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Panda in Gazebo + MoveIt! motion planning #52

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Panda in Gazebo + MoveIt! motion planning #52

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25e274d
Panda in Gazebo + MoveIt! motion planning
erdalpekel Mar 3, 2019
48642d5
Fix Gazebo simulation for panda_arm (without the gripper/hand)
marcoesposito1988 May 8, 2019
e5259bc
Merge pull request #1 from marcoesposito1988/simulation
erdalpekel May 12, 2019
25220ad
Fixed gripper not moving in simulation
erdalpekel Jun 16, 2019
e19fe8f
Migrate to Position based control in Gazebo.
erdalpekel Feb 29, 2020
0950f7c
Update and improve usage
tahsinkose Jun 6, 2020
3445a45
Create macro for joints and links.
tahsinkose Jun 6, 2020
45df2e9
Attempt to fix merge errors with kinetic-devel
erdalpekel Jun 11, 2020
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40 changes: 40 additions & 0 deletions franka_control/config/panda_gazebo_control.yaml
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joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

position_joint_trajectory_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7

gains:
panda_joint1: { p: 12000, d: 50, i: 0.0, i_clamp: 10000 }
panda_joint2: { p: 30000, d: 100, i: 0.02, i_clamp: 10000 }
panda_joint3: { p: 18000, d: 50, i: 0.01, i_clamp: 1 }
panda_joint4: { p: 18000, d: 70, i: 0.01, i_clamp: 10000 }
panda_joint5: { p: 12000, d: 70, i: 0.01, i_clamp: 1 }
panda_joint6: { p: 7000, d: 50, i: 0.01, i_clamp: 1 }
panda_joint7: { p: 2000, d: 20, i: 0.0, i_clamp: 1 }

constraints:
goal_time: 2.0

state_publish_rate: 25

franka_gripper:
type: effort_controllers/JointTrajectoryController
joints:
- panda_finger_joint1
- panda_finger_joint2

gains:
panda_finger_joint1: { p: 5, d: 3.0, i: 0, i_clamp: 1 }
panda_finger_joint2: { p: 5, d: 1.0, i: 0, i_clamp: 1 }

state_publish_rate: 25
42 changes: 28 additions & 14 deletions franka_description/robots/hand.xacro
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@@ -1,6 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
<xacro:macro name="hand" params="connected_to:='' ns:='' rpy:='0 0 0' xyz:='0 0 0' ">
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
<xacro:macro name="hand" params="connected_to:='' ns:='' rpy:='0 0 0' xyz:='0 0 0' safety_distance:=0">
<xacro:unless value="${connected_to == ''}">
<joint name="${ns}_hand_joint" type="fixed">
<parent link="${connected_to}"/>
Expand All @@ -19,18 +20,29 @@
<mesh filename="package://franka_description/meshes/collision/hand.stl"/>
</geometry>
</collision>

<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.68" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<!-- end for simulation -->
</link>
<link name="${ns}_leftfinger">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/finger.stl"/>
</geometry>
</collision>

<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.68" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<!-- end for simulation -->
</link>
<link name="${ns}_rightfinger">
<visual>
Expand All @@ -39,13 +51,15 @@
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 ${pi}"/>
<geometry>
<mesh filename="package://franka_description/meshes/collision/finger.stl"/>
</geometry>
</collision>
</link>

<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.68" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<!-- end for simulation -->
</link>
<joint name="${ns}_finger_joint1" type="prismatic">
<parent link="${ns}_hand"/>
<child link="${ns}_leftfinger"/>
Expand All @@ -62,4 +76,4 @@
<mimic joint="${ns}_finger_joint1" />
</joint>
</xacro:macro>
</robot>
</robot>
31 changes: 31 additions & 0 deletions franka_description/robots/panda.control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="panda_control" params="arm_id load_hand">
<xacro:macro name="arm_control" params="transmission joint motor">
<transmission name="${transmission}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint}">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${motor}">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<xacro:arm_control transmission="${arm_id}_tran_1" joint="${arm_id}_joint1" motor="${arm_id}_motor_1"/>
<xacro:arm_control transmission="${arm_id}_tran_2" joint="${arm_id}_joint2" motor="${arm_id}_motor_2"/>
<xacro:arm_control transmission="${arm_id}_tran_3" joint="${arm_id}_joint3" motor="${arm_id}_motor_3"/>
<xacro:arm_control transmission="${arm_id}_tran_4" joint="${arm_id}_joint4" motor="${arm_id}_motor_4"/>
<xacro:arm_control transmission="${arm_id}_tran_5" joint="${arm_id}_joint5" motor="${arm_id}_motor_5"/>
<xacro:arm_control transmission="${arm_id}_tran_6" joint="${arm_id}_joint6" motor="${arm_id}_motor_6"/>
<xacro:arm_control transmission="${arm_id}_tran_7" joint="${arm_id}_joint7" motor="${arm_id}_motor_7"/>
<xacro:if value="${load_hand}">
<xacro:arm_control transmission="${arm_id}_leftfinger" joint="${arm_id}_finger_joint1" motor="${arm_id}_finger_joint1"/>
<xacro:arm_control transmission="${arm_id}_rightfinger" joint="${arm_id}_finger_joint2" motor="${arm_id}_finger_joint2"/>
</xacro:if>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"/>
</gazebo>
</xacro:macro>
</robot>
31 changes: 31 additions & 0 deletions franka_description/robots/panda.gazebo.xacro
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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="panda_gazebo" params="arm_id">
<xacro:macro name="arm_gazebo" params="link">
<gazebo reference="${link}">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
</xacro:macro>
<xacro:macro name="hand_gazebo" params="link">
<gazebo reference="${link}">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
</xacro:macro>
<xacro:arm_gazebo link="${arm_id}_link0"/>
<xacro:arm_gazebo link="${arm_id}_link1"/>
<xacro:arm_gazebo link="${arm_id}_link2"/>
<xacro:arm_gazebo link="${arm_id}_link3"/>
<xacro:arm_gazebo link="${arm_id}_link4"/>
<xacro:arm_gazebo link="${arm_id}_link5"/>
<xacro:arm_gazebo link="${arm_id}_link6"/>
<xacro:hand_gazebo link="${arm_id}_link7"/>
<xacro:hand_gazebo link="${arm_id}_link8"/>
<xacro:hand_gazebo link="${arm_id}_hand"/>
<xacro:hand_gazebo link="${arm_id}_rightfinger"/>
<xacro:hand_gazebo link="${arm_id}_leftfinger"/>
</xacro:macro>
</robot>
4 changes: 2 additions & 2 deletions franka_description/robots/panda_arm.urdf.xacro
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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:include filename="$(find franka_description)/robots/panda_arm.xacro" />
<xacro:panda_arm />
</robot>
<xacro:panda_arm safety_distance="0.03"/>
</robot>
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