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Execute grasps with MoveIt

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This commit is contained in:
Michel Breyer
2021-09-04 15:50:29 +02:00
parent c508c65038
commit 3f3b58f404
7 changed files with 416 additions and 154 deletions
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346
launch/active_grasp.rviz
View File

@@ -7,7 +7,7 @@ Panels:
- /TF1/Frames1
- /Markers1/Namespaces1
Splitter Ratio: 0.5
Tree Height: 543
Tree Height: 538
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -26,7 +26,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: SceneCloud
SyncSource: Image
Preferences:
PromptSaveOnExit: true
Toolbars:
@@ -132,39 +132,222 @@ Visualization Manager:
Update Interval: 0
Value: true
Visual Enabled: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: false
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
camera_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
panda_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link8:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: /move_group/display_planned_path
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: panda_arm
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 0.8999999761581421
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
camera_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
panda_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_leftfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_link8:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
panda_rightfinger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: true
Value: false
Velocity_Scaling_Factor: 0.1
- Class: rviz/TF
Enabled: true
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
camera_optical_frame:
Value: true
panda_hand:
Value: true
panda_leftfinger:
Value: false
panda_link0:
Value: true
panda_link1:
Value: false
panda_link2:
Value: false
panda_link3:
Value: false
panda_link4:
Value: false
panda_link5:
Value: false
panda_link6:
Value: false
panda_link7:
Value: false
panda_link8:
Value: false
panda_rightfinger:
Value: false
task:
Value: true
Marker Alpha: 1
Marker Scale: 0.5
Name: TF
@@ -172,37 +355,8 @@ Visualization Manager:
Show Axes: true
Show Names: true
Tree:
panda_link0:
panda_link1:
panda_link2:
panda_link3:
panda_link4:
panda_link5:
panda_link6:
panda_link7:
panda_link8:
panda_hand:
camera_optical_frame:
{}
panda_leftfinger:
{}
panda_rightfinger:
{}
task:
{}
{}
Update Interval: 0
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /camera/depth/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Depth
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
@@ -232,7 +386,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
- Alpha: 0.20000000298023224
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10
@@ -262,7 +416,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 0.20000000298023224
- Alpha: 1
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10
@@ -274,7 +428,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Enabled: false
Invert Rainbow: false
Max Color: 138; 226; 52
Max Intensity: 1
@@ -291,36 +445,30 @@ Visualization Manager:
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
Value: true
- Alpha: 1
Axes Length: 0.05000000074505806
Axes Radius: 0.009999999776482582
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: EETarget
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Axes
Topic: /command
Unreliable: false
Value: true
Value: false
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: visualization_marker_array
Name: Markers
Namespaces:
bbox: true
best_grasp: true
grasps: true
path: true
point: true
rays: true
views: true
Queue Size: 100
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /camera/depth/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -349,7 +497,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 1.4553453922271729
Distance: 1.1316771507263184
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
@@ -357,27 +505,31 @@ Visualization Manager:
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.43946000933647156
Y: 0.016814040020108223
Z: 0.40760287642478943
X: 0.26778873801231384
Y: 0.05089891329407692
Z: 0.41754576563835144
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.19979602098464966
Pitch: 0.27479735016822815
Target Frame: <Fixed Frame>
Yaw: 5.38097620010376
Yaw: 5.182796955108643
Saved: ~
Window Geometry:
Depth:
collapsed: false
Displays:
collapsed: false
Height: 762
Height: 1019
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001560000025cfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000025c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0044006500700074006800000001e4000000b50000001600ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004000000003efc0100000002fb0000000800540069006d0065010000000000000400000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002a40000025c00000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Image:
collapsed: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000001f300000362fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000257000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a004400650070007400680000000166000000b50000000000000000fb0000000a0049006d006100670065010000029a000001050000001600fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000217000001880000017d00fffffffb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ec00000039fc0100000002fb0000000800540069006d00650100000000000005ec000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f30000036200000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -386,6 +538,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 1024
X: 1440
Y: 268
Width: 1516
X: 905
Y: 139

8
launch/simulation.launch
View File

@@ -2,12 +2,18 @@
<launch>
<arg name="launch_rviz" default="false" />
<!-- Load parameters -->
<rosparam command="load" file="$(find active_grasp)/cfg/active_grasp.yaml" subst_value="true" />
<!-- Launch simulated robot -->
<param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/franka/panda_arm_hand.urdf.xacro" />
<node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
<!-- Launch MoveIt -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster" args="0 0 0 0 0 0 world panda_link0" />
<include file="$(find panda_moveit_config)/launch/move_group.launch" />
<!-- Launch rviz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find active_grasp)/launch/active_grasp.rviz" if="$(arg launch_rviz)" />
</launch>