From 402b64519febd31212ca6585e40d9e66edfc0e79 Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Mon, 8 Apr 2024 19:15:34 -0400 Subject: [PATCH 01/17] Add force and velocity hardware interfaces (#204) Signed-off-by: Paul Gesel Co-authored-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> --- kortex_driver/README.md | 13 +++++++++++++ .../kortex_driver/hardware_interface.hpp | 12 +++++++----- kortex_driver/src/hardware_interface.cpp | 19 ++++++++++++------- 3 files changed, 32 insertions(+), 12 deletions(-) create mode 100644 kortex_driver/README.md diff --git a/kortex_driver/README.md b/kortex_driver/README.md new file mode 100644 index 00000000..ae4e4b81 --- /dev/null +++ b/kortex_driver/README.md @@ -0,0 +1,13 @@ +# ROS 2 Kortex Driver +The ROS 2 Kortex driver implements the `ros2_control` hardware interface for a `SystemInterface`. + +### Command interfaces +This driver exports commands interfaces for position, velocity, and effort interfaces for each joint defined in the URDF. +Additionally, twist interfaces are exported for the end effector for operational space control. +Several additional interfaces are exported, including `set_gripper_max_velocity`, `set_gripper_max_effort` for the gripper joint, +`reset_fault/command`, and `reset_fault/async_success` for fault management. + +### State interfaces +This driver exports position and velocity state interfaces for joint defined in the URDF. + +Additionally, one state interface `reset_fault/internal_fault` is used for determining the robot's fault state. diff --git a/kortex_driver/include/kortex_driver/hardware_interface.hpp b/kortex_driver/include/kortex_driver/hardware_interface.hpp index f49f1fc5..6bc45a69 100644 --- a/kortex_driver/include/kortex_driver/hardware_interface.hpp +++ b/kortex_driver/include/kortex_driver/hardware_interface.hpp @@ -144,11 +144,13 @@ class KortexMultiInterfaceHardware : public hardware_interface::SystemInterface // Gripper k_api::GripperCyclic::MotorCommand * gripper_motor_command_; - double gripper_command_position_; - double gripper_command_max_velocity_; - double gripper_command_max_force_; - double gripper_position_; - double gripper_velocity_; + double gripper_command_position_ = 0.0; + double gripper_command_max_velocity_ = 0.0; + double gripper_command_max_force_ = 0.0; + double gripper_position_ = 0.0; + double gripper_velocity_ = 0.0; + double gripper_force_command_ = 0.0; + double gripper_speed_command_ = 0.0; rclcpp::Time controller_switch_time_; std::atomic block_write = false; diff --git a/kortex_driver/src/hardware_interface.cpp b/kortex_driver/src/hardware_interface.cpp index be295364..60c766e2 100644 --- a/kortex_driver/src/hardware_interface.cpp +++ b/kortex_driver/src/hardware_interface.cpp @@ -341,6 +341,13 @@ KortexMultiInterfaceHardware::export_command_interfaces() { command_interfaces.emplace_back(hardware_interface::CommandInterface( info_.joints[i].name, hardware_interface::HW_IF_POSITION, &gripper_command_position_)); + + command_interfaces.emplace_back(hardware_interface::CommandInterface( + info_.joints[i].name, "set_gripper_max_velocity", &gripper_speed_command_)); + gripper_speed_command_ = gripper_command_max_velocity_; + command_interfaces.emplace_back(hardware_interface::CommandInterface( + info_.joints[i].name, "set_gripper_max_effort", &gripper_force_command_)); + gripper_force_command_ = gripper_command_max_force_; } else { @@ -671,9 +678,9 @@ CallbackReturn KortexMultiInterfaceHardware::on_activate( base_command_.mutable_interconnect()->mutable_command_id()->set_identifier(0); gripper_motor_command_ = base_command_.mutable_interconnect()->mutable_gripper_command()->add_motor_cmd(); - gripper_motor_command_->set_position(gripper_initial_position); // % position - gripper_motor_command_->set_velocity(gripper_command_max_velocity_); // % speed - gripper_motor_command_->set_force(gripper_command_max_force_); // % torque + gripper_motor_command_->set_position(gripper_initial_position); // % position + gripper_motor_command_->set_velocity(gripper_speed_command_); // % speed + gripper_motor_command_->set_force(gripper_force_command_); // % force // Send a first frame base_feedback = base_cyclic_.Refresh(base_command_); @@ -864,8 +871,7 @@ return_type KortexMultiInterfaceHardware::write( // gripper control sendGripperCommand( - arm_mode_, gripper_command_position_, gripper_command_max_velocity_, - gripper_command_max_force_); + arm_mode_, gripper_command_position_, gripper_speed_command_, gripper_force_command_); // read after write in twist mode feedback_ = base_cyclic_.RefreshFeedback(); } @@ -877,8 +883,7 @@ return_type KortexMultiInterfaceHardware::write( // gripper control sendGripperCommand( - arm_mode_, gripper_command_position_, gripper_command_max_velocity_, - gripper_command_max_force_); + arm_mode_, gripper_command_position_, gripper_speed_command_, gripper_force_command_); if (joint_based_controller_running_) { From 366675a15d8c91e6154f24b051dd4f3597756e0e Mon Sep 17 00:00:00 2001 From: David Yackzan Date: Mon, 22 Apr 2024 09:03:46 -0600 Subject: [PATCH 02/17] Update the README on `twist_controller` usage (#183) The `twist_controller` does not currently work in simulation because the required interfaces are not mocked. Add a note in the README to this end. Resolves #182 --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index bac3c948..e9d6efb2 100644 --- a/README.md +++ b/README.md @@ -254,6 +254,8 @@ ros2 service call /controller_manager/switch_controller controller_manager_msgs/ }" ``` +**Note: the required interface for the `twist_controller` does not currently exist in the gazebo or mock hardware simulation setups. So the `twist_controller` is currently only functional on Kinova hardware.** + Once the `twist_controller` is activated, You can publish Twist messages on the `/twist_controller/commands` topic to command the arm. For example, you can jog the arm using [Teleop Twist Keyboard](https://index.ros.org/p/teleop_twist_keyboard/github-ros2-teleop_twist_keyboard/) with the following command: From 951683191629a6916a959fafeb7b9d3440824158 Mon Sep 17 00:00:00 2001 From: smoya23 <163350990+smoya23@users.noreply.github.com> Date: Mon, 29 Apr 2024 11:37:49 -0400 Subject: [PATCH 03/17] Updating installation instructions (#215) * Removing unnecessary packages * Updating instructions --- README.md | 22 ++++++++++++++++------ ros2_kortex-not-released.rolling.repos | 4 ---- ros2_kortex.rolling.repos | 4 ---- 3 files changed, 16 insertions(+), 14 deletions(-) diff --git a/README.md b/README.md index e9d6efb2..9e8fce5f 100644 --- a/README.md +++ b/README.md @@ -105,18 +105,28 @@ If the bug fix you need isn't in a released version or If you want to build this mkdir -p $COLCON_WS/src ``` -3. Pull relevant packages, install dependencies, compile, and source the workspace by using: +3. Pull relevant packages: ``` cd $COLCON_WS git clone https://github.com/PickNikRobotics/ros2_kortex.git src/ros2_kortex - rosdep install --ignore-src --from-paths src -y -r - colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release - source install/setup.bash + vcs import src --skip-existing --input ros2_kortex-not-released.$ROS_DISTRO.repos + vcs import src --skip-existing --input ros2_kortex.$ROS_DISTRO.repos + ``` + + If you plan on simulating the robot with ignition or gazebo, make sure to pull the additional simulation packages. If you're on ROS2 Humble, run ``` + vcs import src --skip-existing --input simulation.humble.repos + ``` + + otherwise + ``` + vcs import --skip-existing --input src simulation.repos + ``` + + If you plan on using MoveIt, you must make sure that you have it already [installed](https://moveit.ros.org/install-moveit2/binary/) either from binaries or by building it from source. -4. To simulate the robot with ignition or gazebo make sure to pull and build additional packages: +4. Install dependencies, compile, and source the workspace: ``` - vcs import src --skip-existing --input src/ros2_kortex/simulation.repos rosdep install --ignore-src --from-paths src -y -r colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release source install/setup.bash diff --git a/ros2_kortex-not-released.rolling.repos b/ros2_kortex-not-released.rolling.repos index 148e5bc1..ffbb0db0 100644 --- a/ros2_kortex-not-released.rolling.repos +++ b/ros2_kortex-not-released.rolling.repos @@ -3,10 +3,6 @@ repositories: type: git url: https://github.com/ros-controls/ros2_control.git version: master - ros2_control_demos: - type: git - url: https://github.com/ros-controls/ros2_control_demos.git - version: master ros2_controllers: type: git url: https://github.com/ros-controls/ros2_controllers.git diff --git a/ros2_kortex.rolling.repos b/ros2_kortex.rolling.repos index d2f98520..578f7c06 100644 --- a/ros2_kortex.rolling.repos +++ b/ros2_kortex.rolling.repos @@ -3,7 +3,3 @@ repositories: type: git url: https://github.com/picknikrobotics/picknik_controllers.git version: main - ros2_control_demos: - type: git - url: https://github.com/ros-controls/ros2_control_demos.git - version: master From cfb518085d6af6b17c1ed8bbbb372697d01b01c4 Mon Sep 17 00:00:00 2001 From: smoya23 <163350990+smoya23@users.noreply.github.com> Date: Tue, 7 May 2024 10:40:56 -0400 Subject: [PATCH 04/17] Removing unnecessary repos for Humble and small instructions update (#218) --- README.md | 15 ++++++++++----- ros2_kortex.humble.repos | 4 ---- ros2_kortex.repos | 4 ---- simulation.humble.repos | 5 ----- simulation.repos | 5 ----- 5 files changed, 10 insertions(+), 23 deletions(-) diff --git a/README.md b/README.md index 9e8fce5f..008dec2c 100644 --- a/README.md +++ b/README.md @@ -108,19 +108,19 @@ If the bug fix you need isn't in a released version or If you want to build this 3. Pull relevant packages: ``` cd $COLCON_WS - git clone https://github.com/PickNikRobotics/ros2_kortex.git src/ros2_kortex - vcs import src --skip-existing --input ros2_kortex-not-released.$ROS_DISTRO.repos - vcs import src --skip-existing --input ros2_kortex.$ROS_DISTRO.repos + git clone https://github.com/Kinovarobotics/ros2_kortex.git src/ros2_kortex + vcs import src --skip-existing --input src/ros2_kortex/ros2_kortex.$ROS_DISTRO.repos + vcs import src --skip-existing --input src/ros2_kortex/ros2_kortex-not-released.$ROS_DISTRO.repos ``` If you plan on simulating the robot with ignition or gazebo, make sure to pull the additional simulation packages. If you're on ROS2 Humble, run ``` - vcs import src --skip-existing --input simulation.humble.repos + vcs import src --skip-existing --input src/ros2_kortex/simulation.humble.repos ``` otherwise ``` - vcs import --skip-existing --input src simulation.repos + vcs import --skip-existing --input src/ros2_kortex/simulation.repos ``` If you plan on using MoveIt, you must make sure that you have it already [installed](https://moveit.ros.org/install-moveit2/binary/) either from binaries or by building it from source. @@ -132,6 +132,11 @@ If the bug fix you need isn't in a released version or If you want to build this source install/setup.bash ``` + By default, colcon will use as much resources as possible to build the ROS2 workspace. This can temporarily freeze or even crash your machine. You can limit the number of threads used to avoid this issue, we found a good tradeoff between build time and resource utilisation by setting it to 3 : + ``` + colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 3 + ``` + ## Simulation Issues Please note, at this time there are two known issues you with simulation diff --git a/ros2_kortex.humble.repos b/ros2_kortex.humble.repos index ac4a4b5d..e93495ea 100644 --- a/ros2_kortex.humble.repos +++ b/ros2_kortex.humble.repos @@ -7,10 +7,6 @@ repositories: type: git url: https://github.com/ros-controls/ros2_control.git version: humble - ros2_control_demos: - type: git - url: https://github.com/ros-controls/ros2_control_demos.git - version: master ros2_controllers: type: git url: https://github.com/ros-controls/ros2_controllers.git diff --git a/ros2_kortex.repos b/ros2_kortex.repos index 98e6006a..fd089dd8 100644 --- a/ros2_kortex.repos +++ b/ros2_kortex.repos @@ -7,10 +7,6 @@ repositories: type: git url: https://github.com/ros-controls/ros2_control.git version: master - ros2_control_demos: - type: git - url: https://github.com/ros-controls/ros2_control_demos.git - version: master ros2_controllers: type: git url: https://github.com/ros-controls/ros2_controllers.git diff --git a/simulation.humble.repos b/simulation.humble.repos index 022ffec3..0f9cc1bc 100644 --- a/simulation.humble.repos +++ b/simulation.humble.repos @@ -14,8 +14,3 @@ repositories: type: git url: https://github.com/gazebosim/ros_gz.git version: humble - - ros2_control_demos: - type: git - url: https://github.com/ros-controls/ros2_control_demos.git - version: master diff --git a/simulation.repos b/simulation.repos index 09af9513..16dc2a35 100644 --- a/simulation.repos +++ b/simulation.repos @@ -15,11 +15,6 @@ repositories: url: https://github.com/ignitionrobotics/ros_ign.git version: ros2 - ros2_control_demos: - type: git - url: https://github.com/ros-controls/ros2_control_demos.git - version: master - ros_ign: type: git url: https://github.com/ignitionrobotics/ros_ign.git From 33ec22cddfe9feed7642c8e18d0a00320a017926 Mon Sep 17 00:00:00 2001 From: smoya23 <163350990+smoya23@users.noreply.github.com> Date: Fri, 24 May 2024 09:45:51 -0400 Subject: [PATCH 05/17] Repo update (#220) * Creating Gen3 Lite specific instructions and launch file * Updating MoveIt configurations * Updating and restructuring instructions --- README.md | 180 +++++++++++---- kortex_bringup/launch/gen3.launch.py | 3 +- kortex_bringup/launch/gen3_lite.launch.py | 151 ++++++++++++ .../launch/kortex_control.launch.py | 17 +- .../launch/kortex_sim_control.launch.py | 21 +- .../6dof/config/ros2_controllers.yaml | 10 +- .../gen3_lite/6dof/urdf/gen3_lite_macro.xacro | 26 +-- .../6dof/urdf/kortex.ros2_control.xacro | 16 +- .../urdf/gen3_lite_2f.ros2_control.xacro | 36 ++- .../urdf/gen3_lite_2f_macro.xacro | 33 +-- .../launch/view_robot.launch.py | 11 + .../robots/gen3_lite_gen3_lite_2f.xacro | 51 +++- kortex_description/robots/kortex_robot.xacro | 4 +- .../config/gen3.srdf | 32 ++- .../config/ompl_planning.yaml | 217 +++++++++++++++++- .../launch/robot.launch.py | 15 +- .../launch/sim.launch.py | 6 +- .../config/gen3.srdf | 6 +- .../config/ompl_planning.yaml | 217 +++++++++++++++++- .../launch/robot.launch.py | 19 +- .../launch/sim.launch.py | 4 + 21 files changed, 922 insertions(+), 153 deletions(-) create mode 100644 kortex_bringup/launch/gen3_lite.launch.py diff --git a/README.md b/README.md index 008dec2c..e1a50da5 100644 --- a/README.md +++ b/README.md @@ -173,15 +173,23 @@ colcon build --packages-select-regex '.*kortex.*' '.*gen3.*' ``` ## Usage - - -To launch and view the robots URDF run: +To launch and view any of the robot's URDF run: ```bash ros2 launch kortex_description view_robot.launch.py ``` -To simulate the 7 DoF Kinova Gen3 robot arm with mock hardware: +The accepted arguments are: + +* `robot_type` : Your robot model. Possible values are either `gen3` or `gen3_lite`, the default is `gen3`. + +* `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85` or `robotiq_2f_140`. For the Gen3 Lite, the only option is `gen3_lite_2f`. Default value is an empty string, which will display the arm without a gripper. + +* `dof` : Degrees of freedom of the arm. Possible values for the Gen3 are either `6` or `7`. For the Gen3 Lite, the only option is `6`. Default value is `7`. + +### Gen 3 Robots + +The `gen3.launch.py` launch file is designed to be used for Gen3 arms. The typical use case to bringup and visualize the 7 DoF Kinova Gen3 robot arm (default) with mock hardware on Rviz: ```bash ros2 launch kortex_bringup gen3.launch.py \ @@ -189,52 +197,143 @@ ros2 launch kortex_bringup gen3.launch.py \ use_fake_hardware:=true ``` -To generate motion plans and execute them with a simulated 7 DoF Kinova Gen3 arm with mock hardware: +Alternatively, for a physical robot: ```bash -ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py \ - robot_ip:=yyy.yyy.yyy.yyy \ - use_fake_hardware:=true +ros2 launch kortex_bringup gen3.launch.py \ + robot_ip:=192.168.1.10 \ +``` +You can specify the following arguments if you wish to change your arm configuration: + +* `robot_type`: Your robot model. Default value (and only one) is `gen3`. + +* `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85`, `robotiq_2f_140` or `""`. Default is `robotiq_2f_85`. An empty string will not initialise any gripper. + +* `gripper_joint_name` : Name of the controlled joint of the gripper attached to the arm. Default value is `robotiq_85_left_knuckle_joint`. + +* `use_internal_bus_gripper_comm` : Use internal bus for gripper communication. Default value is `true`. + +* `gripper_max_velocity` : Max velocity for gripper commands. Default value is `100.0`. + +* `gripper_max_force` : Max force for gripper commands. Default value is `100.0`. + +* `dof` : Degrees of freedom of the arm. Possible values are either `6` or `7`.Default value is `7`. + +* `robot_ip` : IP address by which the robot can be reached. No default is specified, this is a required argument. All arms are shipped with address `192.168.1.10`, but if you have reassigned your physical arm's robot IP address, then you will need to assign that ip address. + +* `use_fake_hardware` : Start robot with fake hardware mirroring command to its states. Default value is `false`. + +* `fake_sensor_commands` : Enable fake command interfaces for sensors used for simple simulations. Used only if 'use_fake_hardware' parameter is true. Default value is `false`. + +* `robot_controller` : Robot controller to start. Possible values are `twist_controller` and `joint_trajectory_controller`.Default value is `joint_trajectory_controller`. + +* `controllers_file` : Ros 2 control configuration file to use. Default value is `ros2_controllers.yaml` + +* `launch_rviz` : Start an Rviz window to visualize the robot. Default value is `true`. + +#### Robotiq gripper + +The Robotiq 2f 85 (or 2f 140) Gripper will be available on the Action topic: + +```bash +/robotiq_gripper_controller/gripper_cmd ``` -Alternatively, if you wish to use the Kinova Gen3's 6 DoF variant: +You can test the gripper by calling the Action server with the following command and setting the desired `position` of the gripper (`0.0=open`, `0.8=close`) ```bash -ros2 launch kortex_bringup gen3.launch.py \ - robot_ip:=yyy.yyy.yyy.yyy \ - use_fake_hardware:=true \ - dof:=6 +ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command:{position: 0.0, max_effort: 100.0}}" ``` -and to bring up the Kinova Gen3 6 DoF with MoveIt: +### Gen 3 Lite Robot + +The `gen3_lite.launch.py` launch file is designed to be used for Gen3 Lite arms. The typical use case to bringup the robot arm with mock hardware: ```bash -ros2 launch kinova_gen3_6dof_robotiq_2f_85_moveit_config robot.launch.py \ +ros2 launch kortex_bringup gen3_lite.launch.py \ robot_ip:=yyy.yyy.yyy.yyy \ use_fake_hardware:=true ``` - -Alternatively, if you wish to use the Kinova Gen3_lite's 6 DoF variant: +Alternatively, if you wish to use the physical robot: ```bash -ros2 launch kortex_bringup gen3.launch.py \ - robot_ip:=yyy.yyy.yyy.yyy \ - use_fake_hardware:=true \ - robot_type:=gen3_lite \ - gripper:=gen3_lite_2f \ - dof:=6 +ros2 launch kortex_bringup gen3_lite.launch.py \ + robot_ip:=192.168.1.10 \ ``` -To simulate the 7dof Kinova Gen3 robot with ignition run the following: +You can specify the following arguments if you wish to change your arm configuration: + +* `robot_type`: Your robot model. Default value (and only one) is `gen3_lite`. + +* `gripper` : Gripper to use. Default value (and only one) is `gen3_lite_2f`. + +* `gripper_joint_name` : Name of the controlled joint of the gripper attached to the arm. Default value (and only one) is `right_finger_bottom_joint`. + +* `use_internal_bus_gripper_comm` : Use internal bus for gripper communication. Default value is `true`. + +* `gripper_max_velocity` : Max velocity for gripper commands. Default value is `100.0`. + +* `gripper_max_force` : Max force for gripper commands. Default value is `100.0`. + +* `robot_ip` : IP address by which the robot can be reached. No default is specified, this is a required argument. All arms are shipped with address `192.168.1.10`, but if you have reassigned your physical arm's robot IP address, then you will need to assign that ip address. If you're using an USB to Ethernet interface to connect your robot to your machine instead of USB via RNDIS, the ip address will be `192.168.2.10`. + +* `use_fake_hardware` : Start robot with fake hardware mirroring command to its states. Default value is `false`. + +* `fake_sensor_commands` : Enable fake command interfaces for sensors used for simple simulations. Used only if 'use_fake_hardware' parameter is true. Default value is `false`. + +* `robot_controller` : Robot controller to start. Possible values are `twist_controller` and `joint_trajectory_controller`.Default value is `joint_trajectory_controller`. + +* `controllers_file` : Ros 2 control configuration file to use. Default value is `ros2_controllers.yaml` + +* `description_file` : URDF/XACRO description file with the robot. Default value is `gen3_lite_gen3_lite_2f.xacro`. + +* `launch_rviz` : Start an Rviz window to visualize the robot. Default value is `true`. + + +## Simulation +The `kortex_sim_control.launch.py` launch file is designed to simulate all of our arm models, you just need to specify your configuration through the arguments. By default, the Gen3 7 dof configuration is used : ```bash ros2 launch kortex_bringup kortex_sim_control.launch.py \ - dof:=7 \ use_sim_time:=true \ launch_rviz:=false ``` -and to use MoveIt to command the robot: +* `sim_ignition` : Use Ignition for simulation. Default value is `true`. +* `sim_gazebo` : Use Gazebo Classic for simulation. Default value is `false`. +* `robot_type` : Your robot model. Possible values are either `gen3` or `gen3_lite`.Default is `gen3`. +* `robot_name` : Name you would like your robot to have. Default value is `gen3`. +* `dof` : Degrees of freedom of the arm. Possible values are either `6` or `7`.Default value is `7`. +* `vision` : Use arm mounted realsens. Possible values are either `true` or `false`. Default value is `false`. This option does not generate simulated images, it only loads up the robot's URDF that includes the vision link. +* `robot_controller` : Robot joint controller to start. Default value is `joint_trajectory_controller`. +* `robot_pos_controller` : Robot position controller to start. Default value is `twist_controller`. +* `robot_hand_controller` : Robot gripper controller to start. Default value is `robotiq_gripper_controller`. +* `controllers_file` : Ros 2 control configuration file to use. Default value is `ros2_controllers.yaml` +* `description_package` : Description package with robot URDF/XACRO files. Default value is `kortex_description`. +* `description_file` : URDF/XACRO description file with the robot. Default value is `kinova.urdf.xacro`. +* `prefix` : Prefix of the joint names, useful for multi-robot setup. If changed, then also joint names in the controllers' configuration have to be updated. Default value is `""` (none). +* `use_sim_time` : Use simulated clock. Default value is `true`. +* `gripper` : Gripper to use. Possible values for the Gen3 are either `robotiq_2f_85`, `robotiq_2f_140` or `""`. Default is `robotiq_2f_85`. An empty string will not initialise any gripper. + +#### MoveIt2 + +To generate motion plans and execute them with a simulated 7 DoF Kinova Gen3 arm with mock hardware: + +```bash +ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py \ + robot_ip:=yyy.yyy.yyy.yyy \ + use_fake_hardware:=true +``` + +and to bring up the Kinova Gen3 6 DoF with MoveIt: + +```bash +ros2 launch kinova_gen3_6dof_robotiq_2f_85_moveit_config robot.launch.py \ + robot_ip:=yyy.yyy.yyy.yyy \ + use_fake_hardware:=true +``` + +To generate motion plans and execute them with an ignition simulated 7 DoF Kinova Gen3 arm (previously launched with the command at the [simulation](#simulation) section): ```bash ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config sim.launch.py \ @@ -247,9 +346,13 @@ To work with a physical robot and generate/execute paths with MoveIt run the fol ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py \ robot_ip:=192.168.1.10 ``` -**Note: If you have reassigned your physical arm's robot IP address, then you will need to assign that ip address to `robot_ip`** +**Note: Currently, MoveIt configs are only provided for Gen3 6 and 7 dof configurations. If you wish to use the Gen3 Lite with MoveIt, you can generate it with MoveIt's setup assisstant.** + + +## Commanding the arm (physically and in simulation) You can command the arm by publishing Joint Trajectory messages directly to the joint trajectory controller: + ```bash ros2 topic pub /joint_trajectory_controller/joint_trajectory trajectory_msgs/JointTrajectory "{ joint_names: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7], @@ -259,6 +362,17 @@ ros2 topic pub /joint_trajectory_controller/joint_trajectory trajectory_msgs/Joi }" -1 ``` +Depending on your robot type and its DoF, you will need to adapt the `joint_names` and `positions` properties accordingly. For the Gen3 Lite arm, the integrated gripper is considered as a joint, so to command it, it must be included in the `joint_names` array. (`0.0=open`, `1.0=close`): + +```bash +ros2 topic pub /joint_trajectory_controller/joint_trajectory trajectory_msgs/JointTrajectory "{ + joint_names: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, right_finger_bottom_joint], + points: [ + { positions: [0, 0, 0, 0, 0, 0, 1], time_from_start: { sec: 10 } }, + ] +}" -1 +``` + You can also command the arm using Twist messages. Before doing so, you must active the `twist_controller` and deactivate the `joint_trajectory_controller`: ```bash ros2 service call /controller_manager/switch_controller controller_manager_msgs/srv/SwitchController "{ @@ -291,18 +405,6 @@ ros2 service call /controller_manager/switch_controller controller_manager_msgs/ }" ``` -The Robotiq 2f 85 Gripper will be available on the Action topic: - -```bash -/robotiq_gripper_controller/gripper_cmd -``` - -You can test the gripper by calling the Action server with the following command and setting the desired `position` of thr gripper (`0.0=open`, `0.8=close`) - -```bash -ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command:{position: 0.0, max_effort: 100.0}}" -``` - ## Contents The following is a description of the packages included in this repository. diff --git a/kortex_bringup/launch/gen3.launch.py b/kortex_bringup/launch/gen3.launch.py index bd5c5d77..0beb86e6 100644 --- a/kortex_bringup/launch/gen3.launch.py +++ b/kortex_bringup/launch/gen3.launch.py @@ -28,7 +28,6 @@ def generate_launch_description(): "robot_type", default_value="gen3", description="Type/series of robot.", - choices=["gen3", "gen3_lite"], ) ) declared_arguments.append( @@ -74,7 +73,7 @@ def generate_launch_description(): "gripper", default_value="robotiq_2f_85", description="Name of the gripper attached to the arm", - choices=["robotiq_2f_85", "gen3_lite_2f"], + choices=["robotiq_2f_85", "robotiq_2f_140"], ) ) declared_arguments.append( diff --git a/kortex_bringup/launch/gen3_lite.launch.py b/kortex_bringup/launch/gen3_lite.launch.py new file mode 100644 index 00000000..832fc4d3 --- /dev/null +++ b/kortex_bringup/launch/gen3_lite.launch.py @@ -0,0 +1,151 @@ +# Copyright (c) 2021 PickNik, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Author: Denis Stogl + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir + + +def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "robot_type", + default_value="gen3_lite", + description="Type/series of robot.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", + description="IP address by which the robot can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_fake_hardware", + default_value="false", + description="Start robot with fake hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "fake_sensor_commands", + default_value="false", + description="Enable fake command interfaces for sensors used for simple simulations. \ + Used only if 'use_fake_hardware' parameter is true.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "robot_controller", + default_value="joint_trajectory_controller", + description="Robot controller to start.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "controllers_file", + default_value="ros2_controllers.yaml", + description="Robot controller to start.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "gripper", + default_value="gen3_lite_2f", + description="Name of the gripper attached to the arm", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "gripper_joint_name", + default_value="right_finger_bottom_joint", + description="Name of the gripper attached to the arm", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_internal_bus_gripper_comm", + default_value="true", + description="Use internal bus for gripper communication?", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "gripper_max_velocity", + default_value="100.0", + description="Max velocity for gripper commands", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "gripper_max_force", + default_value="100.0", + description="Max force for gripper commands", + ) + ) + + declared_arguments.append( + DeclareLaunchArgument( + "description_file", + default_value="gen3_lite_gen3_lite_2f.xacro", + description="URDF file to use", + ) + ) + + declared_arguments.append( + DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?") + ) + + # Initialize Arguments + robot_type = LaunchConfiguration("robot_type") + robot_ip = LaunchConfiguration("robot_ip") + use_fake_hardware = LaunchConfiguration("use_fake_hardware") + fake_sensor_commands = LaunchConfiguration("fake_sensor_commands") + robot_controller = LaunchConfiguration("robot_controller") + gripper = LaunchConfiguration("gripper") + use_internal_bus_gripper_comm = LaunchConfiguration("use_internal_bus_gripper_comm") + gripper_max_velocity = LaunchConfiguration("gripper_max_velocity") + gripper_max_force = LaunchConfiguration("gripper_max_force") + gripper_joint_name = LaunchConfiguration("gripper_joint_name") + launch_rviz = LaunchConfiguration("launch_rviz") + controllers_file = LaunchConfiguration("controllers_file") + description_file = LaunchConfiguration("description_file") + + base_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/kortex_control.launch.py"]), + launch_arguments={ + "robot_type": robot_type, + "robot_ip": robot_ip, + "dof": "6", + "use_fake_hardware": use_fake_hardware, + "fake_sensor_commands": fake_sensor_commands, + "robot_controller": robot_controller, + "gripper": gripper, + "use_internal_bus_gripper_comm": use_internal_bus_gripper_comm, + "gripper_max_velocity": gripper_max_velocity, + "gripper_max_force": gripper_max_force, + "gripper_joint_name": gripper_joint_name, + "launch_rviz": launch_rviz, + "controllers_file": controllers_file, + "description_file": description_file, + }.items(), + ) + + return LaunchDescription(declared_arguments + [base_launch]) diff --git a/kortex_bringup/launch/kortex_control.launch.py b/kortex_bringup/launch/kortex_control.launch.py index d0b2f387..81de723d 100644 --- a/kortex_bringup/launch/kortex_control.launch.py +++ b/kortex_bringup/launch/kortex_control.launch.py @@ -21,7 +21,7 @@ RegisterEventHandler, ) from launch.event_handlers import OnProcessExit -from launch.conditions import IfCondition +from launch.conditions import IfCondition, UnlessCondition from launch.substitutions import ( Command, FindExecutable, @@ -57,9 +57,15 @@ def launch_setup(context, *args, **kwargs): gripper_joint_name = LaunchConfiguration("gripper_joint_name") # if we are using fake hardware then we can't use the internal gripper communications of the hardware - if use_fake_hardware.parse: + use_fake_hardware_value = use_fake_hardware.perform(context) + if use_fake_hardware_value == "true": use_internal_bus_gripper_comm = "false" + robot_model = robot_type.perform(context) + is_gen3_lite = "false" + if robot_model == "gen3_lite": + is_gen3_lite = "true" + robot_description_content = Command( [ PathJoinSubstitution([FindExecutable(name="xacro")]), @@ -123,7 +129,10 @@ def launch_setup(context, *args, **kwargs): control_node = Node( package="controller_manager", executable="ros2_control_node", - parameters=[robot_description, robot_controllers], + parameters=[robot_controllers], + remappings=[ + ("~/robot_description", "/robot_description"), + ], output="both", ) @@ -178,6 +187,7 @@ def launch_setup(context, *args, **kwargs): package="controller_manager", executable="spawner", arguments=[robot_hand_controller, "-c", "/controller_manager"], + condition=UnlessCondition(is_gen3_lite), ) # only start the fault controller if we are using hardware @@ -372,5 +382,4 @@ def generate_launch_description(): description="Max force for gripper commands", ) ) - return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)]) diff --git a/kortex_bringup/launch/kortex_sim_control.launch.py b/kortex_bringup/launch/kortex_sim_control.launch.py index e3c71123..b9d0e861 100644 --- a/kortex_bringup/launch/kortex_sim_control.launch.py +++ b/kortex_bringup/launch/kortex_sim_control.launch.py @@ -24,7 +24,7 @@ ) from launch.event_handlers import OnProcessExit from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.conditions import IfCondition +from launch.conditions import IfCondition, UnlessCondition from launch.substitutions import ( Command, FindExecutable, @@ -53,12 +53,13 @@ def launch_setup(context, *args, **kwargs): robot_hand_controller = LaunchConfiguration("robot_hand_controller") launch_rviz = LaunchConfiguration("launch_rviz") use_sim_time = LaunchConfiguration("use_sim_time") + gripper = LaunchConfiguration("gripper") robot_controllers = PathJoinSubstitution( # https://answers.ros.org/question/397123/how-to-access-the-runtime-value-of-a-launchconfiguration-instance-within-custom-launch-code-injected-via-an-opaquefunction-in-ros2/ [ FindPackageShare(description_package), - "arms/gen3/" + dof.perform(context) + "dof/config", + "arms/" + robot_type.perform(context) + "/" + dof.perform(context) + "dof/config", controllers_file, ] ) @@ -102,7 +103,7 @@ def launch_setup(context, *args, **kwargs): robot_controllers, " ", "gripper:=", - "robotiq_2f_85", + gripper, " ", ] ) @@ -157,10 +158,16 @@ def launch_setup(context, *args, **kwargs): arguments=[robot_pos_controller, "--inactive", "-c", "/controller_manager"], ) + robot_model = robot_type.perform(context) + is_gen3_lite = "false" + if robot_model == "gen3_lite": + is_gen3_lite = "true" + robot_hand_controller_spawner = Node( package="controller_manager", executable="spawner", arguments=[robot_hand_controller, "-c", "/controller_manager"], + condition=UnlessCondition(is_gen3_lite), ) # Bridge @@ -379,6 +386,14 @@ def generate_launch_description(): description="Use simulated clock", ) ) + declared_arguments.append( + DeclareLaunchArgument( + "gripper", + default_value="robotiq_2f_85", + choices=["robotiq_2f_85", "robotiq_2f_140", "gen3_lite_2f"], + description="Gripper to use", + ) + ) declared_arguments.append( DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?") ) diff --git a/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml b/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml index f61da319..d62ddbdd 100644 --- a/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml +++ b/kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml @@ -11,9 +11,6 @@ controller_manager: twist_controller: type: picknik_twist_controller/PicknikTwistController - robotiq_gripper_controller: - type: position_controllers/GripperActionController - fault_controller: type: picknik_reset_fault_controller/PicknikResetFaultController @@ -26,6 +23,7 @@ joint_trajectory_controller: - joint_4 - joint_5 - joint_6 + - right_finger_bottom_joint command_interfaces: - position state_interfaces: @@ -48,9 +46,3 @@ twist_controller: - twist.angular.x - twist.angular.y - twist.angular.z - -robotiq_gripper_controller: - ros__parameters: - default: true - joint: right_finger_bottom_joint - allow_stalling: true diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro index 2e4b3f4b..fb24da58 100644 --- a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro +++ b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro @@ -18,7 +18,7 @@ port_realtime:=10001 session_inactivity_timeout_ms:=6000 connection_inactivity_timeout_ms:=2000 - use_internal_bus_gripper_comm:=false + use_internal_bus_gripper_comm:=true gripper_joint_name gripper_max_velocity:=100.0 gripper_max_force:=100.0 @@ -81,7 +81,7 @@ - + @@ -90,7 +90,7 @@ - + @@ -106,7 +106,7 @@ - + @@ -115,7 +115,7 @@ - + @@ -138,7 +138,7 @@ - + @@ -147,7 +147,7 @@ - + @@ -170,7 +170,7 @@ - + @@ -179,7 +179,7 @@ - + @@ -202,7 +202,7 @@ - + @@ -211,7 +211,7 @@ - + @@ -234,7 +234,7 @@ - + @@ -243,7 +243,7 @@ - + diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro index 8d14c4dc..da2ff778 100644 --- a/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro +++ b/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro @@ -11,7 +11,7 @@ sim_isaac:=false isaac_joint_commands:=/isaac_joint_commands isaac_joint_states:=/isaac_joint_states - use_internal_bus_gripper_comm:=false + use_internal_bus_gripper_comm:=true tf_prefix initial_positions:=${dict(joint_1=0.0,joint_2=0.0,joint_3=0.0,joint_4=0.0,joint_5=0.0,joint_6=0.0)} robot_ip @@ -125,15 +125,11 @@ - - - - - - - - - + + + + + diff --git a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f.ros2_control.xacro b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f.ros2_control.xacro index 8ea1a0fa..d410abbe 100644 --- a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f.ros2_control.xacro +++ b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f.ros2_control.xacro @@ -9,7 +9,18 @@ sim_isaac:=false isaac_joint_commands:=/isaac_joint_commands isaac_joint_states:=/isaac_joint_states - use_internal_bus_gripper_comm:=false"> + use_internal_bus_gripper_comm:=true + gripper_joint_name:=right_finger_bottom_joint + tf_prefix:='' + robot_ip:=192.168.1.10 + username:=admin + password:=admin + port:=10000 + port_realtime:=10001 + session_inactivity_timeout_ms:=60000 + connection_inactivity_timeout_ms:=2000 + gripper_max_velocity:=100.0 + gripper_max_force:=100.0"> @@ -24,9 +35,24 @@ mock_components/GenericSystem - ${fake_sensor_commands} + ${fake_sensor_commands} 0.0 + + kortex_driver/KortexMultiInterfaceHardware + ${robot_ip} + ${username} + ${password} + ${port} + ${port_realtime} + ${session_inactivity_timeout_ms} + ${connection_inactivity_timeout_ms} + "${tf_prefix}" + ${use_internal_bus_gripper_comm} + ${gripper_joint_name} + ${gripper_max_velocity} + ${gripper_max_force} + @@ -34,9 +60,11 @@ - 0.85 + 0.0 + + + 0.0 - diff --git a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro index 1ee39d88..f4c14ceb 100644 --- a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro +++ b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro @@ -4,6 +4,7 @@ - - @@ -49,7 +40,7 @@ - + @@ -58,7 +49,7 @@ - + @@ -75,7 +66,7 @@ - + @@ -84,7 +75,7 @@ - + @@ -97,7 +88,7 @@ - + @@ -108,7 +99,7 @@ - + @@ -117,7 +108,7 @@ - + @@ -142,7 +133,7 @@ - + @@ -151,7 +142,7 @@ - + @@ -175,7 +166,7 @@ - + @@ -184,7 +175,7 @@ - + diff --git a/kortex_description/launch/view_robot.launch.py b/kortex_description/launch/view_robot.launch.py index 80e4acdd..a0dabb48 100644 --- a/kortex_description/launch/view_robot.launch.py +++ b/kortex_description/launch/view_robot.launch.py @@ -43,9 +43,17 @@ def generate_launch_description(): description="Name of the gripper attached to the arm", ) ) + declared_arguments.append( + DeclareLaunchArgument( + "dof", + default_value="7", + description="Robot's dof", + ) + ) robot_type = LaunchConfiguration("robot_type") gripper = LaunchConfiguration("gripper") + dof = LaunchConfiguration("dof") robot_description_content = Command( [ @@ -65,6 +73,9 @@ def generate_launch_description(): "gripper:=", gripper, " ", + "dof:=", + dof, + " ", ] ) robot_description = {"robot_description": robot_description_content} diff --git a/kortex_description/robots/gen3_lite_gen3_lite_2f.xacro b/kortex_description/robots/gen3_lite_gen3_lite_2f.xacro index c2968f06..c4e5214f 100644 --- a/kortex_description/robots/gen3_lite_gen3_lite_2f.xacro +++ b/kortex_description/robots/gen3_lite_gen3_lite_2f.xacro @@ -4,17 +4,56 @@ - - - + + + + + + + - - + + + + + + + + + + - + + + + + diff --git a/kortex_description/robots/kortex_robot.xacro b/kortex_description/robots/kortex_robot.xacro index 6f3927ee..2abd6675 100644 --- a/kortex_description/robots/kortex_robot.xacro +++ b/kortex_description/robots/kortex_robot.xacro @@ -88,8 +88,8 @@ sim_isaac="${sim_isaac}" isaac_joint_commands="${isaac_joint_commands}" isaac_joint_states="${isaac_joint_states}" - use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}" - com_port="${gripper_com_port}"/> + com_port="${gripper_com_port}" + use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"/> diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/gen3.srdf b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/gen3.srdf index 88d81a38..893423a4 100644 --- a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/gen3.srdf +++ b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/gen3.srdf @@ -25,17 +25,33 @@ - - - - - - + + + + + + - + + + + + + + + + + + + + + + + + - + diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml index b88af07e..44372b03 100644 --- a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml +++ b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml @@ -1,9 +1,208 @@ -planning_plugins: - - ompl_interface/OMPLPlanner -request_adapters: - - default_planning_request_adapters/ResolveConstraintFrames - - default_planning_request_adapters/CheckStartStateBounds - - default_planning_request_adapters/CheckStartStateCollision - - default_planning_request_adapters/ValidateWorkspaceBounds -response_adapters: - - default_planning_response_adapters/AddTimeOptimalParameterization +###################################### NOTE ############################################# +# +# This is the Humble version of this file. On other ROS2 distributions (such as Rolling), +# you might encounter errors with MoveIt regarding the syntax of the request_adpters +# section, such as: +# +# what(): parameter 'ompl.request_adapters' has invalid type: expected [string] got [string_array] +# +# This is because on Humble, MoveIt is expecting a simple string for the request adapters, +# while some distributions expect it as an array of strings instead. If it's the case for you, +# You just need to remove the folded style block (>-) and replace it by a list of strings : +# +# request_adapters: +# - default_planner_request_adapters/AddTimeOptimalParameterization +# - default_planner_request_adapters/ResolveConstraintFrames +# - default_planner_request_adapters/FixWorkspaceBounds +# - default_planner_request_adapters/FixStartStateBounds +# - default_planner_request_adapters/FixStartStateCollision +# - default_planner_request_adapters/FixStartStatePathConstraints +# +###################################### NOTE ############################################# + +planning_plugin: ompl_interface/OMPLPlanner +request_adapters: >- + default_planner_request_adapters/AddTimeOptimalParameterization + default_planner_request_adapters/ResolveConstraintFrames + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints +start_state_max_bounds_error: 0.1 +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + 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 + LBKPIECEkConfigDefault: + 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 + BKPIECEkConfigDefault: + 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 + KPIECEkConfigDefault: + 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 + RRTkConfigDefault: + 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 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + 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 + TRRTkConfigDefault: + 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 expression. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar + FMTkConfigDefault: + 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 + BFMTkConfigDefault: + 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 + PDSTkConfigDefault: + type: geometric::PDST + STRIDEkConfigDefault: + 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 + BiTRRTkConfigDefault: + 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 + LBTRRTkConfigDefault: + 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 + BiESTkConfigDefault: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjESTkConfigDefault: + 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 + LazyPRMkConfigDefault: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstarkConfigDefault: + type: geometric::LazyPRMstar + SPARSkConfigDefault: + 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 + SPARStwokConfigDefault: + 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 + TrajOptDefault: + type: geometric::TrajOpt + +manipulator: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + - FMTkConfigDefault + - BFMTkConfigDefault + - PDSTkConfigDefault + - STRIDEkConfigDefault + - BiTRRTkConfigDefault + - LBTRRTkConfigDefault + - BiESTkConfigDefault + - ProjESTkConfigDefault + - LazyPRMkConfigDefault + - LazyPRMstarkConfigDefault + - SPARSkConfigDefault + - SPARStwokConfigDefault + - TrajOptDefault +gripper: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + - FMTkConfigDefault + - BFMTkConfigDefault + - PDSTkConfigDefault + - STRIDEkConfigDefault + - BiTRRTkConfigDefault + - LBTRRTkConfigDefault + - BiESTkConfigDefault + - ProjESTkConfigDefault + - LazyPRMkConfigDefault + - LazyPRMstarkConfigDefault + - SPARSkConfigDefault + - SPARStwokConfigDefault + - TrajOptDefault diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/robot.launch.py b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/robot.launch.py index 08af7c39..aa0ac44f 100644 --- a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/robot.launch.py +++ b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/robot.launch.py @@ -22,7 +22,7 @@ RegisterEventHandler, ) from launch.event_handlers import OnProcessExit -from launch.conditions import IfCondition +from launch.conditions import IfCondition, UnlessCondition from launch_ros.actions import Node from ament_index_python.packages import get_package_share_directory from moveit_configs_utils import MoveItConfigsBuilder @@ -52,7 +52,11 @@ def launch_setup(context, *args, **kwargs): moveit_config = ( MoveItConfigsBuilder("gen3", package_name="kinova_gen3_6dof_robotiq_2f_85_moveit_config") .robot_description(mappings=launch_arguments) - .planning_pipelines(pipelines=["ompl", "chomp", "pilz_industrial_motion_planner"]) + .trajectory_execution(file_path="config/moveit_controllers.yaml") + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) + .planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"]) .to_moveit_configs() ) @@ -73,7 +77,7 @@ def launch_setup(context, *args, **kwargs): executable="static_transform_publisher", name="static_transform_publisher", output="log", - arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "base_link"], + arguments=["--frame-id", "world", "--child-frame-id", "base_link"], ) # Publish TF @@ -96,7 +100,8 @@ def launch_setup(context, *args, **kwargs): ros2_control_node = Node( package="controller_manager", executable="ros2_control_node", - parameters=[moveit_config.to_dict(), ros2_controllers_path], + parameters=[ros2_controllers_path], + remappings=[("/controller_manager/robot_description", "/robot_description")], output="both", ) @@ -116,13 +121,13 @@ def launch_setup(context, *args, **kwargs): package="controller_manager", executable="spawner", arguments=["robotiq_gripper_controller", "-c", "/controller_manager"], - # condition=IfCondition(use_internal_bus_gripper_comm), ) fault_controller_spawner = Node( package="controller_manager", executable="spawner", arguments=["fault_controller", "-c", "/controller_manager"], + condition=UnlessCondition(use_fake_hardware), ) # rviz with moveit configuration diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/sim.launch.py b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/sim.launch.py index 4040405b..8f52efe5 100644 --- a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/sim.launch.py +++ b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/sim.launch.py @@ -64,7 +64,11 @@ def generate_launch_description(): moveit_config = ( MoveItConfigsBuilder("gen3", package_name="kinova_gen3_6dof_robotiq_2f_85_moveit_config") .robot_description(mappings=description_arguments) - .planning_scene_monitor(publish_robot_description=True) + .trajectory_execution(file_path="config/moveit_controllers.yaml") + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) + .planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"]) .to_moveit_configs() ) diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/gen3.srdf b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/gen3.srdf index 83ec1811..ad646483 100644 --- a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/gen3.srdf +++ b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/gen3.srdf @@ -30,7 +30,7 @@ - + @@ -39,7 +39,7 @@ - + @@ -48,7 +48,7 @@ - + diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml index b88af07e..44372b03 100644 --- a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml +++ b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml @@ -1,9 +1,208 @@ -planning_plugins: - - ompl_interface/OMPLPlanner -request_adapters: - - default_planning_request_adapters/ResolveConstraintFrames - - default_planning_request_adapters/CheckStartStateBounds - - default_planning_request_adapters/CheckStartStateCollision - - default_planning_request_adapters/ValidateWorkspaceBounds -response_adapters: - - default_planning_response_adapters/AddTimeOptimalParameterization +###################################### NOTE ############################################# +# +# This is the Humble version of this file. On other ROS2 distributions (such as Rolling), +# you might encounter errors with MoveIt regarding the syntax of the request_adpters +# section, such as: +# +# what(): parameter 'ompl.request_adapters' has invalid type: expected [string] got [string_array] +# +# This is because on Humble, MoveIt is expecting a simple string for the request adapters, +# while some distributions expect it as an array of strings instead. If it's the case for you, +# You just need to remove the folded style block (>-) and replace it by a list of strings : +# +# request_adapters: +# - default_planner_request_adapters/AddTimeOptimalParameterization +# - default_planner_request_adapters/ResolveConstraintFrames +# - default_planner_request_adapters/FixWorkspaceBounds +# - default_planner_request_adapters/FixStartStateBounds +# - default_planner_request_adapters/FixStartStateCollision +# - default_planner_request_adapters/FixStartStatePathConstraints +# +###################################### NOTE ############################################# + +planning_plugin: ompl_interface/OMPLPlanner +request_adapters: >- + default_planner_request_adapters/AddTimeOptimalParameterization + default_planner_request_adapters/ResolveConstraintFrames + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints +start_state_max_bounds_error: 0.1 +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + 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 + LBKPIECEkConfigDefault: + 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 + BKPIECEkConfigDefault: + 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 + KPIECEkConfigDefault: + 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 + RRTkConfigDefault: + 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 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + 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 + TRRTkConfigDefault: + 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 expression. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar + FMTkConfigDefault: + 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 + BFMTkConfigDefault: + 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 + PDSTkConfigDefault: + type: geometric::PDST + STRIDEkConfigDefault: + 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 + BiTRRTkConfigDefault: + 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 + LBTRRTkConfigDefault: + 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 + BiESTkConfigDefault: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjESTkConfigDefault: + 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 + LazyPRMkConfigDefault: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstarkConfigDefault: + type: geometric::LazyPRMstar + SPARSkConfigDefault: + 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 + SPARStwokConfigDefault: + 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 + TrajOptDefault: + type: geometric::TrajOpt + +manipulator: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + - FMTkConfigDefault + - BFMTkConfigDefault + - PDSTkConfigDefault + - STRIDEkConfigDefault + - BiTRRTkConfigDefault + - LBTRRTkConfigDefault + - BiESTkConfigDefault + - ProjESTkConfigDefault + - LazyPRMkConfigDefault + - LazyPRMstarkConfigDefault + - SPARSkConfigDefault + - SPARStwokConfigDefault + - TrajOptDefault +gripper: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + - FMTkConfigDefault + - BFMTkConfigDefault + - PDSTkConfigDefault + - STRIDEkConfigDefault + - BiTRRTkConfigDefault + - LBTRRTkConfigDefault + - BiESTkConfigDefault + - ProjESTkConfigDefault + - LazyPRMkConfigDefault + - LazyPRMstarkConfigDefault + - SPARSkConfigDefault + - SPARStwokConfigDefault + - TrajOptDefault diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/robot.launch.py b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/robot.launch.py index bee3ab11..b96f990b 100644 --- a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/robot.launch.py +++ b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/robot.launch.py @@ -22,7 +22,7 @@ RegisterEventHandler, ) from launch.event_handlers import OnProcessExit -from launch.conditions import IfCondition +from launch.conditions import IfCondition, UnlessCondition from launch_ros.actions import Node from ament_index_python.packages import get_package_share_directory from moveit_configs_utils import MoveItConfigsBuilder @@ -52,7 +52,11 @@ def launch_setup(context, *args, **kwargs): moveit_config = ( MoveItConfigsBuilder("gen3", package_name="kinova_gen3_7dof_robotiq_2f_85_moveit_config") .robot_description(mappings=launch_arguments) - .planning_pipelines(pipelines=["ompl", "chomp", "pilz_industrial_motion_planner"]) + .trajectory_execution(file_path="config/moveit_controllers.yaml") + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) + .planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"]) .to_moveit_configs() ) @@ -73,7 +77,7 @@ def launch_setup(context, *args, **kwargs): executable="static_transform_publisher", name="static_transform_publisher", output="log", - arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "base_link"], + arguments=["--frame-id", "world", "--child-frame-id", "base_link"], ) # Publish TF @@ -96,7 +100,10 @@ def launch_setup(context, *args, **kwargs): ros2_control_node = Node( package="controller_manager", executable="ros2_control_node", - parameters=[moveit_config.to_dict(), ros2_controllers_path], + parameters=[ros2_controllers_path], + remappings=[ + ("/controller_manager/robot_description", "/robot_description"), + ], output="both", ) @@ -116,13 +123,13 @@ def launch_setup(context, *args, **kwargs): package="controller_manager", executable="spawner", arguments=["robotiq_gripper_controller", "-c", "/controller_manager"], - # condition=IfCondition(use_internal_bus_gripper_comm), ) fault_controller_spawner = Node( package="controller_manager", executable="spawner", arguments=["fault_controller", "-c", "/controller_manager"], + condition=UnlessCondition(use_fake_hardware), ) # rviz with moveit configuration @@ -141,6 +148,8 @@ def launch_setup(context, *args, **kwargs): moveit_config.robot_description, moveit_config.robot_description_semantic, moveit_config.robot_description_kinematics, + moveit_config.planning_pipelines, + moveit_config.joint_limits, ], ) diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py index 8fc9ccf5..8a080130 100644 --- a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py +++ b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/launch/sim.launch.py @@ -73,6 +73,10 @@ def generate_launch_description(): moveit_config = ( MoveItConfigsBuilder("gen3", package_name="kinova_gen3_7dof_robotiq_2f_85_moveit_config") .robot_description(mappings=description_arguments) + .trajectory_execution(file_path="config/moveit_controllers.yaml") + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) .planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"]) .to_moveit_configs() ) From c092cf129ab2390472794ec92c6c0470f222fb28 Mon Sep 17 00:00:00 2001 From: aalmrad Date: Sat, 3 Aug 2024 16:09:47 -0400 Subject: [PATCH 06/17] Added a Moveit2 package for Gen3-Lite (#231) * Added a Moveit2 package for Gen3-Lite * Format changes * further format changes * further format modifications * further format modifications * changing the branch to humble for ros2_robotiq_gripper * added the warehouse_ros_mongo to repos * Fixed some dependencies * Added Jenkinsfile for local CI actions workflow tests * added .yamllint file * Jenkinsfile Modification * Jenkinsfile Modifications * Modified Jenkinsfile * final formatting modifications --- README.md | 10 +- kortex_description/robots/gen3_lite.urdf | 477 ++++++++++++++++++ .../.setup_assistant | 10 + .../CMakeLists.txt | 11 + .../config/gen3_lite.ros2_control.xacro | 63 +++ .../config/gen3_lite.srdf | 62 +++ .../config/gen3_lite.urdf.xacro | 14 + .../config/initial_positions.yaml | 10 + .../config/joint_limits.yaml | 45 ++ .../config/kinematics.yaml | 4 + .../config/moveit.rviz | 51 ++ .../config/moveit_controllers.yaml | 20 + .../config/ompl_planning.yaml | 208 ++++++++ .../config/pilz_cartesian_limits.yaml | 6 + .../config/ros2_controllers.yaml | 42 ++ .../launch/demo.launch.py | 22 + .../launch/move_group.launch.py | 22 + .../launch/moveit_rviz.launch.py | 22 + .../launch/robot.launch.py | 243 +++++++++ .../launch/rsp.launch.py | 22 + .../launch/setup_assistant.launch.py | 22 + .../launch/sim.launch.py | 112 ++++ .../launch/spawn_controllers.launch.py | 22 + .../launch/static_virtual_joint_tfs.launch.py | 22 + .../launch/warehouse_db.launch.py | 22 + .../package.xml | 54 ++ ros2_kortex-not-released.humble.repos | 2 +- ros2_kortex.humble.repos | 2 +- ros2_kortex.repos | 2 +- 29 files changed, 1620 insertions(+), 4 deletions(-) create mode 100644 kortex_description/robots/gen3_lite.urdf create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/.setup_assistant create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/CMakeLists.txt create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.ros2_control.xacro create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.srdf create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.urdf.xacro create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/config/initial_positions.yaml create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/config/joint_limits.yaml create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/config/kinematics.yaml create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/config/moveit.rviz create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/config/moveit_controllers.yaml create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/config/ompl_planning.yaml create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/config/pilz_cartesian_limits.yaml create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/config/ros2_controllers.yaml create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/demo.launch.py create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/move_group.launch.py create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/moveit_rviz.launch.py create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/robot.launch.py create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/rsp.launch.py create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/setup_assistant.launch.py create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/sim.launch.py create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/spawn_controllers.launch.py create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/static_virtual_joint_tfs.launch.py create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/warehouse_db.launch.py create mode 100644 kortex_moveit_config/kinova_gen3_lite_moveit_config/package.xml diff --git a/README.md b/README.md index e1a50da5..c1bd7bd7 100644 --- a/README.md +++ b/README.md @@ -342,12 +342,20 @@ ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config sim.launch.py \ To work with a physical robot and generate/execute paths with MoveIt run the following: +For Gen3: + ```bash ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py \ robot_ip:=192.168.1.10 ``` -**Note: Currently, MoveIt configs are only provided for Gen3 6 and 7 dof configurations. If you wish to use the Gen3 Lite with MoveIt, you can generate it with MoveIt's setup assisstant.** +For Gen3-Lite: + +```bash +ros2 launch kinova_gen3_lite_moveit_config robot.launch.py \ + robot_ip:=192.168.1.10 +``` + ## Commanding the arm (physically and in simulation) diff --git a/kortex_description/robots/gen3_lite.urdf b/kortex_description/robots/gen3_lite.urdf new file mode 100644 index 00000000..cb5cdfdd --- /dev/null +++ b/kortex_description/robots/gen3_lite.urdf @@ -0,0 +1,477 @@ + + + + + + + + + + + kortex_driver/KortexMultiInterfaceHardware + 192.168.11.11 + admin + admin + 10000 + 10001 + 60000 + 2000 + + False + finger_joint + 100.0 + 100.0 + + + + -2.69 + 2.69 + + + 0.0 + + + + + + + -2.69 + 2.36 + + + 0.0 + + + + + + + -2.69 + 2.69 + + + 0.0 + + + + + + + -2.59 + 2.59 + + + 0.0 + + + + + + + -2.57 + 2.57 + + + 0.0 + + + + + + + -2.59 + 2.59 + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Kortex/Gray + + + + + + + + + + + + + + + + + + + + + + + + + Kortex/Gray + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Kortex/Gray + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Kortex/Gray + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Kortex/Gray + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Kortex/Gray + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Kortex/Gray + + + + + + + + + + + + + + + + + + + + + + + + + Kortex/Gray + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Kortex/Blue + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Kortex/Gray + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Kortex/Blue + + + + + + + + + + + diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/.setup_assistant b/kortex_moveit_config/kinova_gen3_lite_moveit_config/.setup_assistant new file mode 100644 index 00000000..f9fda93b --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/.setup_assistant @@ -0,0 +1,10 @@ +moveit_setup_assistant_config: + urdf: + package: kortex_description + relative_path: robots/gen3_lite.urdf + srdf: + relative_path: config/gen3_lite.srdf + package_settings: + author_name: Abed Al Rahman Al Mrad + author_email: aalmrad@kinova.ca + generated_timestamp: 1722014102 diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/CMakeLists.txt b/kortex_moveit_config/kinova_gen3_lite_moveit_config/CMakeLists.txt new file mode 100644 index 00000000..5a52aeaa --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.22) +project(kinova_gen3_lite_moveit_config) + +find_package(ament_cmake REQUIRED) + +ament_package() + +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) +install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.ros2_control.xacro b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.ros2_control.xacro new file mode 100644 index 00000000..ff58eefa --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.ros2_control.xacro @@ -0,0 +1,63 @@ + + + + + + + + + mock_components/GenericSystem + + + + + ${initial_positions['joint_1']} + + + + + + + ${initial_positions['joint_2']} + + + + + + + ${initial_positions['joint_3']} + + + + + + + ${initial_positions['joint_4']} + + + + + + + ${initial_positions['joint_5']} + + + + + + + ${initial_positions['joint_6']} + + + + + + + ${initial_positions['right_finger_bottom_joint']} + + + + + + + diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.srdf b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.srdf new file mode 100644 index 00000000..6f256a95 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.srdf @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.urdf.xacro b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.urdf.xacro new file mode 100644 index 00000000..e7f3892d --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.urdf.xacro @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/initial_positions.yaml b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/initial_positions.yaml new file mode 100644 index 00000000..205a23c6 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/initial_positions.yaml @@ -0,0 +1,10 @@ +# Default initial positions for gen3_lite's ros2_control fake system + +initial_positions: + joint_1: 0 + joint_2: 0 + joint_3: 0 + joint_4: 0 + joint_5: 0 + joint_6: 0 + right_finger_bottom_joint: 0 diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/joint_limits.yaml b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/joint_limits.yaml new file mode 100644 index 00000000..f60acab6 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/joint_limits.yaml @@ -0,0 +1,45 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed + +# For beginners, we downscale velocity and acceleration limits. +# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. +default_velocity_scaling_factor: 0.1 +default_acceleration_scaling_factor: 0.1 + +# 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: + joint_1: + has_velocity_limits: true + max_velocity: 1.6000000000000001 + has_acceleration_limits: false + max_acceleration: 0 + joint_2: + has_velocity_limits: true + max_velocity: 1.6000000000000001 + has_acceleration_limits: false + max_acceleration: 0 + joint_3: + has_velocity_limits: true + max_velocity: 1.6000000000000001 + has_acceleration_limits: false + max_acceleration: 0 + joint_4: + has_velocity_limits: true + max_velocity: 1.6000000000000001 + has_acceleration_limits: false + max_acceleration: 0 + joint_5: + has_velocity_limits: true + max_velocity: 1.6000000000000001 + has_acceleration_limits: false + max_acceleration: 0 + joint_6: + has_velocity_limits: true + max_velocity: 3.2000000000000002 + has_acceleration_limits: false + max_acceleration: 0 + right_finger_bottom_joint: + has_velocity_limits: true + max_velocity: 0.59999999999999998 + has_acceleration_limits: false + max_acceleration: 0 diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/kinematics.yaml b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/kinematics.yaml new file mode 100644 index 00000000..5f1d81b6 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/kinematics.yaml @@ -0,0 +1,4 @@ +gen3_lite_arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.0050000000000000001 + kinematics_solver_timeout: 0.0050000000000000001 diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/moveit.rviz b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/moveit.rviz new file mode 100644 index 00000000..f31651ed --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/moveit.rviz @@ -0,0 +1,51 @@ +Panels: + - Class: rviz_common/Displays + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - Class: rviz_common/Help + Name: Help + - Class: rviz_common/Views + Name: Views +Visualization Manager: + Displays: + - Class: rviz_default_plugins/Grid + Name: Grid + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Name: MotionPlanning + Planned Path: + Loop Animation: true + State Display Time: 0.05 s + Trajectory Topic: display_planned_path + Planning Scene Topic: monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Robot: + Robot Alpha: 0.5 + Value: true + Global Options: + Fixed Frame: world + Tools: + - Class: rviz_default_plugins/Interact + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.0 + Focal Point: + X: -0.1 + Y: 0.25 + Z: 0.30 + Name: Current View + Pitch: 0.5 + Target Frame: world + Yaw: -0.623 +Window Geometry: + Height: 975 + QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Width: 1200 diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/moveit_controllers.yaml b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/moveit_controllers.yaml new file mode 100644 index 00000000..0430c856 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/moveit_controllers.yaml @@ -0,0 +1,20 @@ +# MoveIt uses this configuration for controller management + +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - joint_trajectory_controller + + joint_trajectory_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + - right_finger_bottom_joint diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/ompl_planning.yaml new file mode 100644 index 00000000..10c1df28 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,208 @@ +###################################### NOTE ############################################# +# +# This is the Humble version of this file. On other ROS2 distributions (such as Rolling), +# you might encounter errors with MoveIt regarding the syntax of the request_adpters +# section, such as: +# +# what(): parameter 'ompl.request_adapters' has invalid type: expected [string] got [string_array] +# +# This is because on Humble, MoveIt is expecting a simple string for the request adapters, +# while some distributions expect it as an array of strings instead. If it's the case for you, +# You just need to remove the folded style block (>-) and replace it by a list of strings : +# +# request_adapters: +# - default_planner_request_adapters/AddTimeOptimalParameterization +# - default_planner_request_adapters/ResolveConstraintFrames +# - default_planner_request_adapters/FixWorkspaceBounds +# - default_planner_request_adapters/FixStartStateBounds +# - default_planner_request_adapters/FixStartStateCollision +# - default_planner_request_adapters/FixStartStatePathConstraints +# +###################################### NOTE ############################################# + +planning_plugin: ompl_interface/OMPLPlanner +request_adapters: >- + default_planner_request_adapters/AddTimeOptimalParameterization + default_planner_request_adapters/ResolveConstraintFrames + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints +start_state_max_bounds_error: 0.1 +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + 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 + LBKPIECEkConfigDefault: + 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 + BKPIECEkConfigDefault: + 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 + KPIECEkConfigDefault: + 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 + RRTkConfigDefault: + 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 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + 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 + TRRTkConfigDefault: + 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 expression. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar + FMTkConfigDefault: + 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 + BFMTkConfigDefault: + 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 + PDSTkConfigDefault: + type: geometric::PDST + STRIDEkConfigDefault: + 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 + BiTRRTkConfigDefault: + 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 + LBTRRTkConfigDefault: + 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 + BiESTkConfigDefault: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjESTkConfigDefault: + 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 + LazyPRMkConfigDefault: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstarkConfigDefault: + type: geometric::LazyPRMstar + SPARSkConfigDefault: + 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 + SPARStwokConfigDefault: + 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 + TrajOptDefault: + type: geometric::TrajOpt + +gen3_lite_arm: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + - FMTkConfigDefault + - BFMTkConfigDefault + - PDSTkConfigDefault + - STRIDEkConfigDefault + - BiTRRTkConfigDefault + - LBTRRTkConfigDefault + - BiESTkConfigDefault + - ProjESTkConfigDefault + - LazyPRMkConfigDefault + - LazyPRMstarkConfigDefault + - SPARSkConfigDefault + - SPARStwokConfigDefault + - TrajOptDefault +gen3_lite_gripper: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + - FMTkConfigDefault + - BFMTkConfigDefault + - PDSTkConfigDefault + - STRIDEkConfigDefault + - BiTRRTkConfigDefault + - LBTRRTkConfigDefault + - BiESTkConfigDefault + - ProjESTkConfigDefault + - LazyPRMkConfigDefault + - LazyPRMstarkConfigDefault + - SPARSkConfigDefault + - SPARStwokConfigDefault + - TrajOptDefault diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/pilz_cartesian_limits.yaml b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/pilz_cartesian_limits.yaml new file mode 100644 index 00000000..b2997caf --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/pilz_cartesian_limits.yaml @@ -0,0 +1,6 @@ +# Limits for the Pilz planner +cartesian_limits: + max_trans_vel: 1.0 + max_trans_acc: 2.25 + max_trans_dec: -5.0 + max_rot_vel: 1.57 diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/ros2_controllers.yaml b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/ros2_controllers.yaml new file mode 100644 index 00000000..c63f0f39 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/config/ros2_controllers.yaml @@ -0,0 +1,42 @@ +# This config file is used by ros2_control +controller_manager: + ros__parameters: + update_rate: 100 # Hz + + joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + + + twist_controller: + type: picknik_twist_controller/PicknikTwistController + + + fault_controller: + type: picknik_reset_fault_controller/PicknikResetFaultController + + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + +joint_trajectory_controller: + ros__parameters: + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + - right_finger_bottom_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity +twist_controller: + ros__parameters: + joint: tcp +fault_controller: + ros__parameters: + joints: + [] diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/demo.launch.py b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/demo.launch.py new file mode 100644 index 00000000..87d72097 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/demo.launch.py @@ -0,0 +1,22 @@ +# Copyright (c) 2024 PickNik, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_demo_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder( + "gen3_lite", package_name="kinova_gen3_lite_moveit_config" + ).to_moveit_configs() + return generate_demo_launch(moveit_config) diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/move_group.launch.py b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/move_group.launch.py new file mode 100644 index 00000000..74be16b3 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/move_group.launch.py @@ -0,0 +1,22 @@ +# Copyright (c) 2024 PickNik, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_move_group_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder( + "gen3_lite", package_name="kinova_gen3_lite_moveit_config" + ).to_moveit_configs() + return generate_move_group_launch(moveit_config) diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/moveit_rviz.launch.py b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/moveit_rviz.launch.py new file mode 100644 index 00000000..8f862689 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/moveit_rviz.launch.py @@ -0,0 +1,22 @@ +# Copyright (c) 2024 PickNik, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_moveit_rviz_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder( + "gen3_lite", package_name="kinova_gen3_lite_moveit_config" + ).to_moveit_configs() + return generate_moveit_rviz_launch(moveit_config) diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/robot.launch.py b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/robot.launch.py new file mode 100644 index 00000000..83ea472d --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/robot.launch.py @@ -0,0 +1,243 @@ +# Copyright (c) 2024 PickNik, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration +from launch.actions import ( + DeclareLaunchArgument, + OpaqueFunction, + RegisterEventHandler, +) +from launch.event_handlers import OnProcessExit +from launch.conditions import IfCondition, UnlessCondition +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +from moveit_configs_utils import MoveItConfigsBuilder + + +def launch_setup(context, *args, **kwargs): + # Initialize Arguments + robot_ip = LaunchConfiguration("robot_ip") + use_fake_hardware = LaunchConfiguration("use_fake_hardware") + gripper_max_velocity = LaunchConfiguration("gripper_max_velocity") + gripper_max_force = LaunchConfiguration("gripper_max_force") + launch_rviz = LaunchConfiguration("launch_rviz") + use_sim_time = LaunchConfiguration("use_sim_time") + + launch_arguments = { + "robot_ip": robot_ip, + "use_fake_hardware": use_fake_hardware, + "gripper": "gen3_lite_2f", + "gripper_joint_name": "right_finger_bottom_joint", + "dof": "6", + "gripper_max_velocity": gripper_max_velocity, + "gripper_max_force": gripper_max_force, + } + + moveit_config = ( + MoveItConfigsBuilder("gen3", package_name="kinova_gen3_lite_moveit_config") + .robot_description(mappings=launch_arguments) + .trajectory_execution(file_path="config/moveit_controllers.yaml") + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) + .planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"]) + .to_moveit_configs() + ) + + moveit_config.moveit_cpp.update({"use_sim_time": use_sim_time.perform(context) == "true"}) + + move_group_node = Node( + package="moveit_ros_move_group", + executable="move_group", + output="screen", + parameters=[ + moveit_config.to_dict(), + ], + ) + + # Static TF + static_tf = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher", + output="log", + arguments=["--frame-id", "world", "--child-frame-id", "base_link"], + ) + + # Publish TF + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="both", + parameters=[ + moveit_config.robot_description, + ], + ) + + # ros2_control using FakeSystem as hardware + ros2_controllers_path = os.path.join( + get_package_share_directory("kinova_gen3_lite_moveit_config"), + "config", + "ros2_controllers.yaml", + ) + ros2_control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[ros2_controllers_path], + remappings=[ + ("/controller_manager/robot_description", "/robot_description"), + ], + output="both", + ) + + robot_traj_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_trajectory_controller", "-c", "/controller_manager"], + ) + + robot_pos_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["twist_controller", "--inactive", "-c", "/controller_manager"], + ) + + robot_hand_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["robotiq_gripper_controller", "-c", "/controller_manager"], + ) + + fault_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["fault_controller", "-c", "/controller_manager"], + condition=UnlessCondition(use_fake_hardware), + ) + + # rviz with moveit configuration + rviz_config_file = ( + get_package_share_directory("kinova_gen3_lite_moveit_config") + "/config/moveit.rviz" + ) + rviz_node = Node( + package="rviz2", + condition=IfCondition(launch_rviz), + executable="rviz2", + name="rviz2_moveit", + output="log", + arguments=["-d", rviz_config_file], + parameters=[ + moveit_config.robot_description, + moveit_config.robot_description_semantic, + moveit_config.robot_description_kinematics, + moveit_config.planning_pipelines, + moveit_config.joint_limits, + ], + ) + + joint_state_broadcaster_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[ + "joint_state_broadcaster", + "--controller-manager", + "/controller_manager", + ], + ) + + # Delay rviz start after `joint_state_broadcaster` + delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[rviz_node], + ), + condition=IfCondition(launch_rviz), + ) + + nodes_to_start = [ + ros2_control_node, + robot_state_publisher, + joint_state_broadcaster_spawner, + delay_rviz_after_joint_state_broadcaster_spawner, + robot_traj_controller_spawner, + robot_pos_controller_spawner, + robot_hand_controller_spawner, + fault_controller_spawner, + move_group_node, + static_tf, + ] + + return nodes_to_start + + +def generate_launch_description(): + # Declare arguments + declared_arguments = [] + declared_arguments.append( + DeclareLaunchArgument( + "robot_ip", + description="IP address by which the robot can be reached.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_fake_hardware", + default_value="false", + description="Start robot with fake hardware mirroring command to its states.", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "gripper_max_velocity", + default_value="100.0", + description="Max velocity for gripper commands", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "gripper_max_force", + default_value="100.0", + description="Max force for gripper commands", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_internal_bus_gripper_comm", + default_value="true", + description="Use arm's internal gripper connection", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_external_cable", + default_value="false", + description="Max force for gripper commands", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_sim_time", + default_value="false", + description="Use simulated clock", + ) + ) + declared_arguments.append( + DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?") + ) + + return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)]) diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/rsp.launch.py b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/rsp.launch.py new file mode 100644 index 00000000..ab4143cf --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/rsp.launch.py @@ -0,0 +1,22 @@ +# Copyright (c) 2024 PickNik, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_rsp_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder( + "gen3_lite", package_name="kinova_gen3_lite_moveit_config" + ).to_moveit_configs() + return generate_rsp_launch(moveit_config) diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/setup_assistant.launch.py b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/setup_assistant.launch.py new file mode 100644 index 00000000..0a1c8e8b --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/setup_assistant.launch.py @@ -0,0 +1,22 @@ +# Copyright (c) 2024 PickNik, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_setup_assistant_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder( + "gen3_lite", package_name="kinova_gen3_lite_moveit_config" + ).to_moveit_configs() + return generate_setup_assistant_launch(moveit_config) diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/sim.launch.py b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/sim.launch.py new file mode 100644 index 00000000..6af60c62 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/sim.launch.py @@ -0,0 +1,112 @@ +# Copyright (c) 2024 PickNik, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Author: Anthony Baker + +import os + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.conditions import IfCondition + +from ament_index_python.packages import get_package_share_directory + +from moveit_configs_utils import MoveItConfigsBuilder + + +def generate_launch_description(): + declared_arguments = [] + # Simulation specific arguments + declared_arguments.append( + DeclareLaunchArgument( + "sim_ignition", + default_value="true", + description="Use Ignition for simulation", + ) + ) + declared_arguments.append( + DeclareLaunchArgument( + "use_sim_time", + default_value="true", + description="Use simulated clock", + ) + ) + declared_arguments.append( + DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?") + ) + + # Initialize Arguments + launch_rviz = LaunchConfiguration("launch_rviz") + use_sim_time = LaunchConfiguration("use_sim_time") + sim_ignition = LaunchConfiguration("sim_ignition") + + description_arguments = { + "robot_ip": "xxx.yyy.zzz.www", + "use_fake_hardware": "false", + "gripper": "gen3_lite_2f", + "dof": "6", + "sim_ignition": sim_ignition, + } + + moveit_config = ( + MoveItConfigsBuilder("gen3_lite", package_name="kinova_gen3_lite_moveit_config") + .robot_description(mappings=description_arguments) + .trajectory_execution(file_path="config/moveit_controllers.yaml") + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) + .planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"]) + .to_moveit_configs() + ) + + # Start the actual move_group node/action server + move_group_node = Node( + package="moveit_ros_move_group", + executable="move_group", + output="log", + parameters=[moveit_config.to_dict(), {"use_sim_time": use_sim_time}], + arguments=[ + "--ros-args", + "--log-level", + "fatal", + ], # MoveIt is spamming the log because of unknown '*_mimic' joints + condition=IfCondition(launch_rviz), + ) + + rviz_config_path = os.path.join( + get_package_share_directory("kinova_gen3_lite_moveit_config"), + "config", + "moveit.rviz", + ) + + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_path], + parameters=[ + moveit_config.robot_description, + moveit_config.robot_description_semantic, + moveit_config.planning_pipelines, + moveit_config.robot_description_kinematics, + moveit_config.joint_limits, + {"use_sim_time": use_sim_time}, + ], + condition=IfCondition(launch_rviz), + ) + + return LaunchDescription(declared_arguments + [move_group_node, rviz_node]) diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/spawn_controllers.launch.py b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/spawn_controllers.launch.py new file mode 100644 index 00000000..683c9bbd --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/spawn_controllers.launch.py @@ -0,0 +1,22 @@ +# Copyright (c) 2024 PickNik, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_spawn_controllers_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder( + "gen3_lite", package_name="kinova_gen3_lite_moveit_config" + ).to_moveit_configs() + return generate_spawn_controllers_launch(moveit_config) diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/static_virtual_joint_tfs.launch.py b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/static_virtual_joint_tfs.launch.py new file mode 100644 index 00000000..1262d5fe --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -0,0 +1,22 @@ +# Copyright (c) 2024 PickNik, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder( + "gen3_lite", package_name="kinova_gen3_lite_moveit_config" + ).to_moveit_configs() + return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/warehouse_db.launch.py b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/warehouse_db.launch.py new file mode 100644 index 00000000..745139c5 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/launch/warehouse_db.launch.py @@ -0,0 +1,22 @@ +# Copyright (c) 2024 PickNik, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_warehouse_db_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder( + "gen3_lite", package_name="kinova_gen3_lite_moveit_config" + ).to_moveit_configs() + return generate_warehouse_db_launch(moveit_config) diff --git a/kortex_moveit_config/kinova_gen3_lite_moveit_config/package.xml b/kortex_moveit_config/kinova_gen3_lite_moveit_config/package.xml new file mode 100644 index 00000000..124c1805 --- /dev/null +++ b/kortex_moveit_config/kinova_gen3_lite_moveit_config/package.xml @@ -0,0 +1,54 @@ + + + + kinova_gen3_lite_moveit_config + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the gen3_lite with the MoveIt Motion Planning Framework + + Abed Al Rahman Al Mrad + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit2/issues + https://github.com/ros-planning/moveit2 + + Abed Al Rahman Al Mrad + + ament_cmake + + moveit_ros_move_group + moveit_kinematics + moveit_planners + moveit_simple_controller_manager + joint_state_publisher + joint_state_publisher_gui + tf2_ros + xacro + + + + controller_manager + kortex_description + moveit_configs_utils + moveit_ros_move_group + moveit_ros_visualization + moveit_ros_warehouse + moveit_setup_assistant + picknik_reset_fault_controller + picknik_twist_controller + robot_state_publisher + rviz2 + rviz_common + rviz_default_plugins + tf2_ros + + xacro + + + + ament_cmake + + diff --git a/ros2_kortex-not-released.humble.repos b/ros2_kortex-not-released.humble.repos index 76a9cfea..017825d0 100644 --- a/ros2_kortex-not-released.humble.repos +++ b/ros2_kortex-not-released.humble.repos @@ -6,7 +6,7 @@ repositories: ros2_robotiq_gripper: type: git url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git - version: main + version: humble serial: type: git url: https://github.com/tylerjw/serial.git diff --git a/ros2_kortex.humble.repos b/ros2_kortex.humble.repos index e93495ea..29aa157c 100644 --- a/ros2_kortex.humble.repos +++ b/ros2_kortex.humble.repos @@ -14,4 +14,4 @@ repositories: ros2_robotiq_gripper: type: git url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git - version: main + version: humble diff --git a/ros2_kortex.repos b/ros2_kortex.repos index fd089dd8..ee8a7b75 100644 --- a/ros2_kortex.repos +++ b/ros2_kortex.repos @@ -14,4 +14,4 @@ repositories: ros2_robotiq_gripper: type: git url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git - version: main + version: humble From d65882282fac79f39b832eacafa393c1d94a3415 Mon Sep 17 00:00:00 2001 From: aalmrad Date: Mon, 19 Aug 2024 13:51:43 -0400 Subject: [PATCH 07/17] Added the Vision Module section to the README file (#232) * Added the Vision Module section to the README file * format modifications --- README.md | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/README.md b/README.md index c1bd7bd7..ca998c41 100644 --- a/README.md +++ b/README.md @@ -245,6 +245,21 @@ You can test the gripper by calling the Action server with the following command ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command:{position: 0.0, max_effort: 100.0}}" ``` +#### Vision Module + +In order to access the Kinova Vision module's depth and color streams for the camera-equipped Gen3 arm models, please refer to the following github repository for detailed instructions: [ros2_kortex_vision](https://github.com/PickNikRobotics/ros2_kortex_vision) + +While following the instructions, please take note of the following points: +1. There is no need to install the `rgbd_launch` ROS package +2. Establishing a connection between the computer and the camera may require several attempts, so please be patient. Sometimes you may need to restart both the robot and the connected computer to successfully establish the connection. +3. Before setting the `depth_registration` argument to `true` in the `kinova_vision.launch.py` file, make sure to install the `image_proc` ROS package on your system using the following command: + +```bash +sudo apt install ros-$ROS_DISTRO-depth-image-proc +``` + +4. After starting the `kinova_vision.launch.py` file, open RViz and add the desired camera topics to visualize the captured scene. + ### Gen 3 Lite Robot The `gen3_lite.launch.py` launch file is designed to be used for Gen3 Lite arms. The typical use case to bringup the robot arm with mock hardware: From 2bf1526cf26699f025832a60ff6f2c79ffa0d1c7 Mon Sep 17 00:00:00 2001 From: aalmrad Date: Wed, 21 Aug 2024 19:44:07 -0400 Subject: [PATCH 08/17] Specified a commit hash for the ros2_robotiq_gripper repository in the .repos files (#234) --- ros2_kortex-not-released.humble.repos | 2 +- ros2_kortex.humble.repos | 2 +- ros2_kortex.repos | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ros2_kortex-not-released.humble.repos b/ros2_kortex-not-released.humble.repos index 017825d0..6a2cbfaf 100644 --- a/ros2_kortex-not-released.humble.repos +++ b/ros2_kortex-not-released.humble.repos @@ -6,7 +6,7 @@ repositories: ros2_robotiq_gripper: type: git url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git - version: humble + version: b6136bdc866a929bfb096890ca61dde1335ffd30 serial: type: git url: https://github.com/tylerjw/serial.git diff --git a/ros2_kortex.humble.repos b/ros2_kortex.humble.repos index 29aa157c..da520577 100644 --- a/ros2_kortex.humble.repos +++ b/ros2_kortex.humble.repos @@ -14,4 +14,4 @@ repositories: ros2_robotiq_gripper: type: git url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git - version: humble + version: b6136bdc866a929bfb096890ca61dde1335ffd30 diff --git a/ros2_kortex.repos b/ros2_kortex.repos index ee8a7b75..5da7477e 100644 --- a/ros2_kortex.repos +++ b/ros2_kortex.repos @@ -14,4 +14,4 @@ repositories: ros2_robotiq_gripper: type: git url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git - version: humble + version: b6136bdc866a929bfb096890ca61dde1335ffd30 From 29dca91166edd05c9780437c6f2e793af3a26de5 Mon Sep 17 00:00:00 2001 From: aalmrad Date: Fri, 6 Sep 2024 19:23:55 -0400 Subject: [PATCH 09/17] Added .STL files for the Gen3 7dof meshes (#235) --- .../arms/gen3/7dof/meshes/base_link.STL | Bin 0 -> 183884 bytes .../7dof/meshes/bracelet_no_vision_link.STL | Bin 0 -> 1334384 bytes .../7dof/meshes/bracelet_with_vision_link.STL | Bin 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z+{0yI`$O#k)2J!+SC28Mo&)$_Ul6w6_88 z!?i(%xz^%#^CjWE@LgPgHbyRMnj8H90dmFr4 z%ey|9YkR81(zJoOge$##jw&Nm%hKKk=Gv5ZmN3`adeG*m@LtS`Ze>Y(Va@p+LbWU% z+4#;X)wHA>ZpDgw9O1vSGiZgGKA$;rt%Il5BY*&4=UIs)scYqQURO%!EQ1zg6qdJI zov!P1cU#}91lor2RZiELm{6_qTw!c8K6mfJ7-Ss147pN5XSjNv8q1+tS|c%`o)c-V zYnCBbO29vI_3{ICrCM4eajw)ysZZ2)iV2k{p2bQ z-AdfAR7-25uFp0v7Pc2!GjBqnl6v%J@(^-VFMlH7(P@*EcU z5+zhiYb3Uj*P?rGUc1YXD<$&Q%;~z7xCK>9YoxBv7R-B`dsp5Qmmyb5v74{QgBkW9Qt;d8)l*qlr59CUbSqmb+)<~Qyl$Ps^X1)trT-Ug?wo^=~LpQU1$%^waZXfN}%L!z4QIOUA44E;#{HkaX;GiQS@E6K3n>_QX-#y NexR;YOKT)a{y&Cte{ui- literal 0 HcmV?d00001 From 7e0ac3422832a8b3753429abef691c1dbebfb28b Mon Sep 17 00:00:00 2001 From: aalmrad Date: Mon, 7 Oct 2024 10:03:15 -0400 Subject: [PATCH 10/17] Modified the joint limits of Gen3 and Gen3 Lite robots as per the values in the User Guides (#241) --- .../arms/gen3/6dof/urdf/gen3_macro.xacro | 6 +++--- .../arms/gen3/7dof/urdf/gen3_macro.xacro | 6 +++--- .../arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro | 12 ++++++------ 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro index 52f00efc..a5863952 100644 --- a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro +++ b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro @@ -179,7 +179,7 @@ - + @@ -208,7 +208,7 @@ - + @@ -277,7 +277,7 @@ - + diff --git a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro index 60205196..fe7d6efe 100644 --- a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro +++ b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro @@ -173,7 +173,7 @@ link="${prefix}half_arm_1_link" /> - + @@ -263,7 +263,7 @@ link="${prefix}forearm_link" /> - + @@ -353,7 +353,7 @@ link="${prefix}spherical_wrist_2_link" /> - + diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro index fb24da58..f1a0261d 100644 --- a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro +++ b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro @@ -127,7 +127,7 @@ - + @@ -159,7 +159,7 @@ - + @@ -191,7 +191,7 @@ - + @@ -223,7 +223,7 @@ - + @@ -255,7 +255,7 @@ - + @@ -263,7 +263,7 @@ - + From af5cad7a44a7426f6c59e0efedba9e4d76dcc629 Mon Sep 17 00:00:00 2001 From: aalmrad Date: Tue, 8 Oct 2024 09:25:15 -0400 Subject: [PATCH 11/17] Added the empty gripper option for gen3.launch.py (#242) * Added the empty gripper option for gen3.launch.py * Format modifications --- kortex_bringup/launch/gen3.launch.py | 4 ++-- kortex_bringup/launch/kortex_control.launch.py | 14 ++++++++++---- kortex_description/robots/gen3.xacro | 2 +- 3 files changed, 13 insertions(+), 7 deletions(-) diff --git a/kortex_bringup/launch/gen3.launch.py b/kortex_bringup/launch/gen3.launch.py index 0beb86e6..c9bd50e7 100644 --- a/kortex_bringup/launch/gen3.launch.py +++ b/kortex_bringup/launch/gen3.launch.py @@ -71,9 +71,9 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "gripper", - default_value="robotiq_2f_85", + default_value="", description="Name of the gripper attached to the arm", - choices=["robotiq_2f_85", "robotiq_2f_140"], + choices=["", "robotiq_2f_85", "robotiq_2f_140"], ) ) declared_arguments.append( diff --git a/kortex_bringup/launch/kortex_control.launch.py b/kortex_bringup/launch/kortex_control.launch.py index 81de723d..bf55bff9 100644 --- a/kortex_bringup/launch/kortex_control.launch.py +++ b/kortex_bringup/launch/kortex_control.launch.py @@ -21,12 +21,13 @@ RegisterEventHandler, ) from launch.event_handlers import OnProcessExit -from launch.conditions import IfCondition, UnlessCondition +from launch.conditions import IfCondition from launch.substitutions import ( Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution, + PythonExpression, ) from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -187,7 +188,9 @@ def launch_setup(context, *args, **kwargs): package="controller_manager", executable="spawner", arguments=[robot_hand_controller, "-c", "/controller_manager"], - condition=UnlessCondition(is_gen3_lite), + condition=IfCondition( + PythonExpression(["'", gripper, "' != '' and '", is_gen3_lite, "' == 'false'"]) + ), ) # only start the fault controller if we are using hardware @@ -205,9 +208,12 @@ def launch_setup(context, *args, **kwargs): delay_rviz_after_joint_state_broadcaster_spawner, robot_traj_controller_spawner, robot_pos_controller_spawner, - robot_hand_controller_spawner, fault_controller_spawner, ] + start_robot_hand_controller = gripper.perform(context) != "" and is_gen3_lite != "true" + # Conditionally add robot_hand_controller_spawner + if start_robot_hand_controller: + nodes_to_start.append(robot_hand_controller_spawner) return nodes_to_start @@ -304,7 +310,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "gripper", - default_value='""', + default_value="", description="Name of the gripper attached to the arm", ) ) diff --git a/kortex_description/robots/gen3.xacro b/kortex_description/robots/gen3.xacro index d6d36e51..9527825c 100644 --- a/kortex_description/robots/gen3.xacro +++ b/kortex_description/robots/gen3.xacro @@ -13,7 +13,7 @@ - + From a60a5158990dbe39fdb2fb9f8c189ad178e3901e Mon Sep 17 00:00:00 2001 From: aalmrad Date: Tue, 15 Oct 2024 13:36:08 -0400 Subject: [PATCH 12/17] Added Gen3 + Husky (#240) * Added Gen3 7DoF integration with Husky mobile robot from clearpath * Applied format modifications * Set the clearpath_config package to the latest commit * Finalizing Demo IROS * Modifications to README file --- .gitignore | 3 + README.md | 5 + clearpath.repos | 13 + clearpath/Gen3_Husky_Initial_Position.xml | 48 + clearpath/README.md | 97 ++ clearpath/commanding_script.py | 327 ++++++ clearpath/gen3_husky.sh | 81 ++ clearpath/gui.config | 1211 +++++++++++++++++++++ clearpath/gz_sim.launch.py | 92 ++ clearpath/instructions.txt | 12 + clearpath/rl_robot_config_init_script.py | 114 ++ clearpath/robot.yaml | 111 ++ clearpath/utilities.py | 163 +++ clearpath/warehouse.sdf | 493 +++++++++ 14 files changed, 2770 insertions(+) create mode 100644 clearpath.repos create mode 100644 clearpath/Gen3_Husky_Initial_Position.xml create mode 100644 clearpath/README.md create mode 100644 clearpath/commanding_script.py create mode 100755 clearpath/gen3_husky.sh create mode 100644 clearpath/gui.config create mode 100644 clearpath/gz_sim.launch.py create mode 100644 clearpath/instructions.txt create mode 100644 clearpath/rl_robot_config_init_script.py create mode 100644 clearpath/robot.yaml create mode 100644 clearpath/utilities.py create mode 100644 clearpath/warehouse.sdf diff --git a/.gitignore b/.gitignore index fcdd84ca..f29fb4ef 100644 --- a/.gitignore +++ b/.gitignore @@ -2,3 +2,6 @@ __pycache__/ *.pyc *.py.bak +log/ +build/ +install/ diff --git a/README.md b/README.md index ca998c41..34d62cd5 100644 --- a/README.md +++ b/README.md @@ -125,6 +125,11 @@ If the bug fix you need isn't in a released version or If you want to build this If you plan on using MoveIt, you must make sure that you have it already [installed](https://moveit.ros.org/install-moveit2/binary/) either from binaries or by building it from source. + If you plan on simulating the Gen3 7Dof robot mounted on the Husky mobile robot from clearpath, make sure to pull the additional related packages. On ROS2 Humble, run + ``` + vcs import src --skip-existing --input src/ros2_kortex/clearpath.repos + ``` + 4. Install dependencies, compile, and source the workspace: ``` rosdep install --ignore-src --from-paths src -y -r diff --git a/clearpath.repos b/clearpath.repos new file mode 100644 index 00000000..e7a37469 --- /dev/null +++ b/clearpath.repos @@ -0,0 +1,13 @@ +repositories: + clearpath_common: + type: git + url: https://github.com/aalmrad/clearpath_common.git + version: humble + clearpath_config: + type: git + url: https://github.com/clearpathrobotics/clearpath_config.git + version: e08cf33f53575e21e541706159e1ca1391faed6b + clearpath_msgs: + type: git + url: https://github.com/clearpathrobotics/clearpath_msgs.git + version: 7799e6b3f536d4633115c0a6044ccf0ddf522a9f diff --git a/clearpath/Gen3_Husky_Initial_Position.xml b/clearpath/Gen3_Husky_Initial_Position.xml new file mode 100644 index 00000000..ce1d049c --- /dev/null +++ b/clearpath/Gen3_Husky_Initial_Position.xml @@ -0,0 +1,48 @@ + + + + {"kinova":{"color":0}} + + 10003 + 7 + 7 + + + + + 346.29400634765625 + 0 + + + 48.7515869140625 + 1 + + + 5.772139072418213 + 2 + + + 137.63792419433594 + 3 + + + 355.8074951171875 + 4 + + + 262.2267150878906 + 5 + + + 266.206787109375 + 6 + + + + 0 + 0 + + + Gen3_Husky_Initial_Position + + diff --git a/clearpath/README.md b/clearpath/README.md new file mode 100644 index 00000000..06bd184f --- /dev/null +++ b/clearpath/README.md @@ -0,0 +1,97 @@ +# Gen3 + Husky Integration + +The Gen3 robotic arm from Kinova has been mounted on the Husky mobile platform from clearpath in Gazebo simulation environment. Both the arm and the mobile platform can be commanded simultaneously and the following explains in details what is needed to build the needed setup. +## Simulation Setup + +1. Install Gazebo Fortress +``` +sudo apt-get update && sudo apt-get install wget +sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' +wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - +sudo apt-get update && sudo apt-get install ignition-fortress +``` + +2. Install Clearpath Simulator +``` +sudo apt-get update +sudo apt-get install ros-humble-clearpath-simulator +``` + +3. Place the `robot.yaml` file in the correct directory +``` +mkdir ~/clearpath +cd ~/clearpath +cp ~/workspace/ros2_kortex_ws/src/ros2_kortex/clearpath/robot.yaml ~/clearpath/robot.yaml +``` + +4. Generate the `setup.bash` file +``` +ros2 run clearpath_generator_common generate_bash -s ~/clearpath +``` + +5. Source the previous `setup.bash` file in your `~/.bashrc` +``` +echo 'source ~/clearpath/setup.bash' >> ~/.bashrc +``` +6. Modify the `gz_sim.launch.py` using the following command: +``` +sudo cp ~/workspace/ros2_kortex_ws/src/ros2_kortex/clearpath/gz_sim.launch.py /opt/ros/humble/share/clearpath_gz/launch/gz_sim.launch.py +``` +This will lead to the following modifications: + + a. Starting the simulation in a running state which will prevent controllers timeout + + b. Adding the keyboard press topic to the ROS2-Gazebo communication bridge + +7. Modify the simulation world using the following command: +``` +sudo cp ~/workspace/ros2_kortex_ws/src/ros2_kortex/clearpath/warehouse.sdf /opt/ros/humble/share/clearpath_gz/worlds/warehouse.sdf +``` +This will lead to the following modifications: + + a. Decreasing the simulation step size down to `1 millisec` to allow for a high frequency publication of the joint states of the spawned robot + + b. Adding the table and grasping box to the simulation scene + + c. Simplifying the warehouse environment to avoid system's crashing (please note that more powerful computers can run more sophisticated simulation scenes) + +8. Modify the simulation configuration using the following command: +``` +sudo cp ~/workspace/ros2_kortex_ws/src/ros2_kortex/clearpath/gui.config /opt/ros/humble/share/clearpath_gz/config/gui.config +``` +This will change the default topic name in the teleop plugin panel in the simulation window + +9. Run the following command in **NEW** terminal window: +``` +ros2 launch clearpath_gz simulation.launch.py +``` + +## Real-life Setup to establish a sim-to-real robotic arm & gripper synchronization + +1. Follow the [instructions](https://github.com/Kinovarobotics/Kinova-kortex2_Gen3_G3L/tree/master/api_python/examples) to prepare the setup for the python kortex-api + +2. If you are using Python >=3.10 (it will probably be the case), replace `import collections` by `import collections.abc as collections` in the following files: `~/.local/lib/python3.10/site-packages/google/protobuf/internal/containers.py` and `~/.local/lib/python3.10/site-packages/google/protobuf/internal/well_known_types.py` so that you will be able to use the python kortex-api included in the `commanding_script.py` + +3. Import the `~/workspace/ros2_kortex_ws/src/ros2_kortex/clearpath/Gen3_Husky_Initial_Position.xml` file to the webapp actions. + +4. Install control_msgs package using the following command: + +``` +sudo apt install ros-humble-control-msgs +``` + +# Usage + +1. If any simulation is running, make sure to close it before proceeding. Also, make sure to use the following command to stop any trace from previous sessions: +``` +killall ruby +``` + +2. Open a new terminal in the following directory:`~/workspace/ros2_kortex_ws/src/ros2_kortex/clearpath` + +3. Run the following command to launch the entire system and follow closely the step by step instructions: +``` +./gen3_husky.sh +``` + +4. Once the entire system is up and running, in the simulation window switch to the keyboard tab in the teleop panel on the right side, then command the robot using the keyboard. Please refer to the instructions included in `~/workspace/ros2_kortex_ws/src/ros2_kortex/clearpath/instructions.txt` for more details about the available keyboard commands. diff --git a/clearpath/commanding_script.py b/clearpath/commanding_script.py new file mode 100644 index 00000000..e8533151 --- /dev/null +++ b/clearpath/commanding_script.py @@ -0,0 +1,327 @@ +# Copyright (c) 2024 Kinova, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +import rclpy +from rclpy.node import Node +from geometry_msgs.msg import Twist +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from control_msgs.msg import JointTrajectoryControllerState +from control_msgs.action import GripperCommand +from nav_msgs.msg import Odometry +from rclpy.action import ActionClient +import time +import math +import subprocess # To call ignition transport command +from std_msgs.msg import Int32 + + +class KeyboardListener(Node): + def __init__(self, arm_control, husky_control, gripper_control): + super().__init__("keyboard_listener") + self.subscription = self.create_subscription( + Int32, "/keyboard/keypress", self.keyboard_callback, 10 + ) + self.arm_control = arm_control # Reference to ArmControl instance + self.husky_control = husky_control # Reference to HuskyRobotControl instance + self.gripper_control = gripper_control # Reference to GripperControl instance + + def keyboard_callback(self, msg): + key_code = msg.data + try: + key_char = chr(key_code) # Convert ASCII integer to character + self.get_logger().info(f"Key pressed: {key_char} (code: {key_code})") + + # Map key characters to specific actions + if key_char == "H": # Move the arm to the target HORIZONTAL configuration + self.arm_control.move_arm_to( + [0.229, 1.311, 0.118, 2.413, 0.298, -2.100, -1.520], 5 + ) + elif key_char == "V": # Move the arm to the target VERTICAL configuration + self.arm_control.move_arm_to( + [ + 0.05565855, + 0.58595939, + 0.01642355, + 1.78789783, + 0.0384496, + 0.77841685, + -1.53400479, + ], + 5, + ) + + elif key_char == "O": # OPEN the gripper + self.gripper_control.command_gripper(position=0.1, max_effort=100.0) + elif key_char == "C": # CLOSE the gripper + self.gripper_control.command_gripper(position=0.5, max_effort=100.0) + elif key_char == "I": # Move the arm to the INITIAL configuration + self.arm_control.move_arm_to( + [ + -0.23921483, + 0.85088292, + 0.1007404, + 2.40223628, + -0.07318166, + -1.70646077, + -1.63699667, + ], + 5, + ) + elif key_char == "R": # RESET the robot and grasp box positions + self.husky_control.reset_poses() + elif key_char not in ["W", "A", "S", "D"]: + self.get_logger().info(f"Key {key_char} is not defined for any action.") + + except ValueError: + # Print a warning message instead of exiting the program + self.get_logger().error( + f"Key code {key_code} cannot be converted to a valid character." + ) + + +class HuskyRobotControl(Node): + def __init__(self): + super().__init__("husky_robot_control") + self.cmd_vel_pub = self.create_publisher(Twist, "/a200_0000/cmd_vel", 10) + self.odom_sub = self.create_subscription( + Odometry, "/a200_0000/platform/odom/filtered", self.odom_callback, 10 + ) + self.current_position = None + self.target_position = None + + def odom_callback(self, msg): + """Store the robot's current position.""" + self.current_position = (msg.pose.pose.position.x, msg.pose.pose.position.y) + + def move_to(self, target_x, target_y, tolerance=0.1): + """Move the robot to a target (x, y) position.""" + self.target_position = (target_x, target_y) + + # Spin until the robot reaches the target position + while not self.reached_target(tolerance): + self.publish_velocity_command() + rclpy.spin_once(self) + + # Stop the robot once it has reached the target + self.stop_robot() + + def reached_target(self, tolerance): + """Check if the robot has reached the target position.""" + if self.current_position is None: + return False + + current_x, current_y = self.current_position + target_x, target_y = self.target_position + + # Calculate the Euclidean distance between the current and target positions + distance = math.sqrt((target_x - current_x) ** 2 + (target_y - current_y) ** 2) + + self.get_logger().info(f"Distance to target: {distance}") + + return distance < tolerance + + def publish_velocity_command(self): + """Publish velocity commands to move the robot toward the target.""" + if self.current_position is None or self.target_position is None: + return + + current_x, current_y = self.current_position + target_x, target_y = self.target_position + + # Calculate the direction to the target + delta_x = target_x - current_x + delta_y = target_y - current_y + angle_to_target = math.atan2(delta_y, delta_x) + + # Command a forward velocity + msg = Twist() + msg.linear.x = 1.0 # Forward speed (you can adjust this value) + + # Control the angular velocity to face the target + msg.angular.z = angle_to_target + + self.cmd_vel_pub.publish(msg) + + def stop_robot(self): + """Publish a zero velocity command to stop the robot.""" + msg = Twist() + msg.linear.x = 0.0 + msg.angular.z = 0.0 + self.cmd_vel_pub.publish(msg) + self.get_logger().info("Target reached, stopping the robot.") + + def reset_poses(self): + """Reset the robot and the grip box positions in Ignition Gazebo.""" + try: + # Reset the robot's pose + subprocess.run( + [ + "ign", + "service", + "-s", + "/world/warehouse/set_pose", + "--reqtype", + "ignition.msgs.Pose", + "--reptype", + "ignition.msgs.Boolean", + "--timeout", + "5000", + "--req", + "position: {x: 0.000925, y: 0.000067, z: 0.132280}, " + "orientation: {x: 0, y: 0, z: 0.000007, w: 1}, " + 'name: "a200_0000/robot"', + ] + ) + print("Robot pose reset successfully.") + + # Reset the grip box's pose + subprocess.run( + [ + "ign", + "service", + "-s", + "/world/warehouse/set_pose", + "--reqtype", + "ignition.msgs.Pose", + "--reptype", + "ignition.msgs.Boolean", + "--timeout", + "5000", + "--req", + "position: {x: 3.0, y: 0.0, z: 0.53}, " + "orientation: {x: 0, y: 0, z: 0, w: 1}, " + 'name: "grip_box"', + ] + ) + print("Grip box pose reset successfully.") + + except Exception as e: + print(f"Failed to reset poses: {e}") + + +class ArmControl(Node): + def __init__(self): + super().__init__("arm_control") + self.arm_pub = self.create_publisher( + JointTrajectory, "/a200_0000/arm_0_joint_trajectory_controller/joint_trajectory", 10 + ) + # Subscribe to the state topic to monitor the arm trajectory + self.arm_state_sub = self.create_subscription( + JointTrajectoryControllerState, + "/a200_0000/arm_0_joint_trajectory_controller/state", + self.arm_state_callback, + 10, + ) + self.current_state = None + + def arm_state_callback(self, msg): + """Store the latest state of the arm.""" + self.current_state = msg + + def move_arm_to(self, positions, duration): + """Send a command to move the arm to specified positions and wait for completion.""" + traj = JointTrajectory() + traj.joint_names = [ + "arm_0_joint_1", + "arm_0_joint_2", + "arm_0_joint_3", + "arm_0_joint_4", + "arm_0_joint_5", + "arm_0_joint_6", + "arm_0_joint_7", + ] + + point = JointTrajectoryPoint() + point.positions = positions + point.time_from_start.sec = duration + + traj.points.append(point) + self.arm_pub.publish(traj) + + # Wait for the arm to complete the movement (optional) + #self.wait_for_trajectory_completion(positions) + + def wait_for_trajectory_completion(self, positions): + """Block execution until the arm reaches the target trajectory.""" + self.get_logger().info("Waiting for arm to reach target trajectory...") + tolerance = 0.02 # Define how close the joints need to be to the goal + + while rclpy.ok(): + rclpy.spin_once(self, timeout_sec=0.1) + + if self.current_state is not None: + # Check if the actual positions are close enough to the desired positions + actual_positions = self.current_state.actual.positions + + if all(abs(a - d) < tolerance for a, d in zip(actual_positions, positions)): + self.get_logger().info("Target trajectory reached.") + break + + time.sleep(0.1) # Add some delay to avoid CPU overuse + + time.sleep(2) + + +class GripperControl(Node): + def __init__(self): + super().__init__("gripper_control") + self.gripper_client = ActionClient( + self, GripperCommand, "/a200_0000/robotiq_85_controller/gripper_cmd" + ) + + def command_gripper(self, position, max_effort): + """Send a command to control the gripper position and effort.""" + goal_msg = GripperCommand.Goal() + goal_msg.command.position = position + goal_msg.command.max_effort = max_effort + + self.gripper_client.wait_for_server() + self.gripper_client.send_goal_async(goal_msg) + time.sleep(4) + + +def main(): + rclpy.init() + + # Initialize control nodes + husky_control = HuskyRobotControl() + arm_control = ArmControl() + gripper_control = GripperControl() + keyboard_listener = KeyboardListener(arm_control, husky_control, gripper_control) + + try: + # Gripper will open and close for showcasing + gripper_control.command_gripper(position=0.1, max_effort=100.0) + gripper_control.command_gripper(position=0.5, max_effort=100.0) + # Loop the code until Ctrl+C is pressed + while rclpy.ok(): + # Step 1: Trigger arm movement by keypress event or any other logic + rclpy.spin_once(keyboard_listener, timeout_sec=1.0) + + # You can also include any other periodic checks or actions here + # The rest of the robotic arm control and gripper logic + # will be triggered when certain keys are pressed + + except KeyboardInterrupt: + print("User interrupted the program (Ctrl+C)") + + finally: + # Cleanup and shutdown nodes properly + husky_control.destroy_node() + arm_control.destroy_node() + gripper_control.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/clearpath/gen3_husky.sh b/clearpath/gen3_husky.sh new file mode 100755 index 00000000..7847206e --- /dev/null +++ b/clearpath/gen3_husky.sh @@ -0,0 +1,81 @@ +#!/bin/bash + +# Run the Python script directly in the current terminal and wait for it to finish +python3 rl_robot_config_init_script.py +# Check if the Python script was successful +if [ $? -ne 0 ]; then + echo "The robot has reached the initial configuration , proceeding" +fi +sleep 5 +# After the Python script finishes, open a new terminal for each of the remaining commands +gnome-terminal -- bash -c "ros2 launch clearpath_gz simulation.launch.py; exec bash" +sleep 30 + +# Function to retry a command until it succeeds +retry_command() { + local cmd="$1" + local max_retries=10 + local count=0 + until eval "$cmd" + do + count=$((count + 1)) + if [ $count -ge $max_retries ]; then + echo "Command failed after $max_retries attempts: $cmd" + return 1 + fi + echo "Retry $count/$max_retries: $cmd" + sleep 2 + done +} + +# Reset the robot pose in Ignition Gazebo +echo "Resetting robot pose..." +retry_command "ign service -s /world/warehouse/set_pose --reqtype ignition.msgs.Pose --reptype ignition.msgs.Boolean --timeout 5000 --req \"position: {x: 0.000925, y: 0.000067, z: 0.132280}, orientation: {x: 0, y: 0, z: 0.000007, w: 1}, name: 'a200_0000/robot'\"" + +# Reset the grip box pose in Ignition Gazebo +echo "Resetting grip box pose..." +retry_command "ign service -s /world/warehouse/set_pose --reqtype ignition.msgs.Pose --reptype ignition.msgs.Boolean --timeout 5000 --req \"position: {x: 3.0, y: 0.0, z: 0.53}, orientation: {x: 0, y: 0, z: 0, w: 1}, name: 'grip_box'\"" +sleep 5 + +# Publish the initial joint positions to the simulation +echo "Setting arm initial joint positions..." +ros2 topic pub /a200_0000/arm_0_joint_trajectory_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "{ + header: { + stamp: {sec: 0, nanosec: 0}, + frame_id: '' + }, + joint_names: [ + 'arm_0_joint_1', + 'arm_0_joint_2', + 'arm_0_joint_3', + 'arm_0_joint_4', + 'arm_0_joint_5', + 'arm_0_joint_6', + 'arm_0_joint_7' + ], + points: [ + { + positions: [-0.23921483, 0.85088292, 0.1007404, 2.40223628, -0.07318166, -1.70646077, -1.63699667], + velocities: [], + accelerations: [], + effort: [], + time_from_start: {sec: 10, nanosec: 0} + } + ] +}" -1 +echo "Setting gripper initial position..." +ros2 action send_goal /a200_0000/robotiq_85_controller/gripper_cmd control_msgs/action/GripperCommand "{command:{position: 0.7, max_effort: 100.0}}" +sleep 20 +# Prompt user to check simulation status before proceeding +read -p "Check the simulation scene and the related terminal for any error or anomaly and check the roobt state using the Webapp then press Enter to continue if all is working well, otherwise relaunch the system again or eventually restart the computer" + +gnome-terminal -- bash -c "ros2 launch kortex_bringup gen3.launch.py robot_ip:=192.168.1.10 gripper:=robotiq_2f_85 launch_rviz:=false; exec bash" +sleep 5 +gnome-terminal -- bash -c "ros2 run clearpath_manipulators gazebo_to_real_robot_node; exec bash" +sleep 5 +gnome-terminal -- bash -c "ros2 run clearpath_manipulators gazebo_to_real_gripper_node; exec bash" + +read -p "Wait until the entire system is up and running then press Enter to activate the Keyboard control" + +gnome-terminal -- bash -c "python3 commanding_script.py; exec bash" + diff --git a/clearpath/gui.config b/clearpath/gui.config new file mode 100644 index 00000000..92e75305 --- /dev/null +++ b/clearpath/gui.config @@ -0,0 +1,1211 @@ + + + + -1 + -1 + + 1846 + 1016 +