Create launch file for joint_group_controller based moveit servo.

ur5_moveit_tutorials/config/joint_group_servo_params.yaml

@@ -0,0 +1,68 @@
+###############################################
+# Modify all parameters related to servoing here
+###############################################
+use_gazebo: true # Whether the robot is started in a Gazebo simulation environment
+
+## Properties of incoming commands
+command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
+scale:
+  # Scale parameters are only used if command_in_type=="unitless"
+  linear:  0.6  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
+  rotational:  0.3 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
+  # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
+  joint: 0.01
+low_pass_filter_coeff: 2.  # Larger --> trust the filtered data more, trust the measurements less.
+
+## Properties of outgoing commands
+publish_period: 0.008  # 1/Nominal publish rate [seconds]
+low_latency_mode: false  # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)
+
+# What type of topic does your robot driver expect?
+# Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController or JointGroupPositionController)
+# or trajectory_msgs/JointTrajectory (for Universal Robots and other non-ros_control robots)
+command_out_type: std_msgs/Float64MultiArray
+
+# What to publish? Can save some bandwidth as most robots only require positions or velocities
+publish_joint_positions: true
+publish_joint_velocities: false
+publish_joint_accelerations: false
+
+## MoveIt properties
+move_group_name:  manipulator  # Often 'manipulator' or 'arm'
+planning_frame: world  # The MoveIt planning frame. Often 'base_link' or 'world'
+
+## Other frames
+ee_frame_name: tool0  # The name of the end effector link, used to return the EE pose
+robot_link_command_frame:  world  # commands must be given in the frame of a robot link. Usually either the base or end effector
+
+## Stopping behaviour
+incoming_command_timeout:  0.5  # Stop servoing if X seconds elapse without a new command
+# If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
+# Important because ROS may drop some messages and we need the robot to halt reliably.
+num_outgoing_halt_msgs_to_publish: 4
+
+## Configure handling of singularities and joint limits
+lower_singularity_threshold:  17  # Start decelerating when the condition number hits this (close to singularity)
+hard_stop_singularity_threshold: 30 # Stop when the condition number hits this
+joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
+
+## Topic names
+cartesian_command_in_topic: delta_twist_cmds  # Topic for incoming Cartesian twist commands
+joint_command_in_topic: delta_joint_cmds # Topic for incoming joint angle commands
+joint_topic: joint_states
+status_topic: status # Publish status to this topic
+command_out_topic: /joint_group_pos_controller/command # Publish outgoing commands here
+
+## Collision checking for the entire robot body
+check_collisions: true # Check collisions?
+collision_check_rate: 50 # [Hz] Collision-checking can easily bog down a CPU if done too often.
+# Two collision check algorithms are available:
+# "threshold_distance" begins slowing down when nearer than a specified distance. Good if you want to tune collision thresholds manually.
+# "stop_distance" stops if a collision is nearer than the worst-case stopping distance and the distance is decreasing. Requires joint acceleration limits
+collision_check_type: threshold_distance
+# Parameters for "threshold_distance"-type collision checking
+self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m]
+scene_collision_proximity_threshold: 0.05 # Start decelerating when a scene collision is this far [m]
+# Parameters for "stop_distance"-type collision checking
+collision_distance_safety_factor: 1000 # Must be >= 1. A large safety factor is recommended to account for latency
+min_allowable_collision_distance: 0.01 # Stop if a collision is closer than this [m]

ur5_moveit_tutorials/config/moveit_servo.rviz

@@ -110,14 +110,14 @@ Visualization Manager:
       Update Interval: 0
       Value: true
     - Alpha: 1
-      Angular Arrow Scale: 0.5
+      Angular Arrow Scale: 1
       Angular Color: 204; 204; 51
       Arrow Width: 0.10000000149011612
       Class: rviz/TwistStamped
       Enabled: true
       Hide Small Values: false
       History Length: 10
-      Linear Arrow Scale: 1
+      Linear Arrow Scale: 2
       Linear Color: 173; 127; 168
       Name: TwistStamped
       Queue Size: 10
@@ -243,9 +243,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6853972673416138
+      Pitch: 0.6603972911834717
       Target Frame: <Fixed Frame>
-      Yaw: 1.435401439666748
+      Yaw: 2.030400276184082
     Saved: ~
 Window Geometry:
   Displays:

ur5_moveit_tutorials/launch/ur5_moveit_servo_w_joint_group_controller.launch

@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<launch>
+    <include file="$(find ur5_moveit_tutorials)/launch/ur5_moveit_servo_common.launch">
+        <arg name="controllers" value="joint_state_controller joint_group_pos_controller"/>
+        <arg name="servo_params_file" value="$(find ur5_moveit_tutorials)/config/joint_group_servo_params.yaml"/>
+    </include>
+</launch>