Restructure controller managers #92
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This was done since the `moveit_setup_assistant` currently doesn't propagate `xacro` arguments you supply to the `urdf.xacro` file (see [this issue](moveit/moveit#1691)). We need to manually add a way to enable or disable the gripper. This can be done by creating a `panda.srdf.xacro` file.
This argument is needed for the [quickstart_in_rviz_tutorial](https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html).
As Franka changed the collision geometries from meshes to coarse shapes (matching the collision model of the internal controller) we now observe various self-collisions in some default poses. This commit disables collision checks between link8 and links 5+6.
This file can be used to control a real Panda using MoveIt.
This commit adds the files needed for running the trajopt planner example that is found in the [moveit_tutorials](https://ros-planning.github.io/moveit_tutorials/doc/trajopt_planner/trajopt_planner_tutorial.html). This planner is not included into `move_group.launch` by default but can be invoked via the `pipeline` argument. This was done since it is not yet officially released (see moveit/moveit#1467).
* Add stomp planner This commit adds all the scripts needed to run the STOMP planner example in the [stomp_planner_tutorial](https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html).
Keep manually adjusted joint limits from the original Melodic branch.
Adds files needed to run the [lerp_planning_example](https://ros-planning.github.io/moveit_tutorials/doc/creating_moveit_plugins/plugin_tutorial.html)
* Add demo_chomp.launch * Restore original 'chomp_planning.yaml' config * Add CHOMP post-processing example, using OMPL+CHOMP
This commit removes the kinematics from the `run_benchmark_trajopt.launch` launch file since they are already handled in `planning_context.launch`.
This commit adds demo_gazebo.launch using the gazebo simulation of the franka_gazebo package Additionally, the virtual_joint is removed from the move group definition.
We can define all available controllers in a single file, even if we don't actually use those controllers. Thus, we don't need an extra set of files for panda_gripper.
Fixes the following error: [FATAL] ros.moveit_ros_planning.trajectory_execution_manager: Exception while loading controller manager 'panda': According to the loaded plugin descriptions the class panda with base class type moveit_controller_manager::MoveItControllerManager does not exist.
- headless = !gazebo_gui - Remove arg load_robot_description: We always load the robot description via franka_gazebo to enable Gazebo features in URDF - Use <group> tag to declare namespace once
There are 3 basic MoveIt controller manager plugins: - fake = `moveit_fake_controller_manager/MoveItFakeControllerManager` Used in demo.launch. Doesn't really control the robot, but just interpolates between via points. Allows these execution_types: - via points: just jumps to the via points - interpolate: linearly interpolates between via points (default) - last point: jumps to the final trajectory point (used for fast execution testing) - ros_control = `moveit_ros_control_interface::MoveItControllerManager` Interfaces to ros_control controllers. - simple = `moveit_simple_controller_manager/MoveItSimpleControllerManager` Interfaces to action servers for `FollowJointTrajectory` and/or `GripperCommand` that in turn interface to the low-level robot controllers However, so far move_group.launch distinguished between `fake` and `robot` only. The argument moveit_controller_manager now allows to switch between all 3 variants.
to run ROS controllers virtually provided by https://github.com/PickNikRobotics/moveit_sim_controller Usage: roslaunch panda_moveit_config demo.launch moveit_controller_manager:=ros_control roslaunch panda_moveit_config moveit_sim_controller.launch
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@rhaschke Good idea. Giving users the ability to switch between these three controllers is important since the I think applying your changes to both the |
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@rhaschke I'm currently not at the university so I can not test the [/panda/move_group] [ WARN] [WallTime: 1635155355.357972037, 62.387000000]: Failed to read controllers from /controller_manager/list_controllers
[/panda/move_group] [ERROR] [WallTime: 1635155355.358041334, 62.387000000]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[/panda/move_group] [ERROR] [WallTime: 1635155355.358076436, 62.387000000]: Known controllers and their joints:
[/panda/move_group] [ERROR] [WallTime: 1635155355.358121636, 62.387000000]: Apparently trajectory initialization failedI did not debug this issue yet but it looks like the |
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@rhaschke As we discussed in our call, rhaschke#11 splits the controller config file between the real and simulated robot. I converted it to a draft as it was a first attempt to get both the real and simulated robot to work with the |
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@rhaschke Please let me know when I need to reserve a lab slot to quickly test it on the real robot. |
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There are 3 basic MoveIt controller manager plugins:
fake=moveit_fake_controller_manager/MoveItFakeControllerManagerUsed in
demo.launch. Doesn't really control the robot, but just interpolates between via points. Allows theseexecution_types:via points: just jumps to the via pointsinterpolate: linearly interpolates between via points (default)last point: jumps to the final trajectory point (used for fast execution testing)ros_control=moveit_ros_control_interface::MoveItControllerManagerInterfaces to
ros_controlcontrollers.The package
moveit_sim_controlleroffers a fake controller complying to the ros_control API.simple=moveit_simple_controller_manager/MoveItSimpleControllerManagerInterfaces to action servers for
FollowJointTrajectoryand/orGripperCommandthat in turn interface to the low-level robot controllersHowever, so far
move_group.launchdistinguished betweenfakeandrobotmode only.My suggestion is to introduce the argument
moveit_controller_managerallowing all 3 variants.I suggest adapting MSA templates appropriately as well. What do you think, @v4hn, @rickstaa?