moveit · rickstaa · Nov 10, 2021 · Nov 10, 2021 · Nov 11, 2021 · rhaschke
diff --git a/doc/setup_assistant/MoveIt_setup_assistant_launch.png b/doc/setup_assistant/MoveIt_setup_assistant_launch.png
diff --git a/doc/setup_assistant/setup_assistant_panda_100.png b/doc/setup_assistant/setup_assistant_panda_100.png
diff --git a/doc/setup_assistant/setup_assistant_panda_3d_perception.png b/doc/setup_assistant/setup_assistant_panda_3d_perception.png
diff --git a/doc/setup_assistant/setup_assistant_panda_3d_perception_point_cloud.png b/doc/setup_assistant/setup_assistant_panda_3d_perception_point_cloud.png
diff --git a/doc/setup_assistant/setup_assistant_panda_arm.png b/doc/setup_assistant/setup_assistant_panda_arm.png
diff --git a/doc/setup_assistant/setup_assistant_panda_arm_joints.png b/doc/setup_assistant/setup_assistant_panda_arm_joints.png
diff --git a/doc/setup_assistant/setup_assistant_panda_arm_joints_saved.png b/doc/setup_assistant/setup_assistant_panda_arm_joints_saved.png
diff --git a/doc/setup_assistant/setup_assistant_panda_arm_links.png b/doc/setup_assistant/setup_assistant_panda_arm_links.png
diff --git a/doc/setup_assistant/setup_assistant_panda_arm_links_saved.png b/doc/setup_assistant/setup_assistant_panda_arm_links_saved.png
diff --git a/doc/setup_assistant/setup_assistant_panda_done.png b/doc/setup_assistant/setup_assistant_panda_done.png
diff --git a/doc/setup_assistant/setup_assistant_panda_end_effector_add.png b/doc/setup_assistant/setup_assistant_panda_end_effector_add.png
diff --git a/doc/setup_assistant/setup_assistant_panda_planning_groups.png b/doc/setup_assistant/setup_assistant_panda_planning_groups.png
diff --git a/doc/setup_assistant/setup_assistant_panda_planning_groups_gripper.png b/doc/setup_assistant/setup_assistant_panda_planning_groups_gripper.png
diff --git a/doc/setup_assistant/setup_assistant_panda_ros_control.png b/doc/setup_assistant/setup_assistant_panda_ros_control.png
diff --git a/doc/setup_assistant/setup_assistant_panda_ros_control_add_controller.png b/doc/setup_assistant/setup_assistant_panda_ros_control_add_controller.png
diff --git a/doc/setup_assistant/setup_assistant_panda_ros_control_add_joints.png b/doc/setup_assistant/setup_assistant_panda_ros_control_add_joints.png
diff --git a/doc/setup_assistant/setup_assistant_panda_ros_control_create.png b/doc/setup_assistant/setup_assistant_panda_ros_control_create.png
diff --git a/doc/setup_assistant/setup_assistant_panda_self_collisions.png b/doc/setup_assistant/setup_assistant_panda_self_collisions.png
diff --git a/doc/setup_assistant/setup_assistant_panda_self_collisions_done.png b/doc/setup_assistant/setup_assistant_panda_self_collisions_done.png
diff --git a/doc/setup_assistant/setup_assistant_panda_simulation_screen.png b/doc/setup_assistant/setup_assistant_panda_simulation_screen.png
diff --git a/doc/setup_assistant/setup_assistant_panda_virtual_joints.png b/doc/setup_assistant/setup_assistant_panda_virtual_joints.png
diff --git a/doc/setup_assistant/setup_assistant_start.png b/doc/setup_assistant/setup_assistant_start.png
diff --git a/doc/setup_assistant/setup_assistant_tutorial.rst b/doc/setup_assistant/setup_assistant_tutorial.rst
@@ -49,13 +49,14 @@ Step 1: Start
 
 .. image:: setup_assistant_start.png
 
-* Click on the browse button and navigate to the *panda_arm_hand.urdf.xacro* file
-  installed when you installed the Franka package above. (This file
-  gets installed in
-  /opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro on Ubuntu
-  with ROS Noetic.)  Choose that file and then click *Load Files*. The
-  Setup Assistant will load the files (this might take a few seconds)
-  and present you with this screen:
+* Click on the browse button and navigate to the *panda_arm.urdf.xacro* file
+  installed when you installed the Franka package above. (This file gets installed in
+  ``/opt/ros/noetic/share/franka_description/robots/panda_arm.urdf.xacro`` on Ubuntu
+  with ROS Noetic) Choose that file.
+
+* Now add **hand:=true** as the *optional xacro arguments and then click *Load Files*.
+  The Setup Assistant will load the files (this might take a few seconds) and present
+  you with this screen:
 
 .. image:: setup_assistant_panda_100.png
    :width: 700px
@@ -134,30 +135,27 @@ Add the arm
     kinematics solver. *Note: if you have a custom robot and would
     like a powerful custom IK solver, see* `Kinematics/IKFast <../ikfast/ikfast_tutorial.html>`_
 
-  * Let *Kin. Search Resolution* and *Kin. Search Timeout* stay at
+  * Let *Kin. Search Resolution*, *Kin. Search Timeout* and *Kin. parameters file* stay at
     their default values.
 
 .. image:: setup_assistant_panda_arm.png
    :width: 700px
 
-* Now, click on the *Add Joints* button. You will see a
-  list of joints on the left hand side. You need to choose all the
-  joints that belong to the arm and add them to the right hand
-  side. The joints are arranged in the order that they are stored in
-  an internal tree structure. This makes it easy to select a serial
-  chain of joints.
+* Now, click on the *Add Kin. Chain* button. Click the *Expand All* button. You will see a
+  list of links on the left-hand side. The links are arranged in the order that they are stored in
+  an internal tree structure.
 
-  * Click on **virtual_joint**, hold down the **Shift**
-    button on your keyboard and then click on the
-    *panda_joint8*. Now click on the **>** button to add these
-    joints into the list of selected joints on the right.
+  * Click on the **panda_link0** link and press the *Choose Selected* button next to the
+    Base link text field.
+  * Click on the **panda_tool** link and press the *Choose Selected* button next to the
+    Tip link text field.
 
-.. image:: setup_assistant_panda_arm_joints.png
+.. image:: setup_assistant_panda_arm_links.png
    :width: 700px
 
 * Click *Save* to save the selected group.
 
-.. image:: setup_assistant_panda_arm_joints_saved.png
+.. image:: setup_assistant_panda_arm_links_saved.png
    :width: 700px
 
 Add the gripper
@@ -172,11 +170,12 @@ Add the gripper
 
   * Let *Kinematic Solver* stay at its default value; **None**.
 
-  * Let *Kin. Search Resolution* and *Kin. Search Timeout* stay at their default values.
+  * Let *Kin. Search Resolution*, *Kin. Search Timeout* and *Kin. parameters file* stay at
+    their default values.
 
   * Click on the *Add Links* button.
 
-  * Choose **panda_hand**, **panda_leftfinger**, and **panda_rightfinger** and add them
+  * Choose **panda_hand**, **panda_leftfinger**, **panda_rightfinger** and **panda_hand_coarse* and add them
     to the list of *Selected Links* on the right hand side.
 
   * Click *Save*
@@ -223,7 +222,7 @@ some special operations to happen on them internally.
 
 * Select **hand** as the *End Effector Group*.
 
-* Select **panda_link8** as the *Parent Link* for this end-effector.
+* Select **panda_tool** as the *Parent Link* for this end-effector.
 
 * Leave *Parent Group* blank.
 
@@ -241,24 +240,57 @@ directly controlled. The Panda does not have any passive
 joints so we will skip this step.
 
 
-Step 8: 3D Perception
---------------------------
+Step 8: ROS Control
+---------------------
 
-The 3D Perception tab is meant to set the parameters of the YAML configuration file
-for configuring the 3D sensors `sensors_3d.yaml`.
+ROS Control is a set of packages that include controller interfaces, controller managers, transmissions and hardware_interfaces, for more details please look at `ros_control` documentation_
 
-e.g. `point_cloud` parameters:
+.. _documentation: http://wiki.ros.org/ros_control
 
-.. image:: setup_assistant_panda_3d_perception_point_cloud.png
+ROS Control tab can be used to auto-generate simulated controllers to actuate the joints of your robot. This will allow us to provide the correct ROS interfaces MoveIt.
+
+* Click on the *ROS Control* pane selector.
+
+.. image:: setup_assistant_panda_ros_control.png
    :width: 700px
 
-For more details about those parameters please see perception pipeline `tutorial <../perception_pipeline/perception_pipeline_tutorial.html>`_
+* Click on *Add Controller* and you should see the following screen:
 
-In case of `sensors_3d.yaml` was not needed, choose `None`.
+.. image:: setup_assistant_panda_ros_control_add_controller.png
+   :width: 700px
 
-.. image:: setup_assistant_panda_3d_perception.png
+Add the arm
+
+* We will first add Panda arm position controller
+
+* Enter *Controller Name* as **arm_position_controller**
+
+* Choose **position_controllers/JointTrajectoryController** as the controller type
+
+* Next, you have to choose the controlled joints, you can add joints individually or add all the joints in a planning group altogether.
+
+* Now, click on *Add Planning Group Joints*.
+
+.. image:: setup_assistant_panda_ros_control_create.png
    :width: 700px
 
+* Choose panda_arm planning group to add all the joints in that group to the arm controller.
+
+.. image:: setup_assistant_panda_ros_control_add_joints.png
+   :width: 700px
+
+* Click *Save* to save the selected controller.
+
+Add the gripper
+
+* Again, click on *Add Controller* to add the hand controller.
+
+* Now also choose the **position_controllers/JointTrajectoryController** controller as the controller type
+  but set the *Controller Name* as **panda_hand_controller**.
+
+* Now, click on *Add Individual Joints* and add the **panda_finger_joint1** joint.
+
+* Finally, click *save* to save the selected controller.
 
 Step 9: Gazebo Simulation
 --------------------------
@@ -283,42 +315,24 @@ You can use the generated robot `urdf` to spawn the robot in Gazebo in the follo
    :width: 700px
 
 
-Step 10: ROS Control
----------------------
-
-ROS Control is a set of packages that include controller interfaces, controller managers, transmissions and hardware_interfaces, for more details please look at `ros_control` documentation_
-
-.. _documentation: http://wiki.ros.org/ros_control
+Step 10: 3D Perception
+--------------------------
 
-ROS Control tab can be used to auto generate simulated controllers to actuate the joints of your robot. This will allow us to provide the correct ROS interfaces MoveIt.
+The 3D Perception tab is meant to set the parameters of the YAML configuration file
+for configuring the 3D sensors `sensors_3d.yaml`.
 
-* Click on the *ROS Control* pane selector.
+e.g. `point_cloud` parameters:
 
-.. image:: setup_assistant_panda_ros_control.png
+.. image:: setup_assistant_panda_3d_perception_point_cloud.png
    :width: 700px
 
-* Click on *Add Controller* and you should see the following screen:
-
-* We will first add Panda arm position controller
-
-* Enter *Controller Name* as **arm_position_controller**
-
-* Choose **position_controllers/JointPositionController** as the controller type
-
-* Next you have to choose this controller joints, you can add joints individually or add all the joints in a planning group all together.
-
-* Now, click on Add Planning Group Joints.
-
-.. image:: setup_assistant_panda_ros_control_create.png
-   :width: 700px
+For more details about those parameters please see perception pipeline `tutorial <../perception_pipeline/perception_pipeline_tutorial.html>`_
 
-* Choose panda_arm planning group to add all the joints in that group to the arm controller.
+In case of `sensors_3d.yaml` was not needed, choose `None`.
 
-.. image:: setup_assistant_panda_ros_control_add_joints.png
+.. image:: setup_assistant_panda_3d_perception.png
    :width: 700px
 
-* Click *Save* to save the selected controller.
-
 Step 11: Add Author Information
 --------------------------------
 
@@ -360,7 +374,6 @@ files that you will need to start using MoveIt
 What's Next
 ---------------
 
-
 The MoveIt RViz plugin
 
 * Start looking at how you can use the generated configuration files