ros-industrial · tahsinkose · Oct 27, 2024 · Oct 27, 2024 · Oct 27, 2024 · Oct 27, 2024
diff --git a/ur5_moveit_config/launch/moveit_planning_execution.launch b/ur5_moveit_config/launch/moveit_planning_execution.launch
@@ -1,9 +1,10 @@
 <launch>
   <arg name="sim" default="false" />
   <arg name="debug" default="false" />
+  <arg name="controller_name" default="eff_joint_traj_controller"/>
 
   <!-- Remap follow_joint_trajectory -->
-  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/eff_joint_traj_controller/follow_joint_trajectory"/>
+  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/$(arg controller_name)/follow_joint_trajectory"/>
 
   <!-- Launch moveit -->
   <include file="$(find ur5_moveit_config)/launch/move_group.launch">

diff --git a/ur5_moveit_tutorials/CMakeLists.txt b/ur5_moveit_tutorials/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(ur5_moveit_tutorials)
+
+find_package(catkin REQUIRED)
+
+catkin_package(
+)
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS
+  scripts/joint_group_pos_ctrl_wrapper.py
+  scripts/keyboard_teleop.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/ur5_moveit_tutorials/config/joint_group_pos_servo_params.yaml b/ur5_moveit_tutorials/config/joint_group_pos_servo_params.yaml
@@ -0,0 +1,5 @@
+command_out_type: std_msgs/Float64MultiArray
+
+publish_joint_positions: true
+publish_joint_velocities: false
+command_out_topic: /joint_group_pos_controller/command # Publish outgoing commands here
diff --git a/ur5_moveit_tutorials/config/joint_group_vel_servo_params.yaml b/ur5_moveit_tutorials/config/joint_group_vel_servo_params.yaml
@@ -0,0 +1,5 @@
+command_out_type: std_msgs/Float64MultiArray
+
+publish_joint_positions: false
+publish_joint_velocities: true
+command_out_topic: /joint_group_vel_controller/command # Publish outgoing commands here
diff --git a/ur5_moveit_tutorials/config/joy_teleop_config.yaml b/ur5_moveit_tutorials/config/joy_teleop_config.yaml
@@ -0,0 +1,36 @@
+teleop:
+  cartesian_twist_command:
+    type: topic
+    message_type: geometry_msgs/TwistStamped
+    topic_name: /servo_server/delta_twist_cmds
+    axis_mappings:
+      -
+        axis: 0
+        target: twist.linear.x
+        scale: 1
+        offset: 0
+      -
+        axis: 1
+        target: twist.linear.y
+        scale: 1
+        offset: 0
+      -
+        axis: 7
+        target: twist.linear.z
+        scale: 1
+        offset: 0
+      -
+        axis: 3
+        target: twist.angular.x
+        scale: 1
+        offset: 0
+      -
+        axis: 4
+        target: twist.angular.y
+        scale: 1
+        offset: 0
+      -
+        axis: 6
+        target: twist.angular.z
+        scale: 1
+        offset: 0
diff --git a/ur5_moveit_tutorials/config/moveit_servo.rviz b/ur5_moveit_tutorials/config/moveit_servo.rviz
@@ -0,0 +1,267 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1
+        - /TF1/Frames1
+        - /TwistStamped1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 865
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+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: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base:
+          Value: false
+        base_link:
+          Value: true
+        base_link_inertia:
+          Value: false
+        flange:
+          Value: false
+        forearm_link:
+          Value: false
+        shoulder_link:
+          Value: false
+        tool0:
+          Value: true
+        tool0_controller:
+          Value: false
+        upper_arm_link:
+          Value: false
+        world:
+          Value: false
+        wrist_1_link:
+          Value: false
+        wrist_2_link:
+          Value: false
+        wrist_3_link:
+          Value: false
+      Marker Alpha: 1
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          base_link:
+            base:
+              {}
+            base_link_inertia:
+              shoulder_link:
+                upper_arm_link:
+                  forearm_link:
+                    wrist_1_link:
+                      wrist_2_link:
+                        wrist_3_link:
+                          flange:
+                            tool0:
+                              tool0_controller:
+                                {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      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: 2
+      Linear Color: 173; 127; 168
+      Name: TwistStamped
+      Queue Size: 10
+      Topic: /servo_server/delta_twist_cmds
+      Unreliable: false
+      Value: true
+    - Alpha: 0.30000001192092896
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link_inertia:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        flange:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        forearm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        shoulder_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tool0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        tool0_controller:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        upper_arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wrist_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wrist_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wrist_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.2807179689407349
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: -0.29767945408821106
+        Y: 0.5415677428245544
+        Z: 0.4893118143081665
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6603972911834717
+      Target Frame: <Fixed Frame>
+      Yaw: 2.030400276184082
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000027e0000039efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000001e1000001fa0000000000000000000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b0000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000004b40000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1848
+  X: 72
+  Y: 27
diff --git a/ur5_moveit_tutorials/config/pos_joint_traj_servo_params.yaml b/ur5_moveit_tutorials/config/pos_joint_traj_servo_params.yaml
@@ -0,0 +1,5 @@
+command_out_type: trajectory_msgs/JointTrajectory
+
+publish_joint_positions: true
+publish_joint_velocities: false
+command_out_topic: /pos_joint_traj_controller/command