Move Group C++ Interface

CMakeLists.txt

@@ -55,7 +55,7 @@ include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
 # add_subdirectory(doc/kinematics)
 # add_subdirectory(doc/motion_planning_api)
 # add_subdirectory(doc/motion_planning_pipeline)
-# add_subdirectory(doc/move_group_interface)
+add_subdirectory(doc/move_group_interface)
 # add_subdirectory(doc/move_group_python_interface)
 # add_subdirectory(doc/perception_pipeline)
 # add_subdirectory(doc/pick_place)

doc/move_group_interface/CMakeLists.txt

@@ -1,8 +1,16 @@
 add_executable(move_group_interface_tutorial
     src/move_group_interface_tutorial.cpp)
-target_link_libraries(move_group_interface_tutorial
-    ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-install(TARGETS move_group_interface_tutorial DESTINATION
-    ${CATKIN_PACKAGE_BIN_DESTINATION})
+target_include_directories(move_group_interface_tutorial
+    PUBLIC include)
+ament_target_dependencies(move_group_interface_tutorial
+    ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
 
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(TARGETS move_group_interface_tutorial
+  DESTINATION lib/${PROJECT_NAME}
+)
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+install(DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+)

doc/move_group_interface/config/controllers.yaml

@@ -0,0 +1,15 @@
+controller_names:
+  - panda_arm_controller
+
+panda_arm_controller:
+  action_ns: follow_joint_trajectory
+  type: FollowJointTrajectory
+  default: true
+  joints:
+    - panda_joint1
+    - panda_joint2
+    - panda_joint3
+    - panda_joint4
+    - panda_joint5
+    - panda_joint6
+    - panda_joint7

doc/move_group_interface/config/panda_controllers.yaml

@@ -0,0 +1,18 @@
+panda_arm_controller:
+  ros__parameters:
+    joints:
+      - panda_joint1
+      - panda_joint2
+      - panda_joint3
+      - panda_joint4
+      - panda_joint5
+      - panda_joint6
+      - panda_joint7
+    write_op_modes:
+      - panda_joint1
+      - panda_joint2
+      - panda_joint3
+      - panda_joint4
+      - panda_joint5
+      - panda_joint6
+      - panda_joint7

doc/move_group_interface/config/start_positions.yaml

@@ -0,0 +1,19 @@
+fake_joint_driver_node:
+  ros__parameters:
+    start_position:
+      joints:
+        - panda_joint1
+        - panda_joint2
+        - panda_joint3
+        - panda_joint4
+        - panda_joint5
+        - panda_joint6
+        - panda_joint7
+      values:
+        - 0.0
+        - -0.785
+        - 0.0
+        - -2.356
+        - 0.0
+        - 1.571
+        - 0.785

doc/move_group_interface/launch/move_group.launch.py

@@ -0,0 +1,118 @@
+import os
+import yaml
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+def load_file(package_name, file_path):
+    package_path = get_package_share_directory(package_name)
+    absolute_file_path = os.path.join(package_path, file_path)
+
+    try:
+        with open(absolute_file_path, 'r') as file:
+            return file.read()
+    except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
+        return None
+
+def load_yaml(package_name, file_path):
+    package_path = get_package_share_directory(package_name)
+    absolute_file_path = os.path.join(package_path, file_path)
+
+    try:
+        with open(absolute_file_path, 'r') as file:
+            return yaml.safe_load(file)
+    except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
+        return None
+
+
+def generate_launch_description():
+
+    # planning_context
+    robot_description_config = load_file('moveit_resources_panda_description', 'urdf/panda.urdf')
+    robot_description = {'robot_description' : robot_description_config}
+
+    robot_description_semantic_config = load_file('moveit_resources_panda_moveit_config', 'config/panda.srdf')
+    robot_description_semantic = {'robot_description_semantic' : robot_description_semantic_config}
+
+    kinematics_yaml = load_yaml('moveit_resources_panda_moveit_config', 'config/kinematics.yaml')
+    robot_description_kinematics = { 'robot_description_kinematics' : kinematics_yaml }
+
+    # Planning Functionality
+    ompl_planning_pipeline_config = { 'move_group' : {
+        'planning_plugin' : 'ompl_interface/OMPLPlanner',
+        'request_adapters' : """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""" ,
+        'start_state_max_bounds_error' : 0.1 } }
+    ompl_planning_yaml = load_yaml('moveit_resources_panda_moveit_config', 'config/ompl_planning.yaml')
+    ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
+
+    # Trajectory Execution Functionality
+    controllers_yaml = load_yaml('moveit2_tutorials', 'config/controllers.yaml')
+    moveit_controllers = { 'moveit_simple_controller_manager' : controllers_yaml,
+                           'moveit_controller_manager': 'moveit_simple_controller_manager/MoveItSimpleControllerManager'}
+
+    trajectory_execution = {'moveit_manage_controllers': True,
+                            'trajectory_execution.allowed_execution_duration_scaling': 1.2,
+                            'trajectory_execution.allowed_goal_duration_margin': 0.5,
+                            'trajectory_execution.allowed_start_tolerance': 0.01}
+
+    planning_scene_monitor_parameters = {"publish_planning_scene": True,
+                 "publish_geometry_updates": True,
+                 "publish_state_updates": True,
+                 "publish_transforms_updates": True}
+
+    # Start the actual move_group node/action server
+    move_group_node = Node(package='moveit_ros_move_group',
+                           executable='move_group',
+                           output='screen',
+                           parameters=[robot_description,
+                                       robot_description_semantic,
+                                       kinematics_yaml,
+                                       ompl_planning_pipeline_config,
+                                       trajectory_execution,
+                                       moveit_controllers,
+                                       planning_scene_monitor_parameters])
+
+    # RViz
+    rviz_config_file = get_package_share_directory('moveit2_tutorials') + "/launch/move_group.rviz"
+    rviz_node = Node(package='rviz2',
+                     executable='rviz2',
+                     name='rviz2',
+                     output='log',
+                     arguments=['-d', rviz_config_file],
+                     parameters=[robot_description,
+                                 robot_description_semantic,
+                                 ompl_planning_pipeline_config,
+                                 kinematics_yaml])
+
+    # Static TF
+    static_tf = Node(package='tf2_ros',
+                     executable='static_transform_publisher',
+                     name='static_transform_publisher',
+                     output='log',
+                     arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'world', 'panda_link0'])
+
+    # Publish TF
+    robot_state_publisher = Node(package='robot_state_publisher',
+                                 executable='robot_state_publisher',
+                                 name='robot_state_publisher',
+                                 output='both',
+                                 parameters=[robot_description])
+
+    # Fake joint driver
+    fake_joint_driver_node = Node(package='fake_joint_driver',
+                                  executable='fake_joint_driver_node',
+                                  parameters=[{'controller_name': 'panda_arm_controller'},
+                                              os.path.join(get_package_share_directory("moveit2_tutorials"), "config", "panda_controllers.yaml"),
+                                              os.path.join(get_package_share_directory("moveit2_tutorials"), "config", "start_positions.yaml"),
+                                              robot_description]
+                                  )
+
+    # Warehouse mongodb server
+    mongodb_server_node = Node(package='warehouse_ros_mongo',
+                               executable='mongo_wrapper_ros.py',
+                               parameters=[{'warehouse_port': 33829},
+                                           {'warehouse_host': 'localhost'},
+                                           {'warehouse_plugin': 'warehouse_ros_mongo::MongoDatabaseConnection'}],
+                               output='screen')
+
+    return LaunchDescription([ rviz_node, static_tf, robot_state_publisher, move_group_node, fake_joint_driver_node, mongodb_server_node ])