From cf29de6e66c3625c345b93728c833b357f5ad678 Mon Sep 17 00:00:00 2001 From: Martina Gloria Date: Thu, 28 Nov 2024 15:16:29 +0100 Subject: [PATCH] Remove xcub prefix from icub/ergocub config packages --- README.md | 4 ++-- .../.setup_assistant | 0 .../CMakeLists.txt | 2 +- .../config/ergocub.ros2_control.xacro | 0 .../config/ergocub.srdf | 0 .../config/ergocub.urdf.xacro | 0 .../config/initial_positions.yaml | 0 .../config/joint_limits.yaml | 0 .../config/kinematics.yaml | 0 .../config/moveit.rviz | 0 .../config/moveit_controllers.yaml | 0 .../config/ompl_planning.yaml | 0 .../config/pilz_cartesian_limits.yaml | 0 .../config/ros2_controllers.yaml | 0 .../config/sensors_3d.yaml | 0 .../launch/demo.launch.py | 2 +- .../launch/move_group.launch.py | 2 +- .../launch/moveit_rviz.launch.py | 2 +- .../launch/rsp.launch.py | 2 +- .../launch/setup_assistant.launch.py | 2 +- .../launch/spawn_controllers.launch.py | 2 +- .../launch/static_virtual_joint_tfs.launch.py | 2 +- .../launch/warehouse_db.launch.py | 2 +- .../package.xml | 2 +- .../.setup_assistant | 0 .../CMakeLists.txt | 2 +- .../config/icub.ros2_control.xacro | 0 .../config/icub.srdf | 0 .../config/icub.urdf.xacro | 0 .../config/initial_positions.yaml | 0 .../config/joint_limits.yaml | 0 .../config/kinematics.yaml | 0 .../config/moveit.rviz | 0 .../config/moveit_controllers.yaml | 0 .../config/ompl_planning.yaml | 0 .../config/pilz_cartesian_limits.yaml | 0 .../config/ros2_controllers.yaml | 0 .../config/sensors_3d.yaml | 0 .../launch/demo.launch.py | 2 +- .../launch/move_group.launch.py | 2 +- .../launch/moveit_rviz.launch.py | 2 +- .../launch/rsp.launch.py | 2 +- .../launch/setup_assistant.launch.py | 2 +- .../launch/spawn_controllers.launch.py | 2 +- .../launch/static_virtual_joint_tfs.launch.py | 2 +- .../launch/warehouse_db.launch.py | 2 +- .../package.xml | 2 +- xcub_moveit_all_packages/CMakeLists.txt | 4 ++-- xcub_moveit_robot/launch/circle_demo.launch.py | 2 +- xcub_moveit_robot/launch/grasp_demo.launch.py | 2 +- xcub_moveit_robot/launch/launch_icub.launch.py | 4 ++-- xcub_moveit_robot/launch/robot.launch.py | 10 +++++----- xcub_moveit_robot/launch/robot_controls.launch.py | 4 ++-- xcub_moveit_robot/launch/robot_sim.launch.py | 10 +++++----- xcub_moveit_robot/launch/spawn_model.py | 2 +- .../launch/test_controller.launch.py | 2 +- 56 files changed, 42 insertions(+), 42 deletions(-) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/.setup_assistant (100%) rename {xcub_icub_moveit_config => ergocub_moveit_config}/CMakeLists.txt (90%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/ergocub.ros2_control.xacro (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/ergocub.srdf (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/ergocub.urdf.xacro (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/initial_positions.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/joint_limits.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/kinematics.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/moveit.rviz (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/moveit_controllers.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/ompl_planning.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/pilz_cartesian_limits.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/ros2_controllers.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/config/sensors_3d.yaml (100%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/demo.launch.py (83%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/move_group.launch.py (84%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/moveit_rviz.launch.py (84%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/rsp.launch.py (83%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/setup_assistant.launch.py (84%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/spawn_controllers.launch.py (85%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/static_virtual_joint_tfs.launch.py (85%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/launch/warehouse_db.launch.py (84%) rename {xcub_ergocub_moveit_config => ergocub_moveit_config}/package.xml (96%) rename {xcub_icub_moveit_config => icub_moveit_config}/.setup_assistant (100%) rename {xcub_ergocub_moveit_config => icub_moveit_config}/CMakeLists.txt (89%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/icub.ros2_control.xacro (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/icub.srdf (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/icub.urdf.xacro (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/initial_positions.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/joint_limits.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/kinematics.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/moveit.rviz (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/moveit_controllers.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/ompl_planning.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/pilz_cartesian_limits.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/ros2_controllers.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/config/sensors_3d.yaml (100%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/demo.launch.py (64%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/move_group.launch.py (66%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/moveit_rviz.launch.py (66%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/rsp.launch.py (64%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/setup_assistant.launch.py (67%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/spawn_controllers.launch.py (67%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/static_virtual_joint_tfs.launch.py (68%) rename {xcub_icub_moveit_config => icub_moveit_config}/launch/warehouse_db.launch.py (66%) rename {xcub_icub_moveit_config => icub_moveit_config}/package.xml (98%) diff --git a/README.md b/README.md index 7cc929a..07f1b34 100644 --- a/README.md +++ b/README.md @@ -152,11 +152,11 @@ or, for simulated models: export YARP_ROBOT_NAME="iCubGazeboV2_5" ``` -### xcub_icub_moveit_config +### icub_moveit_config This package contains the configuration files to make iCub working with MoveIt2. In particular, each of the parts of iCub robot (head, left_arm, right_arm, torso, left_leg and right_leg) are defined in terms of `planning group`, and for each of them a ros2_control of type `FollowJointTrajectory` is set. -### xcub_ergocub_moveit_config +### ergocub_moveit_config It contains the same information described in the previous paragraph, but customized with ergoCub specs. diff --git a/xcub_ergocub_moveit_config/.setup_assistant b/ergocub_moveit_config/.setup_assistant similarity index 100% rename from xcub_ergocub_moveit_config/.setup_assistant rename to ergocub_moveit_config/.setup_assistant diff --git a/xcub_icub_moveit_config/CMakeLists.txt b/ergocub_moveit_config/CMakeLists.txt similarity index 90% rename from xcub_icub_moveit_config/CMakeLists.txt rename to ergocub_moveit_config/CMakeLists.txt index fdc1d51..7880778 100644 --- a/xcub_icub_moveit_config/CMakeLists.txt +++ b/ergocub_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.22) -project(xcub_icub_moveit_config) +project(ergocub_moveit_config) find_package(ament_cmake REQUIRED) diff --git a/xcub_ergocub_moveit_config/config/ergocub.ros2_control.xacro b/ergocub_moveit_config/config/ergocub.ros2_control.xacro similarity index 100% rename from xcub_ergocub_moveit_config/config/ergocub.ros2_control.xacro rename to ergocub_moveit_config/config/ergocub.ros2_control.xacro diff --git a/xcub_ergocub_moveit_config/config/ergocub.srdf b/ergocub_moveit_config/config/ergocub.srdf similarity index 100% rename from xcub_ergocub_moveit_config/config/ergocub.srdf rename to ergocub_moveit_config/config/ergocub.srdf diff --git a/xcub_ergocub_moveit_config/config/ergocub.urdf.xacro b/ergocub_moveit_config/config/ergocub.urdf.xacro similarity index 100% rename from xcub_ergocub_moveit_config/config/ergocub.urdf.xacro rename to ergocub_moveit_config/config/ergocub.urdf.xacro diff --git a/xcub_ergocub_moveit_config/config/initial_positions.yaml b/ergocub_moveit_config/config/initial_positions.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/initial_positions.yaml rename to ergocub_moveit_config/config/initial_positions.yaml diff --git a/xcub_ergocub_moveit_config/config/joint_limits.yaml b/ergocub_moveit_config/config/joint_limits.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/joint_limits.yaml rename to ergocub_moveit_config/config/joint_limits.yaml diff --git a/xcub_ergocub_moveit_config/config/kinematics.yaml b/ergocub_moveit_config/config/kinematics.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/kinematics.yaml rename to ergocub_moveit_config/config/kinematics.yaml diff --git a/xcub_ergocub_moveit_config/config/moveit.rviz b/ergocub_moveit_config/config/moveit.rviz similarity index 100% rename from xcub_ergocub_moveit_config/config/moveit.rviz rename to ergocub_moveit_config/config/moveit.rviz diff --git a/xcub_ergocub_moveit_config/config/moveit_controllers.yaml b/ergocub_moveit_config/config/moveit_controllers.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/moveit_controllers.yaml rename to ergocub_moveit_config/config/moveit_controllers.yaml diff --git a/xcub_ergocub_moveit_config/config/ompl_planning.yaml b/ergocub_moveit_config/config/ompl_planning.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/ompl_planning.yaml rename to ergocub_moveit_config/config/ompl_planning.yaml diff --git a/xcub_ergocub_moveit_config/config/pilz_cartesian_limits.yaml b/ergocub_moveit_config/config/pilz_cartesian_limits.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/pilz_cartesian_limits.yaml rename to ergocub_moveit_config/config/pilz_cartesian_limits.yaml diff --git a/xcub_ergocub_moveit_config/config/ros2_controllers.yaml b/ergocub_moveit_config/config/ros2_controllers.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/ros2_controllers.yaml rename to ergocub_moveit_config/config/ros2_controllers.yaml diff --git a/xcub_ergocub_moveit_config/config/sensors_3d.yaml b/ergocub_moveit_config/config/sensors_3d.yaml similarity index 100% rename from xcub_ergocub_moveit_config/config/sensors_3d.yaml rename to ergocub_moveit_config/config/sensors_3d.yaml diff --git a/xcub_ergocub_moveit_config/launch/demo.launch.py b/ergocub_moveit_config/launch/demo.launch.py similarity index 83% rename from xcub_ergocub_moveit_config/launch/demo.launch.py rename to ergocub_moveit_config/launch/demo.launch.py index 03d6d27..aa3e335 100644 --- a/xcub_ergocub_moveit_config/launch/demo.launch.py +++ b/ergocub_moveit_config/launch/demo.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_demo_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/move_group.launch.py b/ergocub_moveit_config/launch/move_group.launch.py similarity index 84% rename from xcub_ergocub_moveit_config/launch/move_group.launch.py rename to ergocub_moveit_config/launch/move_group.launch.py index 75fdc25..0d1a604 100644 --- a/xcub_ergocub_moveit_config/launch/move_group.launch.py +++ b/ergocub_moveit_config/launch/move_group.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_move_group_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py b/ergocub_moveit_config/launch/moveit_rviz.launch.py similarity index 84% rename from xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py rename to ergocub_moveit_config/launch/moveit_rviz.launch.py index 0b9a995..ca10fc9 100644 --- a/xcub_ergocub_moveit_config/launch/moveit_rviz.launch.py +++ b/ergocub_moveit_config/launch/moveit_rviz.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_moveit_rviz_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/rsp.launch.py b/ergocub_moveit_config/launch/rsp.launch.py similarity index 83% rename from xcub_ergocub_moveit_config/launch/rsp.launch.py rename to ergocub_moveit_config/launch/rsp.launch.py index c4469b6..ba5c01c 100644 --- a/xcub_ergocub_moveit_config/launch/rsp.launch.py +++ b/ergocub_moveit_config/launch/rsp.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_rsp_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/setup_assistant.launch.py b/ergocub_moveit_config/launch/setup_assistant.launch.py similarity index 84% rename from xcub_ergocub_moveit_config/launch/setup_assistant.launch.py rename to ergocub_moveit_config/launch/setup_assistant.launch.py index cae7606..3e25787 100644 --- a/xcub_ergocub_moveit_config/launch/setup_assistant.launch.py +++ b/ergocub_moveit_config/launch/setup_assistant.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_setup_assistant_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py b/ergocub_moveit_config/launch/spawn_controllers.launch.py similarity index 85% rename from xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py rename to ergocub_moveit_config/launch/spawn_controllers.launch.py index 7943491..9473b61 100644 --- a/xcub_ergocub_moveit_config/launch/spawn_controllers.launch.py +++ b/ergocub_moveit_config/launch/spawn_controllers.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_spawn_controllers_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py b/ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py similarity index 85% rename from xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py rename to ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py index 84a6658..fe0c7de 100644 --- a/xcub_ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ b/ergocub_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/launch/warehouse_db.launch.py b/ergocub_moveit_config/launch/warehouse_db.launch.py similarity index 84% rename from xcub_ergocub_moveit_config/launch/warehouse_db.launch.py rename to ergocub_moveit_config/launch/warehouse_db.launch.py index e635761..38210a7 100644 --- a/xcub_ergocub_moveit_config/launch/warehouse_db.launch.py +++ b/ergocub_moveit_config/launch/warehouse_db.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("ergocub", package_name="xcub_ergocub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("ergocub", package_name="ergocub_moveit_config").to_moveit_configs() return generate_warehouse_db_launch(moveit_config) diff --git a/xcub_ergocub_moveit_config/package.xml b/ergocub_moveit_config/package.xml similarity index 96% rename from xcub_ergocub_moveit_config/package.xml rename to ergocub_moveit_config/package.xml index 0dd08ab..e390852 100644 --- a/xcub_ergocub_moveit_config/package.xml +++ b/ergocub_moveit_config/package.xml @@ -1,7 +1,7 @@ - xcub_ergocub_moveit_config + ergocub_moveit_config 0.3.0 A ROS2 package with the configuration and launch files for using the ergoCub with the MoveIt Motion Planning Framework diff --git a/xcub_icub_moveit_config/.setup_assistant b/icub_moveit_config/.setup_assistant similarity index 100% rename from xcub_icub_moveit_config/.setup_assistant rename to icub_moveit_config/.setup_assistant diff --git a/xcub_ergocub_moveit_config/CMakeLists.txt b/icub_moveit_config/CMakeLists.txt similarity index 89% rename from xcub_ergocub_moveit_config/CMakeLists.txt rename to icub_moveit_config/CMakeLists.txt index 66f3898..13b503f 100644 --- a/xcub_ergocub_moveit_config/CMakeLists.txt +++ b/icub_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.22) -project(xcub_ergocub_moveit_config) +project(icub_moveit_config) find_package(ament_cmake REQUIRED) diff --git a/xcub_icub_moveit_config/config/icub.ros2_control.xacro b/icub_moveit_config/config/icub.ros2_control.xacro similarity index 100% rename from xcub_icub_moveit_config/config/icub.ros2_control.xacro rename to icub_moveit_config/config/icub.ros2_control.xacro diff --git a/xcub_icub_moveit_config/config/icub.srdf b/icub_moveit_config/config/icub.srdf similarity index 100% rename from xcub_icub_moveit_config/config/icub.srdf rename to icub_moveit_config/config/icub.srdf diff --git a/xcub_icub_moveit_config/config/icub.urdf.xacro b/icub_moveit_config/config/icub.urdf.xacro similarity index 100% rename from xcub_icub_moveit_config/config/icub.urdf.xacro rename to icub_moveit_config/config/icub.urdf.xacro diff --git a/xcub_icub_moveit_config/config/initial_positions.yaml b/icub_moveit_config/config/initial_positions.yaml similarity index 100% rename from xcub_icub_moveit_config/config/initial_positions.yaml rename to icub_moveit_config/config/initial_positions.yaml diff --git a/xcub_icub_moveit_config/config/joint_limits.yaml b/icub_moveit_config/config/joint_limits.yaml similarity index 100% rename from xcub_icub_moveit_config/config/joint_limits.yaml rename to icub_moveit_config/config/joint_limits.yaml diff --git a/xcub_icub_moveit_config/config/kinematics.yaml b/icub_moveit_config/config/kinematics.yaml similarity index 100% rename from xcub_icub_moveit_config/config/kinematics.yaml rename to icub_moveit_config/config/kinematics.yaml diff --git a/xcub_icub_moveit_config/config/moveit.rviz b/icub_moveit_config/config/moveit.rviz similarity index 100% rename from xcub_icub_moveit_config/config/moveit.rviz rename to icub_moveit_config/config/moveit.rviz diff --git a/xcub_icub_moveit_config/config/moveit_controllers.yaml b/icub_moveit_config/config/moveit_controllers.yaml similarity index 100% rename from xcub_icub_moveit_config/config/moveit_controllers.yaml rename to icub_moveit_config/config/moveit_controllers.yaml diff --git a/xcub_icub_moveit_config/config/ompl_planning.yaml b/icub_moveit_config/config/ompl_planning.yaml similarity index 100% rename from xcub_icub_moveit_config/config/ompl_planning.yaml rename to icub_moveit_config/config/ompl_planning.yaml diff --git a/xcub_icub_moveit_config/config/pilz_cartesian_limits.yaml b/icub_moveit_config/config/pilz_cartesian_limits.yaml similarity index 100% rename from xcub_icub_moveit_config/config/pilz_cartesian_limits.yaml rename to icub_moveit_config/config/pilz_cartesian_limits.yaml diff --git a/xcub_icub_moveit_config/config/ros2_controllers.yaml b/icub_moveit_config/config/ros2_controllers.yaml similarity index 100% rename from xcub_icub_moveit_config/config/ros2_controllers.yaml rename to icub_moveit_config/config/ros2_controllers.yaml diff --git a/xcub_icub_moveit_config/config/sensors_3d.yaml b/icub_moveit_config/config/sensors_3d.yaml similarity index 100% rename from xcub_icub_moveit_config/config/sensors_3d.yaml rename to icub_moveit_config/config/sensors_3d.yaml diff --git a/xcub_icub_moveit_config/launch/demo.launch.py b/icub_moveit_config/launch/demo.launch.py similarity index 64% rename from xcub_icub_moveit_config/launch/demo.launch.py rename to icub_moveit_config/launch/demo.launch.py index c26379a..db21b2b 100644 --- a/xcub_icub_moveit_config/launch/demo.launch.py +++ b/icub_moveit_config/launch/demo.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_demo_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/move_group.launch.py b/icub_moveit_config/launch/move_group.launch.py similarity index 66% rename from xcub_icub_moveit_config/launch/move_group.launch.py rename to icub_moveit_config/launch/move_group.launch.py index 5d0a5c2..d4108da 100644 --- a/xcub_icub_moveit_config/launch/move_group.launch.py +++ b/icub_moveit_config/launch/move_group.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_move_group_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/moveit_rviz.launch.py b/icub_moveit_config/launch/moveit_rviz.launch.py similarity index 66% rename from xcub_icub_moveit_config/launch/moveit_rviz.launch.py rename to icub_moveit_config/launch/moveit_rviz.launch.py index 798a246..485ca47 100644 --- a/xcub_icub_moveit_config/launch/moveit_rviz.launch.py +++ b/icub_moveit_config/launch/moveit_rviz.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_moveit_rviz_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/rsp.launch.py b/icub_moveit_config/launch/rsp.launch.py similarity index 64% rename from xcub_icub_moveit_config/launch/rsp.launch.py rename to icub_moveit_config/launch/rsp.launch.py index d6a412b..3dce589 100644 --- a/xcub_icub_moveit_config/launch/rsp.launch.py +++ b/icub_moveit_config/launch/rsp.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_rsp_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/setup_assistant.launch.py b/icub_moveit_config/launch/setup_assistant.launch.py similarity index 67% rename from xcub_icub_moveit_config/launch/setup_assistant.launch.py rename to icub_moveit_config/launch/setup_assistant.launch.py index 39313b6..2a4ddfb 100644 --- a/xcub_icub_moveit_config/launch/setup_assistant.launch.py +++ b/icub_moveit_config/launch/setup_assistant.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_setup_assistant_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/spawn_controllers.launch.py b/icub_moveit_config/launch/spawn_controllers.launch.py similarity index 67% rename from xcub_icub_moveit_config/launch/spawn_controllers.launch.py rename to icub_moveit_config/launch/spawn_controllers.launch.py index 7597577..7ef66a1 100644 --- a/xcub_icub_moveit_config/launch/spawn_controllers.launch.py +++ b/icub_moveit_config/launch/spawn_controllers.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_spawn_controllers_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py b/icub_moveit_config/launch/static_virtual_joint_tfs.launch.py similarity index 68% rename from xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py rename to icub_moveit_config/launch/static_virtual_joint_tfs.launch.py index 359a0e8..4804dca 100644 --- a/xcub_icub_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ b/icub_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/xcub_icub_moveit_config/launch/warehouse_db.launch.py b/icub_moveit_config/launch/warehouse_db.launch.py similarity index 66% rename from xcub_icub_moveit_config/launch/warehouse_db.launch.py rename to icub_moveit_config/launch/warehouse_db.launch.py index 5db8b9c..ca8e753 100644 --- a/xcub_icub_moveit_config/launch/warehouse_db.launch.py +++ b/icub_moveit_config/launch/warehouse_db.launch.py @@ -3,5 +3,5 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("icub", package_name="xcub_icub_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder("icub", package_name="icub_moveit_config").to_moveit_configs() return generate_warehouse_db_launch(moveit_config) diff --git a/xcub_icub_moveit_config/package.xml b/icub_moveit_config/package.xml similarity index 98% rename from xcub_icub_moveit_config/package.xml rename to icub_moveit_config/package.xml index fa39359..faf72b7 100644 --- a/xcub_icub_moveit_config/package.xml +++ b/icub_moveit_config/package.xml @@ -1,7 +1,7 @@ - xcub_icub_moveit_config + icub_moveit_config 0.3.0 An automatically generated package with all the configuration and launch files for using the iCub with the MoveIt Motion Planning Framework diff --git a/xcub_moveit_all_packages/CMakeLists.txt b/xcub_moveit_all_packages/CMakeLists.txt index 72c3a38..bbdb23c 100644 --- a/xcub_moveit_all_packages/CMakeLists.txt +++ b/xcub_moveit_all_packages/CMakeLists.txt @@ -8,9 +8,9 @@ project(xcub-moveit2) # so that it will be excluded automatically by the colcon build command # The order of inclusion was taken from colcon graph output -add_subdirectory(../xcub_ergocub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/xcub_ergocub_moveit_config) +add_subdirectory(../ergocub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/ergocub_moveit_config) add_subdirectory(../xcub_moveit_grasp ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_grasp) -add_subdirectory(../xcub_icub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/xcub_icub_moveit_config) +add_subdirectory(../icub_moveit_config ${CMAKE_CURRENT_BINARY_DIR}/icub_moveit_config) add_subdirectory(../xcub_ros2_controllers ${CMAKE_CURRENT_BINARY_DIR}/xcub_ros2_controllers) add_subdirectory(../xcub_moveit_robot ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_robot) add_subdirectory(../xcub_moveit_test_controller ${CMAKE_CURRENT_BINARY_DIR}/xcub_moveit_test_controller) diff --git a/xcub_moveit_robot/launch/circle_demo.launch.py b/xcub_moveit_robot/launch/circle_demo.launch.py index 152f3d5..8a28fa3 100644 --- a/xcub_moveit_robot/launch/circle_demo.launch.py +++ b/xcub_moveit_robot/launch/circle_demo.launch.py @@ -17,7 +17,7 @@ def generate_launch_description(): robot_name = check_robot_name() - moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() + moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs() circle_demo = Node( name="xcub_moveit_robot", diff --git a/xcub_moveit_robot/launch/grasp_demo.launch.py b/xcub_moveit_robot/launch/grasp_demo.launch.py index 452cef4..efc25b2 100644 --- a/xcub_moveit_robot/launch/grasp_demo.launch.py +++ b/xcub_moveit_robot/launch/grasp_demo.launch.py @@ -17,7 +17,7 @@ def generate_launch_description(): robot_name = check_robot_name() - moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() + moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs() grasping_demo = Node( name="grasping", diff --git a/xcub_moveit_robot/launch/launch_icub.launch.py b/xcub_moveit_robot/launch/launch_icub.launch.py index 05cd77d..4cecf3c 100644 --- a/xcub_moveit_robot/launch/launch_icub.launch.py +++ b/xcub_moveit_robot/launch/launch_icub.launch.py @@ -35,7 +35,7 @@ def generate_launch_description(): ) rviz2 = ExecuteProcess( - cmd=['ros2', 'launch', 'xcub_icub_moveit_config', 'moveit_rviz.launch.py'], + cmd=['ros2', 'launch', 'icub_moveit_config', 'moveit_rviz.launch.py'], output='screen' ) @@ -67,7 +67,7 @@ def generate_launch_description(): ) ros2_controllers_path = os.path.join( - get_package_share_directory("xcub_icub_moveit_config"), + get_package_share_directory("icub_moveit_config"), "config", "ros2_controllers.yaml", ) diff --git a/xcub_moveit_robot/launch/robot.launch.py b/xcub_moveit_robot/launch/robot.launch.py index f6130e5..6f704e4 100644 --- a/xcub_moveit_robot/launch/robot.launch.py +++ b/xcub_moveit_robot/launch/robot.launch.py @@ -38,7 +38,7 @@ def generate_launch_description(): robot_name = check_robot_name() moveit_config = ( - MoveItConfigsBuilder("xcub_"+robot_name) + MoveItConfigsBuilder(robot_name) .robot_description(file_path="config/"+robot_name+".urdf.xacro") .robot_description_semantic(file_path="config/"+robot_name+".srdf") .robot_description_kinematics(file_path="config/kinematics.yaml") @@ -56,7 +56,7 @@ def generate_launch_description(): {"use_sim_time": False}], ) - robot_description_semantic_file = load_file("xcub_"+robot_name+"_moveit_config", "config/"+robot_name+".srdf") + robot_description_semantic_file = load_file(robot_name+"_moveit_config", "config/"+robot_name+".srdf") robot_description_semantic = {"robot_description_semantic": robot_description_semantic_file} ompl_planning_pipeline_config = { @@ -66,10 +66,10 @@ def generate_launch_description(): "start_state_max_bounds_error": 0.1, } } - ompl_planning_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/ompl_planning.yaml") + ompl_planning_file = load_yaml(robot_name+"_moveit_config", "config/ompl_planning.yaml") ompl_planning_pipeline_config["move_group"].update(ompl_planning_file) - moveit_controllers_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/moveit_controllers.yaml") + moveit_controllers_file = load_yaml(robot_name+"_moveit_config", "config/moveit_controllers.yaml") moveit_controllers = {"moveit_simple_controller_manager": moveit_controllers_file, "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"} @@ -107,7 +107,7 @@ def generate_launch_description(): {"use_sim_time": False}], ) - rviz_moveit = os.path.join(get_package_share_directory("xcub_"+robot_name+"_moveit_config"), "config/moveit.rviz") + rviz_moveit = os.path.join(get_package_share_directory(robot_name+"_moveit_config"), "config/moveit.rviz") rviz2 = Node( package="rviz2", executable="rviz2", diff --git a/xcub_moveit_robot/launch/robot_controls.launch.py b/xcub_moveit_robot/launch/robot_controls.launch.py index e0b4c7e..d76d61a 100644 --- a/xcub_moveit_robot/launch/robot_controls.launch.py +++ b/xcub_moveit_robot/launch/robot_controls.launch.py @@ -21,10 +21,10 @@ def generate_launch_description(): robot_name = check_robot_name() - moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() + moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs() ros2_controllers_path = os.path.join( - get_package_share_directory("xcub_"+robot_name+"_moveit_config"), + get_package_share_directory(robot_name+"_moveit_config"), "config", "ros2_controllers.yaml", ) diff --git a/xcub_moveit_robot/launch/robot_sim.launch.py b/xcub_moveit_robot/launch/robot_sim.launch.py index 71c4911..5915409 100644 --- a/xcub_moveit_robot/launch/robot_sim.launch.py +++ b/xcub_moveit_robot/launch/robot_sim.launch.py @@ -44,7 +44,7 @@ def generate_launch_description(): ) config = ( - MoveItConfigsBuilder("xcub_"+robot_name) + MoveItConfigsBuilder(robot_name) .robot_description(file_path="config/"+robot_name+".urdf.xacro") .robot_description_semantic(file_path="config/"+robot_name+".srdf") .robot_description_kinematics(file_path="config/kinematics.yaml") @@ -69,7 +69,7 @@ def generate_launch_description(): {"use_sim_time": True}], ) - robot_description_semantic_file = load_file("xcub_"+robot_name+"_moveit_config", "config/"+robot_name+".srdf") + robot_description_semantic_file = load_file(robot_name+"_moveit_config", "config/"+robot_name+".srdf") robot_description_semantic = {"robot_description_semantic": robot_description_semantic_file} ompl_planning_pipeline_config = { @@ -79,10 +79,10 @@ def generate_launch_description(): "start_state_max_bounds_error": 0.1, } } - ompl_planning_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/ompl_planning.yaml") + ompl_planning_file = load_yaml(robot_name+"_moveit_config", "config/ompl_planning.yaml") ompl_planning_pipeline_config["move_group"].update(ompl_planning_file) - moveit_controllers_file = load_yaml("xcub_"+robot_name+"_moveit_config", "config/moveit_controllers.yaml") + moveit_controllers_file = load_yaml(robot_name+"_moveit_config", "config/moveit_controllers.yaml") moveit_controllers = {"moveit_simple_controller_manager": moveit_controllers_file, "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"} @@ -119,7 +119,7 @@ def generate_launch_description(): {"use_sim_time": True}], ) - rviz_moveit = os.path.join(get_package_share_directory("xcub_"+robot_name+"_moveit_config"), "config/moveit.rviz") + rviz_moveit = os.path.join(get_package_share_directory(robot_name+"_moveit_config"), "config/moveit.rviz") rviz2 = Node( package="rviz2", executable="rviz2", diff --git a/xcub_moveit_robot/launch/spawn_model.py b/xcub_moveit_robot/launch/spawn_model.py index 03bc430..4196570 100644 --- a/xcub_moveit_robot/launch/spawn_model.py +++ b/xcub_moveit_robot/launch/spawn_model.py @@ -13,7 +13,7 @@ def main(args=None): robot_name = os.environ["YARP_ROBOT_NAME"] - xacro_file = os.path.join(get_package_share_directory('xcub_'+robot_name+'_moveit_config'), 'config', robot_name+'.urdf.xacro') + xacro_file = os.path.join(get_package_share_directory(robot_name+'_moveit_config'), 'config', robot_name+'.urdf.xacro') assert os.path.exists(xacro_file) robot_desc = xacro.process_file(xacro_file) robot_model = robot_desc.toprettyxml() diff --git a/xcub_moveit_test_controller/launch/test_controller.launch.py b/xcub_moveit_test_controller/launch/test_controller.launch.py index d8d5837..c33ecbd 100644 --- a/xcub_moveit_test_controller/launch/test_controller.launch.py +++ b/xcub_moveit_test_controller/launch/test_controller.launch.py @@ -17,7 +17,7 @@ def generate_launch_description(): robot_name = check_robot_name() - moveit_config = MoveItConfigsBuilder("xcub_"+robot_name).to_moveit_configs() + moveit_config = MoveItConfigsBuilder(robot_name).to_moveit_configs() xcub_test_controller_node = Node( name="xcub_moveit_test_controller",