Update MoveIt! support (#538)

Update MoveIt! configurations to new description structure.

Co-authored-by: Luke Dennis <[email protected]>
Co-authored-by: gavanderhoorn <[email protected]>
Co-authored-by: RobertWilbrandt <[email protected]>

README.md

@@ -80,22 +80,11 @@ There exist MoveIt! configuration packages for both robots.
 
 For setting up the MoveIt! nodes to allow motion planning run:
 
-```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch```
+```roslaunch ur5_moveit_config moveit_planning_execution.launch```
 
 For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:
 
-```roslaunch ur5_moveit_config moveit_rviz.launch config:=true```
-
-
-NOTE:  
-As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.:  
-
-```roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]```
-
-```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true```
-
-```roslaunch ur5_moveit_config moveit_rviz.launch config:=true```
-
+```roslaunch ur5_moveit_config moveit_rviz.launch```
 
 ___Usage with Gazebo Simulation___  
 There are launch files available to bringup a simulated robot - either UR5 or UR10.  
@@ -105,28 +94,16 @@ Don't forget to source the correct setup shell files and use a new terminal for
 
 To bring up the simulated robot in Gazebo, run:
 
-```roslaunch ur_gazebo ur5.launch```
+```roslaunch ur_gazebo ur5_bringup.launch```
 
 
 ___MoveIt! with a simulated robot___  
 Again, you can use MoveIt! to control the simulated robot.  
 
 For setting up the MoveIt! nodes to allow motion planning run:
 
-```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true```
+```roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true```
 
 For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:
 
-```roslaunch ur5_moveit_config moveit_rviz.launch config:=true```
-
-
-NOTE:  
-As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.:  
-
-```roslaunch ur_gazebo ur5.launch limited:=true```
-
-```roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true```
-
-```roslaunch ur5_moveit_config moveit_rviz.launch config:=true```
-
-
+```roslaunch ur5_moveit_config moveit_rviz.launch```

universal_robots/package.xml

@@ -20,11 +20,12 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <exec_depend>ur10_e_moveit_config</exec_depend>
+  <exec_depend>ur10e_moveit_config</exec_depend>
   <exec_depend>ur10_moveit_config</exec_depend>
-  <exec_depend>ur3_e_moveit_config</exec_depend>
+  <exec_depend>ur16e_moveit_config</exec_depend>
+  <exec_depend>ur3e_moveit_config</exec_depend>
   <exec_depend>ur3_moveit_config</exec_depend>
-  <exec_depend>ur5_e_moveit_config</exec_depend>
+  <exec_depend>ur5e_moveit_config</exec_depend>
   <exec_depend>ur5_moveit_config</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_gazebo</exec_depend>

ur10_moveit_config/.setup_assistant

@@ -1,8 +1,11 @@
 moveit_setup_assistant_config:
   URDF:
     package: ur_description
-    relative_path: urdf/ur10_robot.urdf.xacro
+    relative_path: urdf/ur10.xacro
+    xacro_args: ""
   SRDF:
     relative_path: config/ur10.srdf
   CONFIG:
-    generated_timestamp: 1413893323
+    author_name: Felix Exner
+    author_email: [email protected]
+    generated_timestamp: 1611154369

ur10_moveit_config/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_clearence: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: true
+max_recovery_attempts: 5

ur10_moveit_config/config/fake_controllers.yaml

@@ -7,6 +7,6 @@ controller_list:
       - wrist_1_joint
       - wrist_2_joint
       - wrist_3_joint
-  - name: fake_endeffector_controller
-    joints:
-      []
+initial:  # Define initial robot poses.
+  - group: manipulator
+    pose: home