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git-subtree-dir: src/moveit_pro_mobile_manipulation
git-subtree-split: e5367b79e08113218f72804beda69ebe94a2b175

README.md

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+# moveit_pro_mobile_manipulation

mobile_manipulation_config/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.22)
+project(mobile_manipulation_config)
+
+find_package(ament_cmake REQUIRED)
+find_package(picknik_accessories REQUIRED)
+
+
+
+# Install all XML files in directory
+set(PICKNIK_ACCESSORIES_SHARE_DIR
+"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
+)
+# Destination directory
+set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/")
+
+install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}"
+        DESTINATION "${DEST_DIR}"
+        FILES_MATCHING PATTERN "*")
+
+install(
+  DIRECTORY
+    config
+    description
+    launch
+    objectives
+    waypoints
+  DESTINATION
+    share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

mobile_manipulation_config/LICENSE

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+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

mobile_manipulation_config/README.md

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+# mobile_manipulation_config
+
+A MoveIt Pro MuJoCo simulation of a UR5 arm on a mobile Ridgeback base.
+
+For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)

mobile_manipulation_config/config/config.yaml

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+#
+#  This contains information for a unique instance of a robot.
+#
+
+# Name of the package to specialize
+based_on_package: "picknik_ur_mobile_config"
+hardware:
+  # Parameters used to configure the robot description through XACRO.
+  # A URDF and SRDF are both required.
+  # [Required]
+  robot_description:
+    urdf:
+      package: "mobile_manipulation_config"
+      path: "description/picknik_ur.xacro"
+    srdf:
+      package: "picknik_ur_mobile_config"
+      path: "config/moveit/picknik_ur.srdf"
+    urdf_params:
+      - joint_limits_parameters_file:
+          package: "picknik_ur_mobile_config"
+          path: "config/moveit/joint_limits.yaml"
+
+moveit_params:
+  servo:
+    package: "picknik_ur_mobile_config"
+    path: "config/moveit/ur_servo.yaml"
+  joint_limits:
+    package: "picknik_ur_mobile_config"
+    path: "config/moveit/joint_limits.yaml"
+  servo_joint_limits:
+    package: "picknik_ur_mobile_config"
+    path: "config/moveit/hard_joint_limits.yaml"
+
+# Configuration for loading behaviors and objectives.
+# [Required]
+objectives:
+  # List of plugins for loading custom behaviors.
+  # [Required]
+  behavior_loader_plugins:
+    # This plugin will load the core MoveIt Pro Behaviors.
+    # Add additional plugin loaders as needed.
+    core:
+      - "moveit_studio::behaviors::CoreBehaviorsLoader"
+      - "moveit_studio::behaviors::MTCCoreBehaviorsLoader"
+      - "moveit_studio::behaviors::ServoBehaviorsLoader"
+      - "moveit_studio::behaviors::VisionBehaviorsLoader"
+  # Specify source folder for objectives
+  # [Required]
+  objective_library_paths:
+    sim_objectives:
+      package_name: "mobile_manipulation_config"
+      relative_path: "objectives"
+  # Specify the location of the saved waypoints file.
+  # [Required]
+  waypoints_file:
+    package_name: "mobile_manipulation_config"
+    relative_path: "waypoints/ur_waypoints.yaml"
+
+
+# Configuration for launching ros2_control processes.
+# [Required, if using ros2_control]
+ros2_control:
+  config:
+    package: "picknik_ur_mobile_config"
+    path: "config/control/picknik_ur.ros2_control.yaml"
+  # MoveIt Pro will load and activate these controllers at start up to ensure they are available.
+  # If not specified, it is up to the user to ensure the appropriate controllers are active and available
+  # for running the application.
+  # [Optional, default=[]]
+  controllers_active_at_startup:
+    - "force_torque_sensor_broadcaster"
+    - "robotiq_gripper_controller"
+    - "joint_state_broadcaster"
+    - "servo_controller"
+  # Load but do not start these controllers so they can be activated later if needed.
+  controllers_inactive_at_startup:
+    - "joint_trajectory_controller"
+  # Any controllers here will not be spawned by MoveIt Pro.
+  # [Optional, default=[]]
+  controllers_not_managed: []
+  # Optionally configure remapping rules to let multiple controllers receive commands on the same topic.
+  # [Optional, default=[]]
+  controller_shared_topics: []

mobile_manipulation_config/description/LICENSE

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+Copyright 2018 ROS Industrial Consortium
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software without
+specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

mobile_manipulation_config/description/picknik_ur.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
+  <!-- parameters -->
+  <xacro:arg name="use_fake_hardware" default="false"/>
+  <xacro:arg name="external_camera" default="false"/>
+  <xacro:arg name="has_tool_changer" default="true"/>
+  <xacro:arg name="use_pinch_links" default="true"/>
+  <xacro:arg name="generate_ros2_control_tag" default="false"/>
+  <xacro:arg name="name" default=""/>
+  <xacro:arg name="joint_limits_parameters_file" default=""/>
+  <xacro:arg name="kinematics_parameters_file" default=""/>
+  <xacro:arg name="physical_parameters_file" default=""/>
+  <xacro:arg name="visual_parameters_file" default=""/>
+  <xacro:arg name="headless_mode" default="false"/>
+  <xacro:arg name="robot_ip" default="0.0.0.0"/>
+  <xacro:arg name="use_tool_communication" default="false"/>
+  <xacro:arg name="tool_voltage" default="0"/>
+  <xacro:arg name="tool_device_name" default="/dev/ttyUSB0"/>
+  <xacro:arg name="initial_positions_file" default="$(find picknik_ur_base_config)/config/initial_positions.yaml"/>
+
+  <!-- Import UR and environment macros -->
+  <xacro:include filename="$(find picknik_ur_base_config)/description/picknik_ur_macro.xacro"/>
+  <xacro:include filename="$(find mobile_manipulation_config)/description/picknik_ur_attachments_macro.xacro"/>
+  <xacro:include filename="$(find mobile_manipulation_config)/description/picknik_ur_mujoco_ros2_control.xacro"/>
+  <xacro:include filename="$(find ridgeback_description)/urdf/ridgeback.urdf.xacro"/>
+
+
+  <link name="world"/>
+
+  <!-- Gripper and UR adapter and realsense camera -->
+  <xacro:picknik_ur_attachments parent="tool0" child="grasp_link" has_tool_changer="$(arg has_tool_changer)"/>
+
+  <!-- Ridgeback -->
+  <xacro:ridgeback parent="ridgeback_base_link"/>
+
+  <joint name="airfoil_joint" type="fixed">
+    <parent link="world"/>
+    <child link="airfoil"/>
+    <origin xyz="4.5 0 0.5" rpy="0.0 0.0 1.5707"/>
+  </joint>
+
+  <link name="airfoil">
+    <visual>
+      <geometry>
+        <mesh filename="package://mobile_manipulation_config/description/assets/airfoil.stl"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.4 0.4 0.4 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://mobile_manipulation_config/description/assets/airfoil.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="rotational_yaw_joint" type="revolute">
+    <axis xyz="0 0 1"/>
+    <parent link="world"/>
+    <child link="virual_rail_link_1"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="0.5235987755982988"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+
+  <link name="virual_rail_link_1"/>
+
+  <joint name="linear_x_joint" type="prismatic">
+    <axis xyz="1 0 0"/>
+    <parent link="virual_rail_link_1" />
+    <child link="virual_rail_link_2" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <limit effort="1000.0" lower="-5.0" upper="5.0" velocity="0.175" acceleration="10.0"/>
+    <dynamics damping="20.0" friction="500.0" />
+  </joint>
+
+  <link name="virual_rail_link_2"/>
+
+  <joint name="linear_y_joint" type="prismatic">
+    <axis xyz="0 1 0"/>
+    <parent link="virual_rail_link_2" />
+    <child link="ridgeback_base_link" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <limit effort="1000.0" lower="-5.0" upper="5.0" velocity="0.175" acceleration="10.0"/>
+    <dynamics damping="20.0" friction="500.0" />
+  </joint>
+
+  <!-- Robot: contains robot description from the world frame to the tool frame -->
+  <xacro:picknik_ur parent="ur_linear_rail_base"  child="tool0" initial_positions_file="$(arg initial_positions_file)" generate_ros2_control_tag="$(arg generate_ros2_control_tag)" >
+    <!-- Guesstimates below -->
+    <origin xyz="0 0.0 0.0" rpy="0 0 0" />
+  </xacro:picknik_ur>
+
+  <joint name="ur_ridgeback_mount" type="fixed">
+    <axis xyz="0 1 0"/>
+    <parent link="mid_mount" />
+    <child link="ur_linear_rail_base" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+
+  <!-- MuJoCo Hardware interface -->
+  <xacro:picknik_ur_mujoco_ros2_control />
+</robot>