This package is responsible for providing manipulation for the scooter. It implements the Pick service as well as
adding the static collision environment. It also is responsible for launching and configuring MoveIt and the UR5 drivers
to provide motion planning and motion controls.
To bring up everything in this package including the UR5 driver, MoveIt, and the static collision environment, run:
$ ros2 launch scooter_manipulation scooter_manipulation.launch.py
The go_to_joint_config action server listens for an action of type scooter_interfaces/GoToJointConfig. Upon
receiving a goal consisting of an array of joint positions, it will attempt to plan and execute a trajectory to the
given joint positions using the ur_manipulator move group. When the trajectory is done executing the action server
will return a boolean representing whether the plan succeeded.
float64[] position
---
bool success
---
static_collision_object_publisher is responsible for adding the static collision environment (sensors, scooter
frame, etc.) to the move group's planning scene. Objects are specified as box primitives, which are described in a CSV
file in the following format:
name pos_x pos_y pos_z euler_x euler_y euler_z dim_x dim_y dim_z
See ur5_environment.csv for an example environment.
The env_csv parameter allows you to specify a path to a .csv file to be parsed by
static_collision_object_publisher. To specify a path to a .csv file in the config directory you might specify the
path as follows:
env_csv_path = PathJoinSubstitution([FindPackageShare("scooter_manipulation"), "config", "ur5_environment.csv"])This node also requires the robot description (URDF) and semantic robot description (SRDF) in order to interact with the
planning scene, which must be passed as parameters. See ur_driver_bringup.launch for an example of this.