feat: remove 'panda_moveit_config' submodule

This commit removes the 'panda_moveit_config' submodule and replaces it with
a ROS dependency now that the noetic version has been released
(moveit/panda_moveit_config#96).

.gitmodules

@@ -1,7 +1,3 @@
-[submodule "panda_moveit_config"]
-	path = panda_moveit_config
-	url = ../panda_moveit_config.git
-
 [submodule "franka_ros"]
 	path = franka_ros
 	url = ../franka_ros.git

panda_gazebo/launch/load_controllers.launch.xml

@@ -1,36 +1,37 @@
 <!--Launch file that loads the control parameters and controllers-->
 <launch>
+  <!--General arguments-->
   <arg name="moveit" default="true" doc="Start MoveIt"/>
   <arg name="load_gripper" default="true" doc="Load the gripper"/>
   <!--Control arguments-->
-  <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
+  <!--  The control type used for controlling the robot (Options: Trajectory, position, effort)-->
   <arg name="control_type" default="trajectory" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>
 
   <!--Load control parameters-->
-  <!--    Load general Gazebo control configuration values-->
+  <!--  Load general Gazebo control configuration parameters-->
   <rosparam file="$(find panda_gazebo)/cfg/controllers/gazebo_ros_control.yaml" command="load" />
-  <!--    Load general ros_control configuration values-->
+  <!--  Load general ros_control configuration parameters-->
   <rosparam file="$(find panda_gazebo)/cfg/controllers/ros_control.yaml" command="load"/>
-  <!--    Load Moveit control configuration values-->
+  <!--  Load Moveit control configuration parameters-->
   <rosparam if="$(eval arg('moveit') and arg('load_gripper'))" file="$(find panda_gazebo)/cfg/controllers/moveit_ros_control_gripper.yaml" command="load"/>
   <rosparam unless="$(eval arg('moveit') and arg('load_gripper'))" file="$(find panda_gazebo)/cfg/controllers/moveit_ros_control.yaml" command="load"/>
 
   <!--Load controllers-->
-  <!--Joint position controllers-->
+  <!--  Joint position controllers-->
   <group if="$(eval arg('control_type') == 'position')">
     <include file="$(find panda_gazebo)/launch/load_joint_group_position_controller.launch.xml"/>
-    <!--Load joint_trajectory controller in stopped mode
+    <!--  Load joint_trajectory controller in stopped mode
             NOTE: This enabled us to set the initial robot pose using euclidean coordinates.
         -->
     <include file="$(find panda_gazebo)/launch/load_position_joint_trajectory_controller.launch.xml">
       <arg name="stopped" value="true"/>
     </include>
   </group>
-  <!--Joint effort controllers-->
+  <!--  Joint effort controllers-->
   <group if="$(eval arg('control_type') == 'effort')">
     <include file="$(find panda_gazebo)/launch/load_joint_group_effort_controller.launch.xml"/>
   </group>
-  <!--Joint_trajectory controller-->
+  <!--  Joint_trajectory controller-->
   <include unless="$(eval arg('control_type') == 'position')" file="$(find panda_gazebo)/launch/load_effort_joint_trajectory_controller.launch.xml">
     <arg name="stopped" value="$(eval arg('control_type') == 'effort')"/>
   </include>

panda_gazebo/launch/load_effort_joint_trajectory_controller.launch.xml

@@ -5,9 +5,8 @@
   <!--Load controller parameters-->
   <rosparam file="$(find panda_gazebo)/cfg/controllers/effort_joint_trajectory_controllers.yaml" command="load"/>
 
-  <!--Load the controllers-->
+  <!--Load (and start) the controller-->
   <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
   <arg unless="$(arg stopped)" name="command_args" value=""/>
-
   <node name="effort_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_controller"/>
 </launch>

panda_gazebo/launch/load_joint_group_effort_controller.launch.xml

@@ -5,7 +5,7 @@
   <!--Load controller parameters-->
   <rosparam file="$(find panda_gazebo)/cfg/controllers/joint_group_effort_controller.yaml" command="load"/>
 
-  <!--Load the controllers-->
+  <!--Load (and start) the controller-->
   <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
   <arg unless="$(arg stopped)" name="command_args" value="" />
   <node name="joint_effort_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_joint_effort_controller"/>

panda_gazebo/launch/load_joint_group_position_controller.launch.xml

@@ -5,7 +5,7 @@
   <!--Load controller parameters-->
   <rosparam file="$(find panda_gazebo)/cfg/controllers/joint_group_position_controller.yaml" command="load"/>
 
-  <!--Load the controllers-->
+  <!--Load (and start) the controller-->
   <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
   <arg unless="$(arg stopped)" name="command_args" value=""/>
   <node name="joint_position_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_joint_position_controller"/>

panda_gazebo/launch/load_position_joint_trajectory_controller.launch.xml

@@ -5,7 +5,7 @@
   <!--Load controller parameters-->
   <rosparam file="$(find panda_gazebo)/cfg/controllers/position_joint_trajectory_controllers.yaml" command="load"/>
 
-  <!--Load the controllers-->
+  <!--Load (and start) the controller-->
   <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
   <arg unless="$(arg stopped)" name="command_args" value=""/>
   <node name="position_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_controller"/>

panda_gazebo/launch/panda_rviz.launch.xml

@@ -4,14 +4,14 @@
   <arg name="debug" default="false" doc="Add gdb debug flag"/>
   <arg unless="$(arg debug)" name="launch_prefix" value=""/>
   <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args"/>
-  <!--rviz launch arguments-->
+  <!--RVIZ launch arguments-->
   <arg name="moveit" default="false" doc="Start MoveIt"/>
   <arg unless="$(arg moveit)" name="rviz_file_default" value="$(find panda_gazebo)/launch/includes/rviz/panda.rviz"/>
   <arg if="$(arg moveit)" name="rviz_file_default" value="$(find panda_gazebo)/launch/includes/rviz/panda_moveit.rviz"/>
   <arg name="rviz_file" default="$(arg rviz_file_default)" doc="Path to the Rviz configuration file"/>
   <arg name="command_args" value="-d $(arg rviz_file)" />
 
-  <!--launch rviz-->
+  <!--launch RVIZ-->
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" args="$(arg command_args)" output="screen">
     <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
   </node>

panda_gazebo/launch/put_robot_in_world.launch

@@ -1,5 +1,6 @@
 <!--Launch file for adding the panda robot to the gazebo world-->
 <launch>
+  <!--General arguments-->
   <arg name="rviz" default="true" doc="Start Rviz"/>
   <arg name="load_gripper" default="true" doc="Load the gripper"/>
   <arg name="debug" default="false" doc="Add gdb debug flag"/>
@@ -23,18 +24,17 @@
   <arg name="roll" default="0" doc="How much to rotate the base of the robot around its X-axis in [rad]?"/>
   <arg name="pitch" default="0" doc="How much to rotate the base of the robot around its Y-axis in [rad]?"/>
   <arg name="yaw" default="0" doc="How much to rotate the base of the robot around its Z-axis in [rad]?"/>
-  <!--Phyics engines: dart|ode-->
+  <!--  The used phyics engine (options: dart and ode)-->
   <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
   <!--Control arguments-->
-  <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
+  <!--  The control type used for controlling the robot (Options: Trajectory, position, effort)-->
   <arg name="control_type" default="trajectory" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>
   <arg name="brute_force_grasping" default="false" doc="Disable the gripper width reached check when grasping."/>
 
-  <!--Spawn the Panda robot-->
+  <!--Start Gazebo and spawn the robot-->
   <include file="$(find franka_gazebo)/launch/panda.launch">
     <arg name="gazebo" value="$(arg gazebo)"/>
-    <arg unless="$(arg gazebo_gui)" name="headless" value="true"/>
-    <arg if="$(arg gazebo_gui)" name="headless" value="false"/>
+    <arg name="headless" value="$(eval not arg('gazebo_gui'))" />
     <arg name="paused" value="$(arg paused)"/>
     <arg name="world" value="$(arg world)"/>
     <arg name="use_gripper" default="$(arg load_gripper)"/>
@@ -47,23 +47,27 @@
     <arg name="physics" value="$(arg physics)"/>
   </include>
 
-  <!--Set panda_gazebo parameters-->
-  <!--  Disable franka action console logs-->
-  <node pkg="panda_gazebo" type="set_franka_gripper_logging_level.py" name="set_franka_gripper_logger_level" output="$(arg output)"/>
-  <node if="$(arg disable_franka_gazebo_logs)" pkg="panda_gazebo" type="set_franka_gazebo_logging_level.py" name="set_franka_gazebo_logger_level" output="$(arg output)"/>
+  <!--Change 'franka_ros' nodes logging levels-->
+  <node pkg="panda_gazebo" type="set_ros_node_logging_level.py" name="set_logging_level" output="$(arg output)">
+    <param name="level" value="warn"/>
+    <param name="name" value="ros.franka_gazebo.FrankaGripperSim"/>
+  </node>
+  <node if="$(arg disable_franka_gazebo_logs)" pkg="panda_gazebo" type="set_logging_level.py" name="set_ros_node_logging_level" output="$(arg output)">
+    <param name="level" value="error"/>
+    <param name="name" value="ros.franka_gazebo"/>
+  </node>
 
-  <!--Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default)-->
-  <include if="$(arg moveit)" file="$(find panda_moveit_config)/launch/move_group.launch">
-    <arg name="info" value="true"/>
+  <!--Start MoveIt-->
+  <include file="$(find panda_moveit_config)/launch/demo.launch" pass_all_args="true">
     <arg name="debug" value="$(arg debug)"/>
     <arg name="pipeline" value="$(arg pipeline)" />
-    <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="false"/>
     <arg name="load_gripper" value="$(arg load_gripper)"/>
     <arg name="load_robot_description" value="false"/>
+    <arg name="moveit_controller_manager" value="simple"/>
+    <arg name="use_rviz" value="false"/>
   </include>
 
-  <!--Load Moveit configuration values-->
+  <!--Set MoveIt configuration values-->
   <rosparam if="$(arg moveit)" file="$(find panda_gazebo)/cfg/controllers/moveit.yaml" command="load" />
 
   <!--Load and start the controllers-->
@@ -73,7 +77,7 @@
     <arg name="load_gripper" value="$(arg load_gripper)"/>
   </include>
 
-  <!--Load Moveit control services-->
+  <!--Load the 'panda_gazebo' MoveIt server-->
   <!--Retrieve the right transmission for the control type-->
   <arg if="$(eval arg('control_type') == 'trajectory')" name="load_set_ee_pose_service" value="true"/>
   <arg unless="$(eval arg('control_type') == 'trajectory')" name="load_set_ee_pose_service" value="false"/>
@@ -85,7 +89,7 @@
     <param name="load_set_ee_pose_service" value="$(arg load_set_ee_pose_service)"/>
   </node>
 
-  <!--Load ros_control service-->
+  <!--Load the 'panda_Gazebo' ROS control server-->
   <arg if="$(eval arg('control_type') == 'trajectory')" name="load_set_joint_commands_service" value="false"/>
   <arg if="$(eval arg('control_type') == 'trajectory')" name="load_arm_follow_joint_trajectory_action" value="true"/>
   <arg unless="$(eval arg('control_type') == 'trajectory')" name="load_set_joint_commands_service" value="true"/>

panda_gazebo/launch/start_pick_and_place_world.launch

@@ -5,10 +5,10 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
-  <!--Phyics engines: dart|ode-->
+  <!--  The used phyics engine (options: dart and ode)-->
   <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
 
-  <!--Start the gazebo world-->
+  <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">
     <arg name="world" value="$(arg world)"/>
     <arg name="verbose" value="$(arg verbose)"/>

panda_gazebo/launch/start_push_world.launch

@@ -5,10 +5,10 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
-  <!--Phyics engines: dart|ode-->
+  <!--  The used phyics engine (options: dart and ode)-->
   <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
 
-  <!--Start the gazebo world-->
+  <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">
     <arg name="world" value="$(arg world)"/>
     <arg name="verbose" value="$(arg verbose)"/>

panda_gazebo/launch/start_reach_world.launch

@@ -5,10 +5,10 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
-  <!--Phyics engines: dart|ode-->
+  <!--  The used phyics engine (options: dart and ode)-->
   <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
 
-  <!--Start the gazebo world-->
+  <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">
     <arg name="world" value="$(arg world)"/>
     <arg name="verbose" value="$(arg verbose)"/>

panda_gazebo/launch/start_simulation.launch

@@ -1,19 +1,20 @@
 <!--Starts the panda gazebo simulation-->
 <launch>
+  <!--General arguments-->
   <arg name="rviz" default="true" doc="Start Rviz"/>
   <arg name="moveit" default="true" doc="Start MoveIt"/>
   <!--Simulation arguments-->
   <arg name="world" default="$(find panda_gazebo)/resources/worlds/empty.world" doc="Path to the world file"/>
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
-  <!--Phyics engines: dart|ode-->
+  <!--  The used phyics engine (options: dart and ode)-->
   <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
   <!--Control arguments-->
-  <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
+  <!--  The control type used for controlling the robot (Options: Trajectory, position, effort)-->
   <arg name="control_type" default="trajectory" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>
 
-  <!--Launch gazebo environment-->
+  <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">
     <arg name="world" value="$(arg world)"/>
     <arg name="paused" value="$(arg paused)"/>

panda_gazebo/launch/start_slide_world.launch

@@ -5,10 +5,10 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
-  <!--Phyics engines: dart|ode-->
+  <!--  The used phyics engine (options: dart and ode)-->
   <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
 
-  <!--Start the gazebo world-->
+  <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">
     <arg name="world" value="$(arg world)"/>
     <arg name="verbose" value="$(arg verbose)"/>

panda_gazebo/launch/start_world.launch.xml

@@ -5,6 +5,7 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <!--  The used phyics engine (options: dart and ode)-->
   <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->

panda_gazebo/package.xml

@@ -87,6 +87,7 @@
   <exec_depend>position_controllers</exec_depend>
   <exec_depend>effort_controllers</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
+  <exec_depend>panda_moveit_config</exec_depend>
 
   <!--Extra run dependencies
     NOTE: Disabled by default as they are only needed for some test scripts.

panda_gazebo/scripts/set_franka_gazebo_logging_level.py → panda_gazebo/scripts/set_logging_level.py

@@ -1,23 +1,22 @@
 #!/usr/bin/env python
-"""Small python ROS node that can be used to set the logging level of the
-`franka_gazebo`_ node.
-
-.. _franka_gazebo: https://github.com/frankaemika/franka_ros/tree/develop/franka_gazebo
-"""
+"""Small python ROS node that can be used to set the logging level of a ROS logger."""
 import argparse
 import sys
 
 import rospy
 from roscpp.srv import SetLoggerLevel, SetLoggerLevelRequest
 
 if __name__ == "__main__":
-    rospy.init_node("set_franka_gazebo_logger_level")
+    rospy.init_node("set_logger_level")
 
-    # Get input argument.
-    parser = argparse.ArgumentParser(description="Retrieve log level")
+    # Get input arguments.
+    parser = argparse.ArgumentParser(description="Set logging level of a ROS logger.")
     parser.add_argument(
         "-l", "--level", nargs="?", type=str, default="error", help="logging level"
     )
+    parser.add_argument(
+        "-n", "--name", nargs="?", type=str, required=True, help="logger name"
+    )
     args = parser.parse_args(rospy.myargv(argv=sys.argv)[1:])
 
     # Call '/gazebo/set_logger_level' service
@@ -26,8 +25,6 @@
         set_logger_level_srv = rospy.ServiceProxy(
             "/gazebo/set_logger_level", SetLoggerLevel
         )
-        set_logger_level_srv(
-            SetLoggerLevelRequest(logger="ros.franka_gazebo", level=args.level)
-        )
+        set_logger_level_srv(SetLoggerLevelRequest(logger=args.name, level=args.level))
     except rospy.ServiceException as e:
         print("Service call '/gazebo/set_logger_level' failed: %s" % e)

panda_gazebo/src/panda_gazebo/core/moveit_server.py

@@ -110,7 +110,7 @@ def __init__(  # noqa: C901
         self,
         arm_move_group="panda_arm",
         arm_ee_link="panda_link8",
-        hand_move_group="hand",
+        hand_move_group="panda_hand",
         load_gripper=True,
         load_set_ee_pose_service=True,
         load_extra_services=False,
@@ -123,7 +123,7 @@ def __init__(  # noqa: C901
             arm_ee_link (str, optional): The end effector you want moveit to use when
                 controlling the Panda arm. Defaults to ``panda_link8``.
             hand_move_group (str, optional): The name of the move group you want to use
-                for controlling the Panda hand. Defaults to ``hand``.
+                for controlling the Panda hand. Defaults to ``panda_hand``.
             load_gripper (boolean, optional): Whether we also want to load the gripper
                 control services. Defaults to ``True``.
             load_set_ee_pose_service (boolean, optional): Whether the set ee pose