Skip to content

Latest commit

 

History

History
352 lines (325 loc) · 14.8 KB

Readme.md

File metadata and controls

352 lines (325 loc) · 14.8 KB
Raw

uf_ros_lib

This package specifically implements some python libraries for easy direct use.

moveit_configs_builder

Because our moveit package supports many different robot arms, and the configuration files used are dynamically generated based on parameters, we cannot directly use the MoveitConfigsBuilder provided by the official moveit package. Here we implement MoveitConfigsBuilder and DualMoveitConfigsBuilder similarly for our moveit package.

Reference to moveit_configs_build from moveit.

Regarding planning pipe, only ompl is loaded by default. If you need other ones (chomp, pilz_industrial_motion_planner, stomp), you need to install them yourself and create configuration files in the corresponding configuration folders. For example, if xarm6 loads pilz_industrial_motion_planner, you need to create pilz_industrial_motion_planner_planning.yaml in xarm_moveit_config/config/xarm6. (Note: the pipes listed above are not supported by all ROS versions)

  • MoveItConfigsBuilder

    class MoveItConfigsBuilder(
  context: launch.launch_context.LaunchContext,
  controllers_name: 'fake_controllers' or 'controllers',
  **kwargs
)

    • context: current context, instance of launch.launch_context.LaunchContext

    • controllers_name: 'controllers' if realrobot else 'fake_controllers' The default file name loaded by the trajectory_execution method, such as xarm_moveit_config/config/{robot}/{controllers_name}.yaml

    • kwargs: (key parameters and default values)

      • robot_ip: {robot_ip} if realrobot else ''
      • report_type: 'normal'
      • baud_checkset: True
      • default_gripper_baud: 2000000
      • dof: 5/6/7
      • robot_type: xarm/lite/uf850/xarm7_mirror
      • prefix: ''
      • hw_ns: 'xarm'
      • limited: False
      • effort_control: False
      • velocity_control: False
      • model1300: False
      • robot_sn: {robot_sn}
      • attach_to: 'world'
      • attach_xyz: '0 0 0'
      • attach_rpy: '0 0 0'
      • mesh_suffix: 'stl'
      • kinematics_suffix: ''
      • ros2_control_plugin: hardware interface plugin
        • FakeRobot: 'uf_robot_hardware/UFRobotFakeSystemHardware'
        • RealRobot: 'uf_robot_hardware/UFRobotSystemHardware'
        • GazeboRobot: 'gazebo_ros2_control/GazeboSystem'
      • ros2_control_params: the configuration file path loaded by gazebo_ros2_control
      • add_gripper: False
      • add_vacuum_gripper: False
      • add_bio_gripper: False
      • add_realsense_d435i: False
      • add_d435i_links: True
      • add_other_geometry: False
      • geometry_type: 'box'
      • geometry_mass: 0.1
      • geometry_height: 0.1
      • geometry_radius: 0.1
      • geometry_length: 0.1
      • geometry_width: 0.1
      • geometry_mesh_filename: ''
      • geometry_mesh_origin_xyz: '0 0 0'
      • geometry_mesh_origin_rpy: '0 0 0'
      • geometry_mesh_tcp_xyz: '0 0 0'
      • geometry_mesh_tcp_rpy: '0 0 0'

    • Example(FakeRobot): please refer to demo_fake.launch.py or robot_moveit_fake.launch.py for the example

      from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from uf_ros_lib.moveit_configs_builder import MoveItConfigsBuilder

def launch_setup(context, *args, **kwargs):
  dof = LaunchConfiguration('dof', default=7)
  robot_type = LaunchConfiguration('robot_type', default='xarm')
  prefix = LaunchConfiguration('prefix', default='')
  hw_ns = LaunchConfiguration('hw_ns', default='xarm')
  add_gripper = LaunchConfiguration('add_gripper', default=False)
  add_bio_gripper = LaunchConfiguration('add_bio_gripper', default=False)
  
  moveit_configs = MoveItConfigsBuilder(
    context=context,
    controllers_name='fake_controllers',
    dof=dof,
    robot_type=robot_type,
    prefix=prefix,
    hw_ns=hw_ns,
    ros2_control_plugin='uf_robot_hardware/UFRobotFakeSystemHardware',
    add_gripper=add_gripper,
    add_bio_gripper=add_bio_gripper,
  ).to_moveit_configs()

  # moveit_configs.robot_description
  # moveit_configs.robot_description_semantic
  # moveit_configs.robot_description_kinematics
  # moveit_configs.planning_pipelines
  # moveit_configs.trajectory_execution
  # moveit_configs.planning_scene_monitor
  # moveit_configs.joint_limits
  # moveit_configs.to_dict()

  move_group_node = Node(
    package='moveit_ros_move_group',
    executable='move_group',
    output='screen',
    parameters=[
      moveit_configs.to_dict()
    ],
  )
  return move_group_node

    • Example(RealRobot): please refer to demo_realmove.launch.py or robot_moveit_realmove.launch.py for the example

      from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from uf_ros_lib.moveit_configs_builder import MoveItConfigsBuilder

def launch_setup(context, *args, **kwargs):
  robot_ip = LaunchConfiguration('robot_ip')
  dof = LaunchConfiguration('dof', default=7)
  robot_type = LaunchConfiguration('robot_type', default='xarm')
  prefix = LaunchConfiguration('prefix', default='')
  hw_ns = LaunchConfiguration('hw_ns', default='xarm')
  add_gripper = LaunchConfiguration('add_gripper', default=False)
  add_bio_gripper = LaunchConfiguration('add_bio_gripper', default=False)

  moveit_configs = MoveItConfigsBuilder(
    context=context,
    controllers_name='controllers',
    robot_ip=robot_ip,
    dof=dof,
    robot_type=robot_type,
    prefix=prefix,
    hw_ns=hw_ns,
    ros2_control_plugin='uf_robot_hardware/UFRobotSystemHardware',
    add_gripper=add_gripper,
    add_bio_gripper=add_bio_gripper,
  ).to_moveit_configs()

  # moveit_configs.robot_description
  # moveit_configs.robot_description_semantic
  # moveit_configs.robot_description_kinematics
  # moveit_configs.planning_pipelines
  # moveit_configs.trajectory_execution
  # moveit_configs.planning_scene_monitor
  # moveit_configs.joint_limits
  # moveit_configs.to_dict()

  move_group_node = Node(
    package='moveit_ros_move_group',
    executable='move_group',
    output='screen',
    parameters=[
      moveit_configs.to_dict()
    ],
  )
  return move_group_node

  • DualMoveItConfigsBuilder

    class DualMoveItConfigsBuilder(
  context: launch.launch_context.LaunchContext,
  controllers_name: 'fake_controllers' or 'controllers',
  **kwargs
)

    • context: current context, instance of launch.launch_context.LaunchContext

    • controllers_name: 'controllers' if realrobot else 'fake_controllers' The default file name loaded by the trajectory_execution method, such as xarm_moveit_config/config/{robot}/{controllers_name}.yaml

    • **kwargs: (key parameters and default values)

      • robot_ip_1: {robot_ip_1} if realrobot else ''
      • robot_ip_2: {robot_ip_2} if realrobot else ''
      • report_type_1: 'normal'
      • report_type_2: 'normal'
      • baud_checkset_1: True
      • baud_checkset_2: True
      • default_gripper_baud_1: 2000000
      • default_gripper_baud_2: 2000000
      • dof_1: 5/6/7
      • dof_2: 5/6/7
      • robot_type_1: xarm/lite/uf850/xarm7_mirror
      • robot_type_2: xarm/lite/uf850/xarm7_mirror
      • prefix_1: 'L_'
      • prefix_2: 'R_'
      • hw_ns: 'xarm'
      • limited: False
      • effort_control: False
      • velocity_control: False
      • model1300_1:
      • model1300_2:
      • robot_sn_1:
      • robot_sn_2:
      • mesh_suffix: 'stl'
      • kinematics_suffix_1: ''
      • kinematics_suffix_2: ''
      • ros2_control_plugin: hardware interface plugin
        • FakeRobot: 'uf_robot_hardware/UFRobotFakeSystemHardware'
        • RealRobot: 'uf_robot_hardware/UFRobotSystemHardware'
        • GazeboRobot: 'gazebo_ros2_control/GazeboSystem'
      • ros2_control_params: the configuration file path loaded by gazebo_ros2_control
      • add_gripper_1: False
      • add_gripper_2: False
      • add_vacuum_gripper_1: False
      • add_vacuum_gripper_2: False
      • add_bio_gripper_1: False
      • add_bio_gripper_2: False
      • add_realsense_d435i_1: False
      • add_realsense_d435i_2: False
      • add_d435i_links_1: True
      • add_d435i_links_2: True
      • add_other_geometry_1: False
      • add_other_geometry_2: False
      • geometry_type_1: 'box'
      • geometry_type_2: 'box'
      • geometry_mass_1: 0.1
      • geometry_mass_2: 0.1
      • geometry_height_1: 0.1
      • geometry_height_2: 0.1
      • geometry_radius_1: 0.1
      • geometry_radius_2: 0.1
      • geometry_length_1: 0.1
      • geometry_length_2: 0.1
      • geometry_width_1: 0.1
      • geometry_width_2: 0.1
      • geometry_mesh_filename_1: ''
      • geometry_mesh_filename_2: ''
      • geometry_mesh_origin_xyz_1: '0 0 0'
      • geometry_mesh_origin_xyz_2: '0 0 0'
      • geometry_mesh_origin_rpy_1: '0 0 0'
      • geometry_mesh_origin_rpy_2: '0 0 0'
      • geometry_mesh_tcp_xyz_1: '0 0 0'
      • geometry_mesh_tcp_xyz_2: '0 0 0'
      • geometry_mesh_tcp_rpy_1: '0 0 0'
      • geometry_mesh_tcp_rpy_2: '0 0 0'

    • Example(DualFakeRobot): please refer to demo_dual_fake.launch.py or dual_robot_moveit_fake.launch.py for the example

      from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from uf_ros_lib.moveit_configs_builder import DualMoveItConfigsBuilder

def launch_setup(context, *args, **kwargs):
  dof_1 = LaunchConfiguration('dof_1', default=7)
  dof_2 = LaunchConfiguration('dof_2', default=7)
  robot_type_1 = LaunchConfiguration('robot_type_1', default='xarm')
  robot_type_2 = LaunchConfiguration('robot_type_2', default='xarm')
  prefix_1 = LaunchConfiguration('prefix_1', default='L_')
  prefix_2 = LaunchConfiguration('prefix_2', default='R_')
  hw_ns = LaunchConfiguration('hw_ns', default='xarm')
  add_gripper_1 = LaunchConfiguration('add_gripper_1', default=False)
  add_gripper_2 = LaunchConfiguration('add_gripper_2', default=False)
  add_bio_gripper_1 = LaunchConfiguration('add_bio_gripper_1', default=False)
  add_bio_gripper_2 = LaunchConfiguration('add_bio_gripper_2', default=False)

  moveit_configs = DualMoveItConfigsBuilder(
    context=context,
    controllers_name='fake_controllers',
    dof_1=dof_1,
    dof_2=dof_2,
    robot_type_1=robot_type_1,
    robot_type_2=robot_type_2,
    prefix_1=prefix_1,
    prefix_2=prefix_2,
    hw_ns=hw_ns,
    ros2_control_plugin='uf_robot_hardware/UFRobotFakeSystemHardware',
    add_gripper_1=add_gripper_1,
    add_gripper_2=add_gripper_2,
    add_bio_gripper_1=add_bio_gripper_1,
    add_bio_gripper_2=add_bio_gripper_2,
  ).to_moveit_configs()

  # moveit_configs.robot_description
  # moveit_configs.robot_description_semantic
  # moveit_configs.robot_description_kinematics
  # moveit_configs.planning_pipelines
  # moveit_configs.trajectory_execution
  # moveit_configs.planning_scene_monitor
  # moveit_configs.joint_limits
  # moveit_configs.to_dict()

  move_group_node = Node(
    package='moveit_ros_move_group',
    executable='move_group',
    output='screen',
    parameters=[
      moveit_configs.to_dict()
    ],
  )
  return move_group_node

    • Example(DualRealRobot): please refer to demo_dual_realmove.launch.py or dual_robot_moveit_realmove.launch.py for the example

      from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from uf_ros_lib.moveit_configs_builder import DualMoveItConfigsBuilder

def launch_setup(context, *args, **kwargs):
  robot_ip_1 = LaunchConfiguration('robot_ip_1')
  robot_ip_2 = LaunchConfiguration('robot_ip_2')
  dof_1 = LaunchConfiguration('dof_1', default=7)
  dof_2 = LaunchConfiguration('dof_2', default=7)
  robot_type_1 = LaunchConfiguration('robot_type_1', default='xarm')
  robot_type_2 = LaunchConfiguration('robot_type_2', default='xarm')
  prefix_1 = LaunchConfiguration('prefix_1', default='L_')
  prefix_2 = LaunchConfiguration('prefix_2', default='R_')
  hw_ns = LaunchConfiguration('hw_ns', default='xarm')
  add_gripper_1 = LaunchConfiguration('add_gripper_1', default=False)
  add_gripper_2 = LaunchConfiguration('add_gripper_2', default=False)
  add_bio_gripper_1 = LaunchConfiguration('add_bio_gripper_1', default=False)
  add_bio_gripper_2 = LaunchConfiguration('add_bio_gripper_2', default=False)

  moveit_configs = DualMoveItConfigsBuilder(
    context=context,
    controllers_name='controllers',
    robot_ip_1=robot_ip_1,
    robot_ip_2=robot_ip_2,
    dof_1=dof_1,
    dof_2=dof_2,
    robot_type_1=robot_type_1,
    robot_type_2=robot_type_2,
    prefix_1=prefix_1,
    prefix_2=prefix_2,
    hw_ns=hw_ns,
    ros2_control_plugin='uf_robot_hardware/UFRobotSystemHardware',
    add_gripper_1=add_gripper_1,
    add_gripper_2=add_gripper_2,
    add_bio_gripper_1=add_bio_gripper_1,
    add_bio_gripper_2=add_bio_gripper_2,
  ).to_moveit_configs()

  # moveit_configs.robot_description
  # moveit_configs.robot_description_semantic
  # moveit_configs.robot_description_kinematics
  # moveit_configs.planning_pipelines
  # moveit_configs.trajectory_execution
  # moveit_configs.planning_scene_monitor
  # moveit_configs.joint_limits
  # moveit_configs.to_dict()

  move_group_node = Node(
    package='moveit_ros_move_group',
    executable='move_group',
    output='screen',
    parameters=[
      moveit_configs.to_dict()
    ],
  )
  return move_group_node