ROBOTIS-GIT · sunghowoo · Aug 2, 2024 · Aug 2, 2024 · Aug 8, 2024 · Aug 27, 2024
diff --git a/turtlebot3_manipulation/package.xml b/turtlebot3_manipulation/package.xml
@@ -6,7 +6,7 @@
   <description>
     ROS 2 package for turtlebot3_manipulation
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation</url>

diff --git a/turtlebot3_manipulation_bringup/launch/__pycache__/base.launch.cpython-310.pyc b/turtlebot3_manipulation_bringup/launch/__pycache__/base.launch.cpython-310.pyc
diff --git a/turtlebot3_manipulation_bringup/launch/__pycache__/gazebo.launch.cpython-310.pyc b/turtlebot3_manipulation_bringup/launch/__pycache__/gazebo.launch.cpython-310.pyc
diff --git a/turtlebot3_manipulation_bringup/package.xml b/turtlebot3_manipulation_bringup/package.xml
@@ -6,7 +6,7 @@
   <description>
     ROS 2 package for turtlebot3_manipulation
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation</url>

diff --git a/turtlebot3_manipulation_cartographer/package.xml b/turtlebot3_manipulation_cartographer/package.xml
@@ -6,7 +6,7 @@
   <description>
     ROS 2 launch scripts for cartographer
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation</url>

diff --git a/turtlebot3_manipulation_description/package.xml b/turtlebot3_manipulation_description/package.xml
@@ -6,7 +6,7 @@
   <description>
     ROS 2 package for turtlebot3_manipulation_description
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation</url>

diff --git a/turtlebot3_manipulation_description/urdf/open_manipulator_x.urdf.xacro b/turtlebot3_manipulation_description/urdf/open_manipulator_x.urdf.xacro
@@ -24,7 +24,7 @@ https://github.com/ROBOTIS-GIT/open_manipulator/blob/kinetic-devel/open_manipula
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="${meshes_file_direction}/link1.stl" scale="0.001 0.001 0.001"/>
+          <box size="0.05 0.05 0.05"/>
         </geometry>
       </collision>
 
@@ -207,6 +207,12 @@ https://github.com/ROBOTIS-GIT/open_manipulator/blob/kinetic-devel/open_manipula
       </inertial>
     </link>
 
+    <joint name="${prefix}gripper_right_joint_mimic" type="fixed">
+      <parent link="${prefix}link5" />
+      <child link="dummy_mimic_fix" />
+    </joint>
+    <link name="dummy_mimic_fix"/>
+
     <joint name="${prefix}gripper_right_joint" type="prismatic">
       <parent link="${prefix}link5"/>
       <child link="${prefix}gripper_right_link"/>

diff --git a/turtlebot3_manipulation_example/CMakeLists.txt b/turtlebot3_manipulation_example/CMakeLists.txt
@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.8)
+project(turtlebot3_manipulation_example)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(moveit_ros_planning_interface REQUIRED)
+find_package(rclcpp REQUIRED)
+
+add_executable(hello_moveit src/hello_moveit.cpp)
+target_include_directories(hello_moveit PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(hello_moveit PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(
+  hello_moveit
+  "moveit_ros_planning_interface"
+  "rclcpp"
+)
+
+install(TARGETS hello_moveit
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/turtlebot3_manipulation_example/package.xml b/turtlebot3_manipulation_example/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>turtlebot3_manipulation_example</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">robotis</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>moveit_ros_planning_interface</depend>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/turtlebot3_manipulation_example/src/hello_moveit.cpp b/turtlebot3_manipulation_example/src/hello_moveit.cpp
@@ -0,0 +1,54 @@
+// Modify the MoveIt tutorial as much as you like using the basic example.
+// Author: Sungho Woo
+
+#include <memory>
+
+#include <rclcpp/rclcpp.hpp>
+#include <moveit/move_group_interface/move_group_interface.h>
+
+int main(int argc, char * argv[])
+{
+  // Initialize ROS and create the Node
+  rclcpp::init(argc, argv);
+  auto const node = std::make_shared<rclcpp::Node>(
+    "hello_moveit",
+    rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)
+  );
+
+  // Create a ROS logger
+  auto const logger = rclcpp::get_logger("hello_moveit");
+
+// Create the MoveIt MoveGroup Interface
+using moveit::planning_interface::MoveGroupInterface;
+auto move_group_interface = MoveGroupInterface(node, "arm");
+
+// Set a target Pose
+  auto const target_pose = []{
+    geometry_msgs::msg::Pose msg;
+    msg.orientation.w = 1.0;
+    msg.position.x = 0.2;
+    msg.position.y = 0.0;
+    msg.position.z = 0.2;
+    return msg;
+  }();
+  move_group_interface.setPoseTarget(target_pose);
+  move_group_interface.setGoalJointTolerance(0.01);
+  move_group_interface.setGoalOrientationTolerance(0.01);
+
+  // Create a plan to that target pose
+  auto const [success, plan] = [&move_group_interface]{
+    moveit::planning_interface::MoveGroupInterface::Plan msg;
+    auto const ok = static_cast<bool>(move_group_interface.plan(msg));
+    return std::make_pair(ok, msg);
+  }();
+
+  // Execute the plan
+  if(success) {
+    move_group_interface.execute(plan);
+  } else {
+    RCLCPP_ERROR(logger, "Planing failed!");
+  }
+  // Shutdown ROS
+  rclcpp::shutdown();
+  return 0;
+}
diff --git a/turtlebot3_manipulation_hardware/CHANGELOG.rst b/turtlebot3_manipulation_hardware/CHANGELOG.rst
@@ -8,4 +8,4 @@ Changelog for package turtlebot3_manipulation_hardware
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
-* Contributors: Hye-Jong KIM, Darby Lim, Will Son
+* Contributors: Hye-Jong KIM, Darby Lim, Will Son
diff --git a/turtlebot3_manipulation_hardware/package.xml b/turtlebot3_manipulation_hardware/package.xml
@@ -6,7 +6,7 @@
   <description>
     ROS 2 package for turtlebot3_manipulation_hardware
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <url type="website">https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_manipulation</url>

diff --git a/turtlebot3_manipulation_hardware/src/turtlebot3_manipulation_system.cpp b/turtlebot3_manipulation_hardware/src/turtlebot3_manipulation_system.cpp
@@ -94,9 +94,9 @@ hardware_interface::CallbackReturn TurtleBot3ManipulationSystemHardware::on_init
 
   dxl_joint_commands_.resize(4, 0.0);
   dxl_joint_commands_[0] = 0.0;
-  dxl_joint_commands_[1] = -1.57;
-  dxl_joint_commands_[2] = 1.37;
-  dxl_joint_commands_[3] = 0.26;
+  dxl_joint_commands_[1] = -1.05;
+  dxl_joint_commands_[2] = 1.05;
+  dxl_joint_commands_[3] = 0.0;
 
   dxl_gripper_commands_.resize(2, 0.0);
 

diff --git a/turtlebot3_manipulation_moveit_config/.setup_assistant b/turtlebot3_manipulation_moveit_config/.setup_assistant
@@ -22,4 +22,4 @@ moveit_setup_assistant_config:
       - position
     state:
       - position
-      - velocity
+      - velocity
diff --git a/turtlebot3_manipulation_moveit_config/CHANGELOG.rst b/turtlebot3_manipulation_moveit_config/CHANGELOG.rst
@@ -8,4 +8,4 @@ Changelog for package turtlebot3_manipulation_moveit_config
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
-* Contributors: Hye-Jong KIM, Darby Lim, Will Son
+* Contributors: Hye-Jong KIM, Darby Lim, Will Son
diff --git a/turtlebot3_manipulation_moveit_config/config/kinematics.yaml b/turtlebot3_manipulation_moveit_config/config/kinematics.yaml
@@ -2,4 +2,4 @@ arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.05
-  position_only_ik: false
+  position_only_ik: True
diff --git a/turtlebot3_manipulation_moveit_config/config/moveit_servo.yaml b/turtlebot3_manipulation_moveit_config/config/moveit_servo.yaml
@@ -66,4 +66,4 @@ self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collis
 scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]
 # Parameters for "stop_distance"-type collision checking
 collision_distance_safety_factor: 1000.0 # Must be >= 1. A large safety factor is recommended to account for latency
-min_allowable_collision_distance: 0.01 # Stop if a collision is closer than this [m]
+min_allowable_collision_distance: 0.01 # Stop if a collision is closer than this [m]
diff --git a/turtlebot3_manipulation_moveit_config/config/turtlebot3_manipulation.srdf b/turtlebot3_manipulation_moveit_config/config/turtlebot3_manipulation.srdf
@@ -94,9 +94,11 @@
     <disable_collisions link1="link1" link2="wheel_left_link" reason="Never"/>
     <disable_collisions link1="link1" link2="wheel_right_link" reason="Never"/>
     <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
+    <disable_collisions link1="link2" link2="link4" reason="Adjacent"/>
     <disable_collisions link1="link2" link2="wheel_left_link" reason="Never"/>
     <disable_collisions link1="link2" link2="wheel_right_link" reason="Never"/>
     <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
+    <disable_collisions link1="link3" link2="link5" reason="Never"/>
     <disable_collisions link1="link3" link2="wheel_left_link" reason="Never"/>
     <disable_collisions link1="link3" link2="wheel_right_link" reason="Never"/>
     <disable_collisions link1="link4" link2="link5" reason="Adjacent"/>

diff --git a/turtlebot3_manipulation_moveit_config/launch/move_group.launch.py b/turtlebot3_manipulation_moveit_config/launch/move_group.launch.py
@@ -96,7 +96,7 @@ def generate_launch_description():
         "moveit_manage_controllers": True,
         "trajectory_execution.allowed_execution_duration_scaling": 1.2,
         "trajectory_execution.allowed_goal_duration_margin": 0.5,
-        "trajectory_execution.allowed_start_tolerance": 0.01,
+        "trajectory_execution.allowed_start_tolerance": 0.05,
     }
 
     # Moveit Controllers
@@ -120,13 +120,15 @@ def generate_launch_description():
         "publish_geometry_updates": True,
         "publish_state_updates": True,
         "publish_transforms_updates": True,
+        "publish_robot_description": True,
+        "publish_robot_description_semantic": True
     }
 
     ld = LaunchDescription()
     use_sim = LaunchConfiguration('use_sim')
     declare_use_sim = DeclareLaunchArgument(
         'use_sim',
-        default_value='false',
+        default_value='true',
         description='Start robot in Gazebo simulation.')
     ld.add_action(declare_use_sim)
 

diff --git a/turtlebot3_manipulation_moveit_config/launch/setup_assistant.launch.py b/turtlebot3_manipulation_moveit_config/launch/setup_assistant.launch.py
@@ -23,4 +23,4 @@
 def generate_launch_description():
     moveit_config = MoveItConfigsBuilder("turtlebot3_manipulation",
     package_name="turtlebot3_manipulation_moveit_config").to_moveit_configs()
-    return generate_setup_assistant_launch(moveit_config)
+    return generate_setup_assistant_launch(moveit_config)
diff --git a/turtlebot3_manipulation_moveit_config/package.xml b/turtlebot3_manipulation_moveit_config/package.xml
@@ -6,7 +6,7 @@
   <description>
      An automatically generated package with all the configuration and launch files for using the turtlebot3_manipulation with the MoveIt Motion Planning Framework
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>BSD</license>
   <url type="website">http://moveit.ros.org/</url>
   <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>

diff --git a/turtlebot3_manipulation_navigation2/package.xml b/turtlebot3_manipulation_navigation2/package.xml
@@ -6,7 +6,7 @@
   <description>
     ROS 2 launch scripts for navigation2
   </description>
-  <maintainer email="willson@robotis.com">Will Son</maintainer>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>
   <author email="[email protected]">Darby Lim</author>
   <author email="[email protected]">Pyo</author>

diff --git a/turtlebot3_manipulation_teleop/CHANGELOG.rst b/turtlebot3_manipulation_teleop/CHANGELOG.rst
@@ -8,4 +8,4 @@ Changelog for package turtlebot3_manipulation_teleop
 * MoveIt environment configured
 * use ros2_control framework instead of ROBOTIS custom library
 * removed dependency to `turtlebot3_*`` and `open_manipulator` packages
-* Contributors: Hye-Jong KIM, Darby Lim, Will Son
+* Contributors: Hye-Jong KIM, Darby Lim, Will Son
diff --git a/turtlebot3_manipulation_teleop/CMakeLists.txt b/turtlebot3_manipulation_teleop/CMakeLists.txt
@@ -21,6 +21,7 @@ find_package(nav_msgs REQUIRED)
 find_package(control_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
+find_package(rclcpp_action REQUIRED)
 
 add_executable(turtlebot3_manipulation_teleop src/turtlebot3_manipulation_teleop.cpp)
 target_include_directories(turtlebot3_manipulation_teleop PUBLIC
@@ -37,6 +38,7 @@ ament_target_dependencies(
   "control_msgs"
   "sensor_msgs"
   "std_srvs"
+  "rclcpp_action"
 )
 
 install(TARGETS turtlebot3_manipulation_teleop