diff --git a/examples/dave_demo_launch/launch/dave_oberon7_moveit.launch b/examples/dave_demo_launch/launch/dave_oberon7_moveit.launch new file mode 100755 index 00000000..64fa9f58 --- /dev/null +++ b/examples/dave_demo_launch/launch/dave_oberon7_moveit.launch @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/examples/dave_demo_launch/launch/dave_two_arm_demo.launch b/examples/dave_demo_launch/launch/dave_two_arm_demo.launch new file mode 100755 index 00000000..acf20922 --- /dev/null +++ b/examples/dave_demo_launch/launch/dave_two_arm_demo.launch @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/urdf/robots/rexrov_description/launch/upload_rexrov_oberon7_moveit.launch b/urdf/robots/rexrov_description/launch/upload_rexrov_oberon7_moveit.launch new file mode 100644 index 00000000..f7230b79 --- /dev/null +++ b/urdf/robots/rexrov_description/launch/upload_rexrov_oberon7_moveit.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + \ No newline at end of file diff --git a/urdf/robots/rexrov_description/urdf/rexrov_robot.urdf.xacro b/urdf/robots/rexrov_description/urdf/rexrov_robot.urdf.xacro new file mode 100644 index 00000000..4ebe165a --- /dev/null +++ b/urdf/robots/rexrov_description/urdf/rexrov_robot.urdf.xacro @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + 1028.0 + hydrodynamics/current_velocity + $(arg debug) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/.setup_assistant b/urdf/robots/rexrov_oberon7_moveit/.setup_assistant new file mode 100644 index 00000000..01effff2 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: rexrov_description + relative_path: urdf/rexrov_robot.urdf.xacro + xacro_args: "" + SRDF: + relative_path: config/rexrov.srdf + CONFIG: + author_name: c + author_email: c@c.com + generated_timestamp: 1644625029 \ No newline at end of file diff --git a/urdf/robots/rexrov_oberon7_moveit/CMakeLists.txt b/urdf/robots/rexrov_oberon7_moveit/CMakeLists.txt new file mode 100755 index 00000000..3da0a6af --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/CMakeLists.txt @@ -0,0 +1,38 @@ +cmake_minimum_required(VERSION 3.1.3) +project(rexrov_oberon7_moveit) +find_package(catkin REQUIRED) + +#if(NOT "${CMAKE_VERSION}" VERSION_LESS "3.16") +# set(CMAKE_CXX_STANDARD 17) +# set(CMAKE_CXX_STANDARD_REQUIRED ON) +#else() + add_compile_options(-std=c++11) +#endif() + + + +find_package(catkin REQUIRED COMPONENTS) + +find_package(gazebo REQUIRED) +find_package(roscpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(Eigen3 REQUIRED) + +catkin_package( + INCLUDE_DIRS + LIBRARIES + CATKIN_DEPENDS + ) + +include_directories(${roscpp_INCLUDE_DIRS}) +include_directories(${std_msgs_INCLUDE_DIRS}) +include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS}) +include_directories( + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} +) + +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/urdf/robots/rexrov_oberon7_moveit/config/cartesian_limits.yaml b/urdf/robots/rexrov_oberon7_moveit/config/cartesian_limits.yaml new file mode 100644 index 00000000..7df72f69 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/config/cartesian_limits.yaml @@ -0,0 +1,5 @@ +cartesian_limits: + max_trans_vel: 1 + max_trans_acc: 2.25 + max_trans_dec: -5 + max_rot_vel: 1.57 diff --git a/urdf/robots/rexrov_oberon7_moveit/config/chomp_planning.yaml b/urdf/robots/rexrov_oberon7_moveit/config/chomp_planning.yaml new file mode 100644 index 00000000..c14a673e --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearance: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/urdf/robots/rexrov_oberon7_moveit/config/fake_controllers.yaml b/urdf/robots/rexrov_oberon7_moveit/config/fake_controllers.yaml new file mode 100644 index 00000000..57436e3a --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/config/fake_controllers.yaml @@ -0,0 +1,38 @@ +controller_list: + - name: fake_arm_l_controller + type: $(arg fake_execution_type) + joints: + - oberon7_l/azimuth + - oberon7_l/shoulder + - oberon7_l/elbow + - oberon7_l/roll + - oberon7_l/pitch + - oberon7_l/wrist + - name: fake_arm_r_controller + type: $(arg fake_execution_type) + joints: + - oberon7_r/azimuth + - oberon7_r/shoulder + - oberon7_r/elbow + - oberon7_r/roll + - oberon7_r/pitch + - oberon7_r/wrist + - name: fake_hand_l_controller + type: $(arg fake_execution_type) + joints: + - oberon7_l/finger_left_joint + - oberon7_l/finger_tip_left_joint + - oberon7_l/finger_right_joint + - oberon7_l/finger_tip_right_joint + - name: fake_hand_r_controller + type: $(arg fake_execution_type) + joints: + - oberon7_r/finger_left_joint + - oberon7_r/finger_tip_left_joint + - oberon7_r/finger_right_joint + - oberon7_r/finger_tip_right_joint +initial: # Define initial robot poses per group +# - group: arm_l +# pose: home + + [] \ No newline at end of file diff --git a/urdf/robots/rexrov_oberon7_moveit/config/gazebo_controllers.yaml b/urdf/robots/rexrov_oberon7_moveit/config/gazebo_controllers.yaml new file mode 100644 index 00000000..e4d2eb00 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/config/gazebo_controllers.yaml @@ -0,0 +1,4 @@ +# Publish joint_states +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 diff --git a/urdf/robots/rexrov_oberon7_moveit/config/joint_limits.yaml b/urdf/robots/rexrov_oberon7_moveit/config/joint_limits.yaml new file mode 100644 index 00000000..9c969f2e --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/config/joint_limits.yaml @@ -0,0 +1,110 @@ +# 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: + oberon7_l/azimuth: + has_velocity_limits: true + max_velocity: 0.17 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_l/elbow: + has_velocity_limits: true + max_velocity: 0.13 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_l/finger_left_joint: + has_velocity_limits: true + max_velocity: 0.15 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_l/finger_right_joint: + has_velocity_limits: true + max_velocity: 0.15 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_l/finger_tip_left_joint: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_l/finger_tip_right_joint: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_l/pitch: + has_velocity_limits: true + max_velocity: 0.26 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_l/roll: + has_velocity_limits: true + max_velocity: 0.08500000000000001 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_l/shoulder: + has_velocity_limits: true + max_velocity: 0.17 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_l/wrist: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_r/azimuth: + has_velocity_limits: true + max_velocity: 0.17 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_r/elbow: + has_velocity_limits: true + max_velocity: 0.13 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_r/finger_left_joint: + has_velocity_limits: true + max_velocity: 0.15 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_r/finger_right_joint: + has_velocity_limits: true + max_velocity: 0.15 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_r/finger_tip_left_joint: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_r/finger_tip_right_joint: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_r/pitch: + has_velocity_limits: true + max_velocity: 0.26 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_r/roll: + has_velocity_limits: true + max_velocity: 0.08500000000000001 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_r/shoulder: + has_velocity_limits: true + max_velocity: 0.17 + has_acceleration_limits: false + max_acceleration: 0 + oberon7_r/wrist: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/urdf/robots/rexrov_oberon7_moveit/config/kinematics.yaml b/urdf/robots/rexrov_oberon7_moveit/config/kinematics.yaml new file mode 100644 index 00000000..08492c79 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/config/kinematics.yaml @@ -0,0 +1,8 @@ +arm_l: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 +arm_r: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 \ No newline at end of file diff --git a/urdf/robots/rexrov_oberon7_moveit/config/ompl_planning.yaml b/urdf/robots/rexrov_oberon7_moveit/config/ompl_planning.yaml new file mode 100644 index 00000000..38a6be45 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/config/ompl_planning.yaml @@ -0,0 +1,243 @@ +planner_configs: + AnytimePathShortening: + type: geometric::AnytimePathShortening + shortcut: true # Attempt to shortcut all new solution paths + hybridize: true # Compute hybrid solution trajectories + max_hybrid_paths: 24 # Number of hybrid paths generated per iteration + num_planners: 4 # The number of default planners to use for planning + planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]" + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + 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 + LBKPIECE: + 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 + BKPIECE: + 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 + KPIECE: + 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 + RRT: + 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 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + 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 + TRRT: + 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 expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + 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 + BFMT: + 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 + PDST: + type: geometric::PDST + STRIDE: + 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 + BiTRRT: + 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 + LBTRRT: + 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 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + 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 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + 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 + SPARStwo: + 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 +arm_l: + default_planner_config: RRT + planner_configs: + - AnytimePathShortening + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(oberon7_l/azimuth,oberon7_l/shoulder) + longest_valid_segment_fraction: 0.005 +arm_r: + default_planner_config: RRT + planner_configs: + - AnytimePathShortening + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(oberon7_r/azimuth,oberon7_r/shoulder) + longest_valid_segment_fraction: 0.005 +hand_l: + planner_configs: + - AnytimePathShortening + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(oberon7_l/finger_left_joint,oberon7_l/finger_tip_left_joint) + longest_valid_segment_fraction: 0.005 +hand_r: + planner_configs: + - AnytimePathShortening + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(oberon7_r/finger_left_joint,oberon7_r/finger_tip_left_joint) + longest_valid_segment_fraction: 0.005 diff --git a/urdf/robots/rexrov_oberon7_moveit/config/rexrov.srdf b/urdf/robots/rexrov_oberon7_moveit/config/rexrov.srdf new file mode 100644 index 00000000..ac823a4f --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/config/rexrov.srdf @@ -0,0 +1,898 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/config/ros_controllers.yaml b/urdf/robots/rexrov_oberon7_moveit/config/ros_controllers.yaml new file mode 100644 index 00000000..e69de29b diff --git a/urdf/robots/rexrov_oberon7_moveit/config/sensors_3d.yaml b/urdf/robots/rexrov_oberon7_moveit/config/sensors_3d.yaml new file mode 100644 index 00000000..51010a36 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/config/sensors_3d.yaml @@ -0,0 +1,2 @@ +sensors: + [] \ No newline at end of file diff --git a/urdf/robots/rexrov_oberon7_moveit/config/simple_moveit_controllers.yaml b/urdf/robots/rexrov_oberon7_moveit/config/simple_moveit_controllers.yaml new file mode 100644 index 00000000..4118c3b4 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/config/simple_moveit_controllers.yaml @@ -0,0 +1,2 @@ +controller_list: + [] \ No newline at end of file diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/chomp_planning_pipeline.launch.xml b/urdf/robots/rexrov_oberon7_moveit/launch/chomp_planning_pipeline.launch.xml new file mode 100755 index 00000000..70be9689 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/default_warehouse_db.launch b/urdf/robots/rexrov_oberon7_moveit/launch/default_warehouse_db.launch new file mode 100755 index 00000000..91f34508 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/demo.launch b/urdf/robots/rexrov_oberon7_moveit/launch/demo.launch new file mode 100755 index 00000000..8d30f2ec --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/demo.launch @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/demo_gazebo.launch b/urdf/robots/rexrov_oberon7_moveit/launch/demo_gazebo.launch new file mode 100755 index 00000000..a9f320c5 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/demo_gazebo.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/fake_moveit_controller_manager.launch.xml b/urdf/robots/rexrov_oberon7_moveit/launch/fake_moveit_controller_manager.launch.xml new file mode 100755 index 00000000..cac277b1 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/gazebo.launch b/urdf/robots/rexrov_oberon7_moveit/launch/gazebo.launch new file mode 100755 index 00000000..9d25480d --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/gazebo.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/joystick_control.launch b/urdf/robots/rexrov_oberon7_moveit/launch/joystick_control.launch new file mode 100755 index 00000000..9411f6e6 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/move_group.launch b/urdf/robots/rexrov_oberon7_moveit/launch/move_group.launch new file mode 100755 index 00000000..057fd617 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/move_group.launch @@ -0,0 +1,101 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/moveit.rviz b/urdf/robots/rexrov_oberon7_moveit/launch/moveit.rviz new file mode 100755 index 00000000..a951c20e --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/moveit.rviz @@ -0,0 +1,643 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - /MotionPlanning1/Planned Path1 + Splitter Ratio: 0.5 + Tree Height: 230 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: false + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + oberon7_l/base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/elbow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/end_effector: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/finger_tip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/finger_tip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/forearm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/upper_arm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/wrist_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/elbow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/end_effector: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/finger_tip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/finger_tip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/forearm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/upper_arm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/wrist_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/camera_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/cameraleft_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/cameraleft_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/cameraright_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/cameraright_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/dvl_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/dvl_sonar0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/dvl_sonar1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/dvl_sonar2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/dvl_sonar3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + rexrov/magnetometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/pose_sensor_link_default: + Alpha: 1 + Show Axes: false + Show Trail: false + rexrov/pressure_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/rpt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: arm_l + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + oberon7_l/base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/elbow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/end_effector: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/finger_tip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/finger_tip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/forearm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/upper_arm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_l/wrist_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/elbow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/end_effector: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/finger_tip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/finger_tip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/forearm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/upper_arm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + oberon7_r/wrist_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/camera_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/cameraleft_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/cameraleft_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/cameraright_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/cameraright_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/dvl_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/dvl_sonar0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/dvl_sonar1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/dvl_sonar2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/dvl_sonar3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + rexrov/magnetometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/pose_sensor_link_default: + Alpha: 1 + Show Axes: false + Show Trail: false + rexrov/pressure_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/rpt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rexrov/thruster_7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: rexrov/base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 5.878925800323486 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.75 + Focal Point: + X: 0.45829543471336365 + Y: 0.22139666974544525 + Z: -0.5603793859481812 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.03500014916062355 + Target Frame: rexrov/base_link + Yaw: 6.274960041046143 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 848 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002fafc0200000007fb000000100044006900730070006c006100790073010000003b00000175000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017f0000016900ffffff00000315000002fa00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1291 + X: 454 + Y: 0 diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/moveit_rviz.launch b/urdf/robots/rexrov_oberon7_moveit/launch/moveit_rviz.launch new file mode 100755 index 00000000..a4605c03 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/ompl_planning_pipeline.launch.xml b/urdf/robots/rexrov_oberon7_moveit/launch/ompl_planning_pipeline.launch.xml new file mode 100755 index 00000000..5a6ed8ef --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/urdf/robots/rexrov_oberon7_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml new file mode 100755 index 00000000..c7c4cf50 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/planning_context.launch b/urdf/robots/rexrov_oberon7_moveit/launch/planning_context.launch new file mode 100755 index 00000000..96ba1ca7 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/planning_context.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/planning_pipeline.launch.xml b/urdf/robots/rexrov_oberon7_moveit/launch/planning_pipeline.launch.xml new file mode 100755 index 00000000..4b4d0d66 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/rexrov_dual_arm_moveit_planning_execution.launch b/urdf/robots/rexrov_oberon7_moveit/launch/rexrov_dual_arm_moveit_planning_execution.launch new file mode 100755 index 00000000..74948ebe --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/rexrov_dual_arm_moveit_planning_execution.launch @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/rexrov_moveit_controller_manager.launch.xml b/urdf/robots/rexrov_oberon7_moveit/launch/rexrov_moveit_controller_manager.launch.xml new file mode 100644 index 00000000..5d9a263f --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/rexrov_moveit_controller_manager.launch.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/rexrov_moveit_sensor_manager.launch.xml b/urdf/robots/rexrov_oberon7_moveit/launch/rexrov_moveit_sensor_manager.launch.xml new file mode 100755 index 00000000..5d02698d --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/rexrov_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/ros_control_moveit_controller_manager.launch.xml b/urdf/robots/rexrov_oberon7_moveit/launch/ros_control_moveit_controller_manager.launch.xml new file mode 100755 index 00000000..9ebc91c1 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/ros_control_moveit_controller_manager.launch.xml @@ -0,0 +1,4 @@ + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/ros_controllers.launch b/urdf/robots/rexrov_oberon7_moveit/launch/ros_controllers.launch new file mode 100755 index 00000000..9f0ed7f5 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/run_benchmark_ompl.launch b/urdf/robots/rexrov_oberon7_moveit/launch/run_benchmark_ompl.launch new file mode 100755 index 00000000..d5dd1c7d --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/run_benchmark_ompl.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/sensor_manager.launch.xml b/urdf/robots/rexrov_oberon7_moveit/launch/sensor_manager.launch.xml new file mode 100755 index 00000000..8ba539f8 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/setup_assistant.launch b/urdf/robots/rexrov_oberon7_moveit/launch/setup_assistant.launch new file mode 100755 index 00000000..f349d292 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/setup_assistant.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/simple_moveit_controller_manager.launch.xml b/urdf/robots/rexrov_oberon7_moveit/launch/simple_moveit_controller_manager.launch.xml new file mode 100755 index 00000000..4c617530 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/simple_moveit_controller_manager.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/trajectory_execution.launch.xml b/urdf/robots/rexrov_oberon7_moveit/launch/trajectory_execution.launch.xml new file mode 100755 index 00000000..20c3dfc4 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/trajectory_execution.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/warehouse.launch b/urdf/robots/rexrov_oberon7_moveit/launch/warehouse.launch new file mode 100755 index 00000000..0712e670 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/launch/warehouse_settings.launch.xml b/urdf/robots/rexrov_oberon7_moveit/launch/warehouse_settings.launch.xml new file mode 100755 index 00000000..e473b083 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/urdf/robots/rexrov_oberon7_moveit/package.xml b/urdf/robots/rexrov_oberon7_moveit/package.xml new file mode 100755 index 00000000..396fbb07 --- /dev/null +++ b/urdf/robots/rexrov_oberon7_moveit/package.xml @@ -0,0 +1,42 @@ + + + rexrov_oberon7_moveit + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the rexrov with the MoveIt Motion Planning Framework + + c + c + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + roscpp + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + moveit_simple_controller_manager + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + rviz + tf2_ros + xacro + + + + + + rexrov_description + + +