 100% rename from xcub_ergocub_moveit_config/config/ergocub.srdf rename to ergocub_moveit_config/config/ergocub.srdf diff --git a/xcub_ergocub_moveit_config/config/ergocub.urdf.xacro b/ergocub_moveit_config/config/ergocub.urdf.xacro similarity index 100% rename from xcub_ergocub_moveit_config/config/ergocub.urdf.xacro rename to ergocub_moveit_config/config/ergocub.urdf.xacro diff --git a/xcub_ergocub_moveit_config/config/initial_positions.yaml b/ergocub_moveit_config/config/initial_positions.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/initial_positions.yaml rename to ergocub_moveit_config/config/initial_positions.yaml diff --git a/xcub_ergocub_moveit_config/config/joint_limits.yaml b/ergocub_moveit_config/config/joint_limits.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/joint_limits.yaml rename to ergocub_moveit_config/config/joint_limits.yaml diff --git a/xcub_ergocub_moveit_config/config/kinematics.yaml b/ergocub_moveit_config/config/kinematics.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/kinematics.yaml rename to ergocub_moveit_config/config/kinematics.yaml diff --git a/xcub_ergocub_moveit_config/config/moveit.rviz b/ergocub_moveit_config/config/moveit.rviz similarity index 100% rename from xcub_ergocub_moveit_config/config/moveit.rviz rename to ergocub_moveit_config/config/moveit.rviz diff --git a/xcub_ergocub_moveit_config/config/moveit_controllers.yaml b/ergocub_moveit_config/config/moveit_controllers.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/moveit_controllers.yaml rename to ergocub_moveit_config/config/moveit_controllers.yaml diff --git a/xcub_ergocub_moveit_config/config/ompl_planning.yaml b/ergocub_moveit_config/config/ompl_planning.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/ompl_planning.yaml rename to ergocub_moveit_config/config/ompl_planning.yaml diff --git a/xcub_ergocub_moveit_config/config/pilz_cartesian_limits.yaml b/ergocub_moveit_config/config/pilz_cartesian_limits.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/pilz_cartesian_limits.yaml rename to ergocub_moveit_config/config/pilz_cartesian_limits.yaml diff --git a/xcub_ergocub_moveit_config/config/ros2_controllers.yaml b/ergocub_moveit_config/config/ros2_controllers.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/ros2_controllers.yaml rename to ergocub_moveit_config/config/ros2_controllers.yaml diff --git a/xcub_ergocub_moveit_config/config/sensors_3d.yaml b/ergocub_moveit_config/config/sensors_3d.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/sensors_3d.yaml rename to ergocub_moveit_config/config/sensors_3d.yaml diff --git a/xcub_ergocub_moveit_config/launch/demo.launch.py b/ergocub_moveit_config/launch/demo.launch.py similarity index 83% rename from xcub_ergocub_moveit_config/launch/demo.launch.py rename to ergocub_moveit_config/launch/demo.launch.py index 03d6d27..aa3e335 100644 --- a/xcub_ergocub_moveit_config/launch/demo.launch.py +++ b/ergocub_moveit_config/launch/demo.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_demo_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/move_group.launch.py b/ergocub_moveit_config/launch/move_group.launch.py similarity index 84% rename from xcub_ergocub_moveit_config/launch/move_group.launch.py rename to ergocub_moveit_config/launch/move_group.launch.py index 75fdc25..0d1a604 100644 --- a/xcub_ergocub_moveit_config/launch/move_group.launch.py +++ b/ergocub_moveit_config/launch/move_group.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_move_group_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py b/ergocub_moveit_config/launch/moveit_rviz.launch.py similarity index 84% rename from xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py rename to ergocub_moveit_config/launch/moveit_rviz.launch.py index 0b9a995..ca10fc9 100644 --- a/xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py +++ b/ergocub_moveit_config/launch/moveit_rviz.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_moveit_rviz_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/rsp.launch.py b/ergocub_moveit_config/launch/rsp.launch.py similarity index 83% rename from xcub_ergocub_moveit_config/launch/rsp.launch.py rename to ergocub_moveit_config/launch/rsp.launch.py index c4469b6..ba5c01c 100644 --- a/xcub_ergocub_moveit_config/launch/rsp.launch.py +++ b/ergocub_moveit_config/launch/rsp.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_rsp_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/setup_assistant.launch.py b/ergocub_moveit_config/launch/setup_assistant.launch.py similarity index 84% rename from xcub_ergocub_moveit_config/launch/setup_assistant.launch.py rename to ergocub_moveit_config/launch/setup_assistant.launch.py index cae7606..3e25787 100644 --- a/xcub_ergocub_moveit_config/launch/setup_assistant.launch.py +++ b/ergocub_moveit_config/launch/setup_assistant.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_setup_assistant_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py b/ergocub_moveit_config/launch/spawn_controllers.launch.py similarity index 85% rename from xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py rename to ergocub_moveit_config/launch/spawn_controllers.launch.py index 7943491..9473b61 100644 --- a/xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py +++ b/ergocub_moveit_config/launch/spawn_controllers.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_spawn_controllers_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py b/ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py similarity index 85% rename from xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py rename to ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py index 84a6658..fe0c7de 100644 --- a/xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ b/ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/warehouse_db.launch.py b/ergocub_moveit_config/launch/warehouse_db.launch.py similarity index 84% rename from xcub_ergocub_moveit_config/launch/warehouse_db.launch.py rename to ergocub_moveit_config/launch/warehouse_db.launch.py index e635761..38210a7 100644 --- a/xcub_ergocub_moveit_config/launch/warehouse_db.launch.py +++ b/ergocub_moveit_config/launch/warehouse_db.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_warehouse_db_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/package.xml b/ergocub_moveit_config/package.xml similarity index 96% rename from xcub_ergocub_moveit_config/package.xml rename to ergocub_moveit_config/package.xml index 0dd08ab..e390852 100644 --- a/xcub_ergocub_moveit_config/package.xml +++ b/ergocub_moveit_config/package.xml @@ -1,7 +1,7 @@ - xcub_ergocub_moveit_config + ergocub_moveit_config 0.3.0 A ROS2 package with the configuration and launch files for using the ergoCub with the MoveIt Motion Planning Framework diff --git a/xcub_icub_moveit_config/.setup_assistant b/icub_moveit_config/.setup_assistant similarity index 100% rename from xcub_icub_moveit_config/.setup_assistant rename to icub_moveit_config/.setup_assistant diff --git a/xcub_ergocub_moveit_config/CMakeLists.txt b/icub_moveit_config/CMakeLists.txt similarity index 89% rename from xcub_ergocub_moveit_config/CMakeLists.txt rename to icub_moveit_config/CMakeLists.txt index 66f3898..13b503f 100644 --- a/xcub_ergocub_moveit_config/CMakeLists.txt +++ b/icub_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.22) -project(xcub_ergocub_moveit_config) +project(icub_moveit_config) find_package(ament_cmake REQUIRED) diff --git a/xcub_icub_moveit_config/config/icub.ros2_control.xacro b/icub_moveit_config/config/icub.ros2_control.xacro similarity index 100% rename from xcub_icub_moveit_config/config/icub.ros2_control.xacro rename to icub_moveit_config/config/icub.ros2_control.xacro diff --git a/xcub_icub_moveit_config/config/icub.srdf b/icub_moveit_config/config/icub.srdf similarity index 100% rename from xcub_icub_moveit_config/config/icub.srdf rename to icub_moveit_config/config/icub.srdf diff --git a/xcub_icub_moveit_config/config/icub.urdf.xacro b/icub_moveit_config/config/icub.urdf.xacro similarity index 100% rename from xcub_icub_moveit_config/config/icub.urdf.xacro rename to icub_moveit_config/config/icub.urdf.xacro diff --git a/xcub_icub_moveit_config/config/initial_positions.yaml b/icub_moveit_config/config/initial_positions.yaml similarity index 100% rename from xcub_icub_moveit_config/config/initial_positions.yaml rename to icub_moveit_config/config/initial_positions.yaml diff --git a/xcub_icub_moveit_config/config/joint_limits.yaml b/icub_moveit_config/config/joint_limits.yaml similarity index 100% rename from xcub_icub_moveit_config/config/joint_limits.yaml rename to icub_moveit_config/config/joint_limits.yaml diff --git a/xcub_icub_moveit_config/config/kinematics.yaml b/icub_moveit_config/config/kinematics.yaml similarity index 100% rename from xcub_icub_moveit_config/config/kinematics.yaml rename to icub_moveit_config/config/kinematics.yaml diff --git a/xcub_icub_moveit_config/config/moveit.rviz b/icub_moveit_config/config/moveit.rviz similarity index 100% rename from xcub_icub_moveit_config/config/moveit.rviz rename to icub_moveit_config/config/moveit.rviz diff --git a/xcub_icub_moveit_config/config/moveit_controllers.yaml b/icub_moveit_config/config/moveit_controllers.yaml similarity index 100% rename from xcub_icub_moveit_config/config/moveit_controllers.yaml rename to icub_moveit_config/config/moveit_controllers.yaml diff --git a/xcub_icub_moveit_config/config/ompl_planning.yaml b/icub_moveit_config/config/ompl_planning.yaml similarity index 100% rename from xcub_icub_moveit_config/config/ompl_planning.yaml rename to icub_moveit_config/config/ompl_planning.yaml diff --git a/xcub_icub_moveit_config/config/pilz_cartesian_limits.yaml b/icub_moveit_config/config/pilz_cartesian_limits.yaml similarity index 100% rename from xcub_icub_moveit_config/config/pilz_cartesian_limits.yaml rename to icub_moveit_config/config/pilz_cartesian_limits.yaml diff --git a/xcub_icub_moveit_config/config/ros2_controllers.yaml b/icub_moveit_config/config/ros2_controllers.yaml similarity index 100% rename from xcub_icub_moveit_config/config/ros2_controllers.yaml rename to icub_moveit_config/config/ros2_controllers.yaml diff --git a/xcub_icub_moveit_config/config/sensors_3d.yaml b/icub_moveit_config/config/sensors_3d.yaml similarity index 100% rename from xcub_icub_moveit_config/config/sensors_3d.yaml rename to icub_moveit_config/config/sensors_3d.yaml diff --git a/xcub_icub_moveit_config/launch/demo.launch.py b/icub_moveit_config/launch/demo.launch.py similarity index 64% rename from xcub_icub_moveit_config/launch/demo.launch.py rename to icub_moveit_config/launch/demo.launch.py index c26379a..db21b2b 100644 --- a/xcub_icub_moveit_config/launch/demo.launch.py +++ b/icub_moveit_config/launch/demo.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_demo_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/move_group.launch.py b/icub_moveit_config/launch/move_group.launch.py similarity index 66% rename from xcub_icub_moveit_config/launch/move_group.launch.py rename to icub_moveit_config/launch/move_group.launch.py index 5d0a5c2..d4108da 100644 --- a/xcub_icub_moveit_config/launch/move_group.launch.py +++ b/icub_moveit_config/launch/move_group.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_move_group_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/moveit_rviz.launch.py b/icub_moveit_config/launch/moveit_rviz.launch.py similarity index 66% rename from xcub_icub_moveit_config/launch/moveit_rviz.launch.py rename to icub_moveit_config/launch/moveit_rviz.launch.py index 798a246..485ca47 100644 --- a/xcub_icub_moveit_config/launch/moveit_rviz.launch.py +++ b/icub_moveit_config/launch/moveit_rviz.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_moveit_rviz_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/rsp.launch.py b/icub_moveit_config/launch/rsp.launch.py similarity index 64% rename from xcub_icub_moveit_config/launch/rsp.launch.py rename to icub_moveit_config/launch/rsp.launch.py index d6a412b..3dce589 100644 --- a/xcub_icub_moveit_config/launch/rsp.launch.py +++ b/icub_moveit_config/launch/rsp.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_rsp_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/setup_assistant.launch.py b/icub_moveit_config/launch/setup_assistant.launch.py similarity index 67% rename from xcub_icub_moveit_config/launch/setup_assistant.launch.py rename to icub_moveit_config/launch/setup_assistant.launch.py index 39313b6..2a4ddfb 100644 --- a/xcub_icub_moveit_config/launch/setup_assistant.launch.py +++ b/icub_moveit_config/launch/setup_assistant.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_setup_assistant_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/spawn_controllers.launch.py b/icub_moveit_config/launch/spawn_controllers.launch.py similarity index 67% rename from xcub_icub_moveit_config/launch/spawn_controllers.launch.py rename to icub_moveit_config/launch/spawn_controllers.launch.py index 7597577..7ef66a1 100644 --- a/xcub_icub_moveit_config/launch/spawn_controllers.launch.py +++ b/icub_moveit_config/launch/spawn_controllers.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_spawn_controllers_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py b/icub_moveit_config/launch/static_virtual_joint_tfs.launch.py similarity index 68% rename from xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py rename to icub_moveit_config/launch/static_virtual_joint_tfs.launch.py index 359a0e8..4804dca 100644 --- a/xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ b/icub_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/warehouse_db.launch.py b/icub_moveit_config/launch/warehouse_db.launch.py similarity index 66% rename from xcub_icub_moveit_config/launch/warehouse_db.launch.py rename to icub_moveit_config/launch/warehouse_db.launch.py index 5db8b9c..ca8e753 100644 --- a/xcub_icub_moveit_config/launch/warehouse_db.launch.py +++ b/icub_moveit_config/launch/warehouse_db.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_warehouse_db_launch(moveit_config) diff --git a/xcub_icub_moveit_config/package.xml b/icub_moveit_config/package.xml similarity index 98% rename from xcub_icub_moveit_config/package.xml rename to icub_moveit_config/package.xml index fa39359..faf72b7 100644 --- a/xcub_icub_moveit_config/package.xml +++ b/icub_moveit_config/package.xml @@ -1,7 +1,7 @@ - xcub_icub_moveit_config + icub_moveit_config 0.3.0 An automatically generated package with all the configuration and launch files for using the iCub with the MoveIt Motion Planning Framework diff --git a/xcub_moveit_all_packages/CMakeLists.txt b/xcub_moveit_all_packages/CMakeLists.txt index 72c3a38..bbdb23c 100644 --- a/xcub_moveit_all_packages/CMakeLists.txt +++ b/xcub_moveit_all_packages/CMakeLists.txt @@ -8,9 +8,9 @@ project(xcub-moveit2) # so that it will be excluded automatically by the colcon build command # The order of inclusion was taken from colcon graph output -add_subdirectory(../xcub_ergocub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/xcub_ergocub_moveit_config) +add_subdirectory(../ergocub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/ergocub_moveit_config) add_subdirectory(../xcub_moveit_grasp ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_grasp) -add_subdirectory(../xcub_icub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/xcub_icub_moveit_config) +add_subdirectory(../icub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/icub_moveit_config) add_subdirectory(../xcub_ros2_controllers ${CMAKE_CURRENT_BINARY_DIR}/xcub_ros2_controllers) add_subdirectory(../xcub_moveit_robot ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_robot) add_subdirectory(../xcub_moveit_test_controller ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_test_controller) diff --git a/xcub_moveit_robot/launch/circle_demo.launch.py b/xcub_moveit_robot/launch/circle_demo.launch.py index 152f3d5..8a28fa3 100644 --- a/xcub_moveit_robot/launch/circle_demo.launch.py +++ b/xcub_moveit_robot/launch/circle_demo.launch.py @@ -17,7 +17,7 @@ def generate_launch_description(): robot_name = check_robot_name() - moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() + moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs() circle_demo = Node( name="xcub_moveit_robot", diff --git a/xcub_moveit_robot/launch/grasp_demo.launch.py b/xcub_moveit_robot/launch/grasp_demo.launch.py index 452cef4..efc25b2 100644 --- a/xcub_moveit_robot/launch/grasp_demo.launch.py +++ b/xcub_moveit_robot/launch/grasp_demo.launch.py @@ -17,7 +17,7 @@ def generate_launch_description(): robot_name = check_robot_name() - moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() + moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs() grasping_demo = Node( name="grasping", diff --git a/xcub_moveit_robot/launch/launch_icub.launch.py b/xcub_moveit_robot/launch/launch_icub.launch.py index 05cd77d..4cecf3c 100644 --- a/xcub_moveit_robot/launch/launch_icub.launch.py +++ b/xcub_moveit_robot/launch/launch_icub.launch.py @@ -35,7 +35,7 @@ def generate_launch_description(): ) rviz2 = ExecuteProcess( - cmd=['ros2', 'launch', 'xcub_icub_moveit_config', 'moveit_rviz.launch.py'], + cmd=['ros2', 'launch', 'icub_moveit_config', 'moveit_rviz.launch.py'], output='screen' ) @@ -67,7 +67,7 @@ def generate_launch_description(): ) ros2_controllers_path = os.path.join( - get_package_share_directory("xcub_icub_moveit_config"), + get_package_share_directory("icub_moveit_config"), "config", "ros2_controllers.yaml", ) diff --git a/xcub_moveit_robot/launch/robot.launch.py b/xcub_moveit_robot/launch/robot.launch.py index f6130e5..6f704e4 100644 --- a/xcub_moveit_robot/launch/robot.launch.py +++ b/xcub_moveit_robot/launch/robot.launch.py @@ -38,7 +38,7 @@ def generate_launch_description(): robot_name = check_robot_name() moveit_config = ( - MoveItConfigsBuilder("xcub_"+robot_name) + MoveItConfigsBuilder(robot_name) .robot_description(file_path="config/"+robot_name+".urdf.xacro") .robot_description_semantic(file_path="config/"+robot_name+".srdf") .robot_description_kinematics(file_path="config/kinematics.yaml") @@ -56,7 +56,7 @@ def generate_launch_description(): {"use_sim_time": False}], ) - robot_description_semantic_file = load_file("xcub_"+robot_name+"_moveit_config", "config/"+robot_name+".srdf") + robot_description_semantic_file = load_file(robot_name+"_moveit_config", "config/"+robot_name+".srdf") robot_description_semantic = {"robot_description_semantic": robot_description_semantic_file} ompl_planning_pipeline_config = { @@ -66,10 +66,10 @@ def generate_launch_description(): "start_state_max_bounds_error": 0.1, } } - ompl_planning_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/ompl_planning.yaml") + ompl_planning_file = load_yaml(robot_name+"_moveit_config", "config/ompl_planning.yaml") ompl_planning_pipeline_config["move_group"].update(ompl_planning_file) - moveit_controllers_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/moveit_controllers.yaml") + moveit_controllers_file = load_yaml(robot_name+"_moveit_config", "config/moveit_controllers.yaml") moveit_controllers = {"moveit_simple_controller_manager": moveit_controllers_file, "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"} @@ -107,7 +107,7 @@ def generate_launch_description(): {"use_sim_time": False}], ) - rviz_moveit = os.path.join(get_package_share_directory("xcub_"+robot_name+"_moveit_config"), "config/moveit.rviz") + rviz_moveit = os.path.join(get_package_share_directory(robot_name+"_moveit_config"), "config/moveit.rviz") rviz2 = Node( package="rviz2", executable="rviz2", diff --git a/xcub_moveit_robot/launch/robot_controls.launch.py b/xcub_moveit_robot/launch/robot_controls.launch.py index e0b4c7e..d76d61a 100644 --- a/xcub_moveit_robot/launch/robot_controls.launch.py +++ b/xcub_moveit_robot/launch/robot_controls.launch.py @@ -21,10 +21,10 @@ def generate_launch_description(): robot_name = check_robot_name() - moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() + moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs() ros2_controllers_path = os.path.join( - get_package_share_directory("xcub_"+robot_name+"_moveit_config"), + get_package_share_directory(robot_name+"_moveit_config"), "config", "ros2_controllers.yaml", ) diff --git a/xcub_moveit_robot/launch/robot_sim.launch.py b/xcub_moveit_robot/launch/robot_sim.launch.py index 71c4911..5915409 100644 --- a/xcub_moveit_robot/launch/robot_sim.launch.py +++ b/xcub_moveit_robot/launch/robot_sim.launch.py @@ -44,7 +44,7 @@ def generate_launch_description(): ) config = ( - MoveItConfigsBuilder("xcub_"+robot_name) + MoveItConfigsBuilder(robot_name) .robot_description(file_path="config/"+robot_name+".urdf.xacro") .robot_description_semantic(file_path="config/"+robot_name+".srdf") .robot_description_kinematics(file_path="config/kinematics.yaml") @@ -69,7 +69,7 @@ def generate_launch_description(): {"use_sim_time": True}], ) - robot_description_semantic_file = load_file("xcub_"+robot_name+"_moveit_config", "config/"+robot_name+".srdf") + robot_description_semantic_file = load_file(robot_name+"_moveit_config", "config/"+robot_name+".srdf") robot_description_semantic = {"robot_description_semantic": robot_description_semantic_file} ompl_planning_pipeline_config = { @@ -79,10 +79,10 @@ def generate_launch_description(): "start_state_max_bounds_error": 0.1, } } - ompl_planning_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/ompl_planning.yaml") + ompl_planning_file = load_yaml(robot_name+"_moveit_config", "config/ompl_planning.yaml") ompl_planning_pipeline_config["move_group"].update(ompl_planning_file) - moveit_controllers_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/moveit_controllers.yaml") + moveit_controllers_file = load_yaml(robot_name+"_moveit_config", "config/moveit_controllers.yaml") moveit_controllers = {"moveit_simple_controller_manager": moveit_controllers_file, "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"} @@ -119,7 +119,7 @@ def generate_launch_description(): {"use_sim_time": True}], ) - rviz_moveit = os.path.join(get_package_share_directory("xcub_"+robot_name+"_moveit_config"), "config/moveit.rviz") + rviz_moveit = os.path.join(get_package_share_directory(robot_name+"_moveit_config"), "config/moveit.rviz") rviz2 = Node( package="rviz2", executable="rviz2", diff --git a/xcub_moveit_robot/launch/spawn_model.py b/xcub_moveit_robot/launch/spawn_model.py index 03bc430..4196570 100644 --- a/xcub_moveit_robot/launch/spawn_model.py +++ b/xcub_moveit_robot/launch/spawn_model.py @@ -13,7 +13,7 @@ def main(args=None): robot_name = os.environ["YARP_ROBOT_NAME"] - xacro_file = os.path.join(get_package_share_directory('xcub_'+robot_name+'_moveit_config'), 'config', robot_name+'.urdf.xacro') + xacro_file = os.path.join(get_package_share_directory(robot_name+'_moveit_config'), 'config', robot_name+'.urdf.xacro') assert os.path.exists(xacro_file) robot_desc = xacro.process_file(xacro_file) robot_model = robot_desc.toprettyxml() diff --git a/xcub_moveit_test_controller/launch/test_controller.launch.py b/xcub_moveit_test_controller/launch/test_controller.launch.py index d8d5837..c33ecbd 100644 --- a/xcub_moveit_test_controller/launch/test_controller.launch.py +++ b/xcub_moveit_test_controller/launch/test_controller.launch.py @@ -17,7 +17,7 @@ def generate_launch_description(): robot_name = check_robot_name() - moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() + moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs() xcub_test_controller_node = Node( name="xcub_moveit_test_controller",