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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.866032 -0.249996 0.433002 90.514645 0.499989 0.433018 -0.750004 -156.780564 0.000000 0.866024 0.500003 106.520376 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 8.406250 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -1.000000 -37.792969 0.000000 1.000000 0.000000 2.000000 0.000000 0.000000 0.000000 1.000000 + + + + 0.000000 0.000000 1.000000 37.792969 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 2.000000 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 -6.600000 0.000000 0.000000 0.000000 1.000000 + + + + + + + + \ No newline at end of file diff --git a/mycobot_description/urdf/mycobot_630/mycobot_630.urdf b/mycobot_description/urdf/mycobot_630/mycobot_630.urdf new file mode 100755 index 00000000..f292f1fd --- /dev/null +++ b/mycobot_description/urdf/mycobot_630/mycobot_630.urdf @@ -0,0 +1,176 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630/CMakeLists.txt b/mycobot_pro/mycobot_630/CMakeLists.txt new file mode 100644 index 00000000..2520df42 --- /dev/null +++ b/mycobot_pro/mycobot_630/CMakeLists.txt @@ -0,0 +1,204 @@ +cmake_minimum_required(VERSION 3.0.2) +project(mycobot_630) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + mycobot_description +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES mycobot_630 +# CATKIN_DEPENDS mycobot_description +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/mycobot_630.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/mycobot_630_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_mycobot_630.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/mycobot_pro/mycobot_630/LICENSE b/mycobot_pro/mycobot_630/LICENSE new file mode 100644 index 00000000..b8468e62 --- /dev/null +++ b/mycobot_pro/mycobot_630/LICENSE @@ -0,0 +1,25 @@ +BSD 2-Clause License + +Copyright (c) 2020, Elephant Robotics +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/mycobot_pro/mycobot_630/config/mycobot_630.rviz b/mycobot_pro/mycobot_630/config/mycobot_630.rviz new file mode 100644 index 00000000..47752800 --- /dev/null +++ b/mycobot_pro/mycobot_630/config/mycobot_630.rviz @@ -0,0 +1,220 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 609 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false + base: + Value: true + link1: + Value: false + link2: + Value: true + link3: + Value: true + link4: + Value: true + link5: + Value: true + link6: + Value: true + Marker Alpha: 1 + Marker Scale: 0.20000000298023224 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base: + link1: + link2: + link3: + link4: + link5: + link6: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 0.20000000298023224 + Name: Axes + Radius: 0.004999999888241291 + Reference Frame: + Show Trail: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.5878180265426636 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -0.07064759731292725 + Y: -0.0814988762140274 + Z: 0.10758385062217712 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5947973132133484 + Target Frame: + Yaw: 2.5353903770446777 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 906 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 diff --git a/mycobot_pro/mycobot_630/launch/mycobot_630_slider.launch b/mycobot_pro/mycobot_630/launch/mycobot_630_slider.launch new file mode 100644 index 00000000..dc8f3d7e --- /dev/null +++ b/mycobot_pro/mycobot_630/launch/mycobot_630_slider.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630/launch/test.launch b/mycobot_pro/mycobot_630/launch/test.launch new file mode 100755 index 00000000..64491b35 --- /dev/null +++ b/mycobot_pro/mycobot_630/launch/test.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/mycobot_pro/mycobot_630/package.xml b/mycobot_pro/mycobot_630/package.xml new file mode 100644 index 00000000..73a61694 --- /dev/null +++ b/mycobot_pro/mycobot_630/package.xml @@ -0,0 +1,62 @@ + + + mycobot_630 + 0.0.0 + The mycobot_630 package + + + + + ubuntu + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + mycobot_description + mycobot_description + mycobot_description + + + + + + + + diff --git a/mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py b/mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py new file mode 100755 index 00000000..8b4cd013 --- /dev/null +++ b/mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +from socket import * +import math +import sys +import time +from multiprocessing import Lock + +import rospy +from sensor_msgs.msg import JointState + +from pymycobot.elephantrobot import ElephantRobot + +global mc + + +def callback(data): + """callback function,回调函数""" + # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) + data_list = [] + for index, value in enumerate(data.position): + radians_to_angles = round(math.degrees(value), 2) + data_list.append(radians_to_angles) + + rospy.loginfo(rospy.get_caller_id() + "%s", data_list) + mc.write_angles(data_list, 800) + +def listener(): + global mc + rospy.init_node("control_slider", anonymous=True) + + ip = rospy.get_param("~ip", "192.168.1.159") + port = rospy.get_param("~port", 5001) + print (ip, port) + mc = ElephantRobot(ip, int(port)) + # START CLIENT,启动客户端 + res = mc.start_client() + if res != "": + sys.exit(1) + + mc.set_speed(90) + + rospy.Subscriber("joint_states", JointState, callback) + + # spin() simply keeps python from exiting until this node is stopped + # spin()只是阻止python退出，直到该节点停止 + print ("sping ...") + rospy.spin() + + +if __name__ == "__main__": + listener() diff --git a/mycobot_pro/mycobot_630/scripts/test.py b/mycobot_pro/mycobot_630/scripts/test.py new file mode 100644 index 00000000..5c16e3ee --- /dev/null +++ b/mycobot_pro/mycobot_630/scripts/test.py @@ -0,0 +1,13 @@ +import time +import sys +from pymycobot.elephantrobot import ElephantRobot + +mc = ElephantRobot('192.168.1.159', 5001, debug=True) + +res = mc.start_client() +if res != "": + print('quit') + sys.exit(1) + +print(mc.get_angles()) +# mc.write_angle(0, 0, 1000) diff --git a/mycobot_pro/mycobot_630_moveit/.setup_assistant b/mycobot_pro/mycobot_630_moveit/.setup_assistant new file mode 100644 index 00000000..bc07f76f --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: mycobot_description + relative_path: urdf/mycobot_630/mycobot_630.urdf + xacro_args: "--inorder " + SRDF: + relative_path: config/firefighter.srdf + CONFIG: + author_name: wangweijian + author_email: weijian.wang@elephantrobotics.com + generated_timestamp: 1652406964 \ No newline at end of file diff --git a/mycobot_pro/mycobot_630_moveit/CMakeLists.txt b/mycobot_pro/mycobot_630_moveit/CMakeLists.txt new file mode 100644 index 00000000..c6b79de8 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mycobot_630_moveit) + +find_package(catkin REQUIRED + rospy + std_msgs + moveit_msgs +) + +catkin_package() + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +catkin_install_python(PROGRAMS + scripts/sync_plan.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/mycobot_pro/mycobot_630_moveit/LICENSE b/mycobot_pro/mycobot_630_moveit/LICENSE new file mode 100644 index 00000000..b8468e62 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/LICENSE @@ -0,0 +1,25 @@ +BSD 2-Clause License + +Copyright (c) 2020, Elephant Robotics +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/mycobot_pro/mycobot_630_moveit/config/chomp_planning.yaml b/mycobot_pro/mycobot_630_moveit/config/chomp_planning.yaml new file mode 100644 index 00000000..75258e53 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml b/mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml new file mode 100644 index 00000000..aa4aef9a --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml @@ -0,0 +1,9 @@ +controller_list: + - name: fake_arm_group_controller + joints: + - joint1_to_base + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + - joint6_to_joint5 \ No newline at end of file diff --git a/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf new file mode 100644 index 00000000..9609c583 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/config/joint_limits.yaml b/mycobot_pro/mycobot_630_moveit/config/joint_limits.yaml new file mode 100644 index 00000000..8bc72c63 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint1_to_base: + has_velocity_limits: true + max_velocity: 3.14 + has_acceleration_limits: false + max_acceleration: 30 + joint2_to_joint1: + has_velocity_limits: true + max_velocity: 3.14 + has_acceleration_limits: false + max_acceleration: 30 + joint3_to_joint2: + has_velocity_limits: true + max_velocity: 3.14 + has_acceleration_limits: false + max_acceleration: 30 + joint4_to_joint3: + has_velocity_limits: true + max_velocity: 3.14 + has_acceleration_limits: false + max_acceleration: 30 + joint5_to_joint4: + has_velocity_limits: true + max_velocity: 3.14 + has_acceleration_limits: false + max_acceleration: 30 + joint6_to_joint5: + has_velocity_limits: true + max_velocity: 3.14 + has_acceleration_limits: false + max_acceleration: 30 \ No newline at end of file diff --git a/mycobot_pro/mycobot_630_moveit/config/kinematics.yaml b/mycobot_pro/mycobot_630_moveit/config/kinematics.yaml new file mode 100644 index 00000000..3c16bbc6 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm_group: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 diff --git a/mycobot_pro/mycobot_630_moveit/config/ompl_planning.yaml b/mycobot_pro/mycobot_630_moveit/config/ompl_planning.yaml new file mode 100644 index 00000000..82f7d9d1 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/config/ompl_planning.yaml @@ -0,0 +1,150 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +arm_group: + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2) + longest_valid_segment_fraction: 0.005 \ No newline at end of file diff --git a/mycobot_pro/mycobot_630_moveit/config/ros_controllers.yaml b/mycobot_pro/mycobot_630_moveit/config/ros_controllers.yaml new file mode 100644 index 00000000..491f450a --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/config/ros_controllers.yaml @@ -0,0 +1,26 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: arm_group + joint_model_group_pose: init_pose +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - vitual_joint + - joint1_to_base + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + - joint6_to_joint5 + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: + [] \ No newline at end of file diff --git a/mycobot_pro/mycobot_630_moveit/config/sensors_3d.yaml b/mycobot_pro/mycobot_630_moveit/config/sensors_3d.yaml new file mode 100644 index 00000000..a4bb13e3 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/config/sensors_3d.yaml @@ -0,0 +1,10 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +sensors: + - filtered_cloud_topic: filtered_cloud + max_range: 5.0 + max_update_rate: 1.0 + padding_offset: 0.1 + padding_scale: 1.0 + point_cloud_topic: /head_mount_kinect/depth_registered/points + point_subsample: 1 + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater \ No newline at end of file diff --git a/mycobot_pro/mycobot_630_moveit/launch/chomp_planning_pipeline.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 00000000..d660d07a --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/default_warehouse_db.launch b/mycobot_pro/mycobot_630_moveit/launch/default_warehouse_db.launch new file mode 100644 index 00000000..e2fc2f81 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/demo.launch b/mycobot_pro/mycobot_630_moveit/launch/demo.launch new file mode 100644 index 00000000..c47c540e --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/demo.launch @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/demo_gazebo.launch b/mycobot_pro/mycobot_630_moveit/launch/demo_gazebo.launch new file mode 100644 index 00000000..62635c51 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/demo_gazebo.launch @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/fake_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 00000000..06e48912 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_controller_manager.launch.xml new file mode 100644 index 00000000..f8e427eb --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_sensor_manager.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_sensor_manager.launch.xml new file mode 100644 index 00000000..5d02698d --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/gazebo.launch b/mycobot_pro/mycobot_630_moveit/launch/gazebo.launch new file mode 100644 index 00000000..889117e3 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/gazebo.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/joystick_control.launch b/mycobot_pro/mycobot_630_moveit/launch/joystick_control.launch new file mode 100644 index 00000000..9411f6e6 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/move_group.launch b/mycobot_pro/mycobot_630_moveit/launch/move_group.launch new file mode 100644 index 00000000..9f58ce11 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/move_group.launch @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_630_moveit/launch/moveit.rviz new file mode 100644 index 00000000..61506b68 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/moveit.rviz @@ -0,0 +1,251 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - /MotionPlanning1/Scene Geometry1 + - /MotionPlanning1/Scene Robot1 + - /MotionPlanning1/Planning Request1 + - /MotionPlanning1/Planned Path1 + Splitter Ratio: 0.7425600290298462 + Tree Height: 197 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Use Sim Time: false + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0.10999999940395355 + Joint Violation Color: 255; 0; 255 + Planning Group: arm_group + Query Goal State: true + Query Start State: true + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: false + Value: true + Velocity_Scaling_Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 1.3915867805480957 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0.11356700211763382 + Y: 0.10592000186443329 + Z: 2.2351800055275817e-07 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3547966480255127 + Target Frame: base + Yaw: 2.0267655849456787 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 906 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000156000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000199000000420000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001e10000018c0000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 diff --git a/mycobot_pro/mycobot_630_moveit/launch/moveit_rviz.launch b/mycobot_pro/mycobot_630_moveit/launch/moveit_rviz.launch new file mode 100644 index 00000000..a3756798 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/mycobot630_moveit.launch b/mycobot_pro/mycobot_630_moveit/launch/mycobot630_moveit.launch new file mode 100644 index 00000000..0a9be570 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/mycobot630_moveit.launch @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/ompl_planning_pipeline.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 00000000..ccbe152d --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch b/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch new file mode 100644 index 00000000..df879554 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/planning_pipeline.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/planning_pipeline.launch.xml new file mode 100644 index 00000000..6640f40c --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/ros_controllers.launch b/mycobot_pro/mycobot_630_moveit/launch/ros_controllers.launch new file mode 100644 index 00000000..939670e1 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/run_benchmark_ompl.launch b/mycobot_pro/mycobot_630_moveit/launch/run_benchmark_ompl.launch new file mode 100644 index 00000000..bf9c8b6b --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/sensor_manager.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/sensor_manager.launch.xml new file mode 100644 index 00000000..66a8fb46 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/setup_assistant.launch b/mycobot_pro/mycobot_630_moveit/launch/setup_assistant.launch new file mode 100644 index 00000000..bba55692 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/trajectory_execution.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/trajectory_execution.launch.xml new file mode 100644 index 00000000..20e6e191 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/warehouse.launch b/mycobot_pro/mycobot_630_moveit/launch/warehouse.launch new file mode 100644 index 00000000..1496e6f3 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/launch/warehouse_settings.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/warehouse_settings.launch.xml new file mode 100644 index 00000000..e473b083 --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mycobot_pro/mycobot_630_moveit/package.xml b/mycobot_pro/mycobot_630_moveit/package.xml new file mode 100644 index 00000000..fbdd127f --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/package.xml @@ -0,0 +1,39 @@ + + + mycobot_630_moveit + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework + + wangweijian + wangweijian + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + joint_state_publisher + robot_state_publisher + xacro + + + roscpp + rospy + std_msgs + actionlib + moveit_msgs + mycobot_description + mycobot_description + + + diff --git a/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py new file mode 100755 index 00000000..2b918e7c --- /dev/null +++ b/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +from socket import * +import math +import sys +import time +from multiprocessing import Lock + +import rospy +from sensor_msgs.msg import JointState + +from pymycobot.elephantrobot import ElephantRobot + +global mc + + +def callback(data): + """callback function,回调函数""" + # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) + + data_list = [] + for index, value in enumerate(data.position): + radians_to_angles = round(math.degrees(value), 2) + data_list.append(radians_to_angles) + + rospy.loginfo(rospy.get_caller_id() + "%s", data_list) + mc.write_angles(data_list, 800) + + +def listener(): + global mc + rospy.init_node("control_slider", anonymous=True) + + ip = rospy.get_param("~ip", "192.168.1.159") + port = rospy.get_param("~port", 5001) + print (ip, port) + mc = ElephantRobot(ip, int(port)) + # START CLIENT,启动客户端 + res = mc.start_client() + if res != "": + sys.exit(1) + + mc.set_speed(90) + + rospy.Subscriber("joint_states", JointState, callback) + + # spin() simply keeps python from exiting until this node is stopped + # spin()只是阻止python退出，直到该节点停止 + print ("sping ...") + rospy.spin() + + +if __name__ == "__main__": + listener()