Addition of Dual MoveIt Configured Oberon7

examples/dave_demo_launch/launch/dave_oberon7_moveit.launch

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+<?xml version="1.0"?>
+<launch>
+	<!-- <arg name="world_name" default="worlds/empty.world"/> -->
+	<arg name="world_name" default="$(find dave_worlds)/worlds/dave_ocean_waves.world"/>
+	<arg name="joy_id" default="0"/>
+	<arg name="paused" default="false"/>
+	<arg name="gui" default="true"/>
+
+	<include file="$(find gazebo_ros)/launch/empty_world.launch">
+		<arg name="world_name" value="$(arg world_name)"/>
+		<arg name="paused" value="$(arg paused)"/>
+		<arg name="use_sim_time" value="true"/>
+		<arg name="gui" value="$(arg gui)"/>
+		<arg name="headless" value="false"/>
+        <arg name="debug" value="false"/>
+        <arg name="verbose" value="true"/>
+	</include>
+
+	<!-- use ned frame north east down -->
+    <include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>
+
+	<include file="$(find rexrov_description)/launch/upload_rexrov_oberon7_moveit.launch"/>
+
+	<include file="$(find oberon7_gazebo)/launch/controller_utils.launch"/>
+
+	<!-- Start this controller -->
+	<rosparam file="$(find oberon7_gazebo)/controller/arm_controller_oberon7_l.yaml" command="load"/>
+	<node name="arm_controller_l_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller_l" respawn="false" output="screen"/> 
+
+	<rosparam file="$(find oberon7_gazebo)/controller/arm_controller_oberon7_r.yaml" command="load"/>
+	<node name="arm_controller_r_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller_r" respawn="false" output="screen"/> 
+
+	<!-- Start another controller -->
+	<rosparam file="$(find oberon7_gazebo)/controller/hand_controller_oberon7_l.yaml" command="load"/>
+	<node name="hand_controller_l_spawner" pkg="controller_manager" type="controller_manager" args="spawn hand_controller_l" respawn="false" output="screen"/>
+
+	<rosparam file="$(find oberon7_gazebo)/controller/hand_controller_oberon7_r.yaml" command="load"/>
+	<node name="hand_controller_r_spawner" pkg="controller_manager" type="controller_manager" args="spawn hand_controller_r" respawn="false" output="screen"/>
+
+	<!-- Load other controllers -->
+	<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller"/>
+
+    <include file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
+    	<arg name="uuv_name" value="rexrov" />
+    	<arg name="model_name" value="rexrov" />
+    	<arg name="joy_id" value="$(arg joy_id)"/>
+    </include>
+</launch>

examples/dave_demo_launch/launch/dave_two_arm_demo.launch

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+<launch>
+	<param name="use_sim_time" value="true"/>
+	<arg name="robot_name"/>
+
+	<!-- <arg name="init_pose"/> -->
+	<!-- <arg name="parent" default="world"/> -->
+
+	<arg name="xyzpos" default="0.0 0.0 2.0"/>
+	<arg name="parent" default="world"/>
+
+	<arg name="paused" default="false"/>
+	<arg name="gui" default="true"/>
+
+	<param name="robot_description" command="$(find xacro)/xacro '$(find oberon7_description)/urdf/oberon7_robot.urdf.xacro'"/>
+
+	<include file="$(find gazebo_ros)/launch/empty_world.launch">
+		<arg name="world_name" default="worlds/empty.world"/>
+		<arg name="paused" value="$(arg paused)"/>
+		<arg name="gui" value="$(arg gui)"/>
+	</include>
+
+	<group ns="robot1">
+		<param name="tf_prefix" value="robot1_tf"/>
+		<include file="$(find oberon7_gazebo)/launch/oberon7_multi.launch">
+			<arg name="xyzpos" value="0.0 0.0 2.0"/>
+			<arg name="parent" value="$(arg parent)"/>
+			<arg name="robot_name" value="robot1"/>
+		</include>
+	</group>
+
+	<group ns="robot2">
+		<param name="tf_prefix" value="robot2_tf"/>
+		<include file="$(find oberon7_gazebo)/launch/oberon7_multi.launch">
+			<arg name="xyzpos" value="0 2.0 2.0"/>
+			<arg name="parent" value="$(arg parent)"/>
+			<arg name="robot_name" value="robot2"/>
+		</include>
+	</group>
+</launch>

urdf/robots/rexrov_description/launch/upload_rexrov_oberon7_moveit.launch

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+<?xml version="1.0"?>
+<launch>
+
+	<arg name="namespace" default="rexrov"/>
+	<arg name="debug" default="false"/>
+
+	<param name="robot_description" command="$(find xacro)/xacro '$(find rexrov_description)/urdf/rexrov_robot.urdf.xacro' inertial_reference_frame:=world"/>
+
+
+	<node name="urdf_spawner" pkg="uuv_descriptions" type="spawn_model" respawn="false" output="screen" args="-urdf -z -20 -model $(arg namespace) -param robot_description"/>
+
+<!-- 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen">
+    	<param name="robot_description" value="/$(arg namespace)/robot_description" />
+    </node> -->
+
+</launch>

urdf/robots/rexrov_description/urdf/rexrov_robot.urdf.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="rexrov">
+	<xacro:arg name="namespace" default="rexrov"/>
+	<xacro:arg name="inertial_reference_frame" default="world"/>
+	<xacro:arg name="debug" default="false"/>
+
+	<xacro:include filename="$(find rexrov_description)/urdf/rexrov_base.xacro"/>
+	<xacro:include filename="$(find uuv_descriptions)/urdf/rexrov.gazebo.xacro"/>
+	<!-- <xacro:include filename="$(find dave_oberon7_description)/urdf/serial_arm.gazebo.xacro"/> -->
+	<!-- <xacro:include filename="$(find oberon7_description)/urdf/parameters/serial_arm.xacro"/> -->
+
+	<!-- <xacro:include filename="$(find dave_oberon7_description)/urdf/oberon7_default.xacro"/> -->
+	<xacro:include filename="$(find oberon7_description)/urdf/common.gazebo.xacro"/>
+	<xacro:include filename="$(find oberon7_description)/urdf/oberon7.urdf.xacro"/>
+
+	<xacro:rexrov_base namespace="$(arg namespace)" inertial_reference_frame="$(arg inertial_reference_frame)">
+    <!-- The underwater object plugin is given as an input block parameter to
+     allow the addition of external models of manipulator units -->
+    <gazebo>
+	  	<plugin name="uuv_plugin" filename="libuuv_underwater_object_ros_plugin.so">
+		    <fluid_density>1028.0</fluid_density>
+		    <flow_velocity_topic>hydrodynamics/current_velocity</flow_velocity_topic>
+		    <debug>$(arg debug)</debug>
+		    <!-- Adding the hydrodynamic and hydrostatic parameters for the vehicle-->
+		    <xacro:rexrov_hydro_model namespace="$(arg namespace)"/>
+		    <!-- <xacro:oberon7_hydro_model namespace="oberon7"/> -->
+      	</plugin>
+    </gazebo>
+  	</xacro:rexrov_base>
+
+<!-- oberon7 -->
+	<xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
+
+	<!-- <xacro:include filename="$(find oberon7_description)/urdf/common.gazebo.xacro"/> -->
+	<!-- <xacro:include filename="$(find oberon7_description)/urdf/oberon7.urdf.xacro"/> -->
+
+	<xacro:oberon7_arm transmission_hw_interface="$(arg transmission_hw_interface)" namespace="oberon7_r"/>
+	<xacro:oberon7_arm transmission_hw_interface="$(arg transmission_hw_interface)" namespace="oberon7_l"/>
+
+	<joint name="oberon7_r_anchor" type="fixed">
+		<parent link="$(arg namespace)/base_link"/>
+		<child link="oberon7_r/base"/>
+		<origin rpy="0 0 0" xyz="1.3 -0.5 -0.615"/>
+		<!-- <origin rpy="0 0 0" xyz="0 0 2.0"/> -->
+	</joint>
+	<joint name="oberon7_l_anchor" type="fixed">
+		<parent link="$(arg namespace)/base_link"/>
+		<child link="oberon7_l/base"/>
+		<origin rpy="0 0 0" xyz="1.3 0.5 -0.615"/>
+	</joint>
+
+</robot>

urdf/robots/rexrov_oberon7_moveit/.setup_assistant

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+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

urdf/robots/rexrov_oberon7_moveit/CMakeLists.txt

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+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})

urdf/robots/rexrov_oberon7_moveit/config/cartesian_limits.yaml

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+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57

urdf/robots/rexrov_oberon7_moveit/config/chomp_planning.yaml

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+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

urdf/robots/rexrov_oberon7_moveit/config/fake_controllers.yaml

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+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
+
+  []

urdf/robots/rexrov_oberon7_moveit/config/gazebo_controllers.yaml

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+# Publish joint_states
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50

urdf/robots/rexrov_oberon7_moveit/config/joint_limits.yaml

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+# 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