Some MoveIT config to easier regenerate it. Addtional Example launchfile for...

Some MoveIT config to easier regenerate it. Addtional Example launchfile for the LSS 4 DoF ROS Control

catkin_ws/src/lss_4dof/lss_4dof_hw/launch/lss_4dof_hw.launch

+<?xml version="1.0"?>
+<launch>
+  <arg name="enabled" default="true"/>
+
+  <!-- GDB functionality -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <!-- Load configuration settings -->
+  <rosparam file="$(find lss_4dof_hw)/config/names.yaml" command="load"/>
+  <rosparam file="$(find lss_4dof_hw)/config/hardware_interfaces.yaml" command="load"/>
+  <rosparam file="$(find lss_4dof_hw)/config/controllers.yaml" command="load"/>
+
+  <!-- Load hardware interface -->
+  <group if="$(arg enabled)">
+   <node if="$(arg enabled)" name="lss_4dof_hw" pkg="lss_4dof_hw" type="lss_4dof_hw_node" output="screen" launch-prefix="$(arg launch_prefix)"/>
+  </group>
+</launch>

catkin_ws/src/minibot/launch/display.launch → catkin_ws/src/minibot/minibot/launch/display.launch

@@ -3,5 +3,5 @@
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(find minibot)/model/minibot_in_world.urdf.xacro"/>
   <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui" output="screen" if="$(arg use_gui)" />
 	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"   />
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 </launch>

catkin_ws/src/minibot/model/minibot_in_world.urdf.xacro → catkin_ws/src/minibot/minibot/model/minibot-moveit.urdf.xacro

 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="Eddie">
        
-  <xacro:include filename="$(find minibot)/model/minibot.urdf.xacro" />
+  <xacro:include filename="$(find minibot)/model/minibot.urdf2.xacro" />
     
-  <link name="world" />
+  <link name="base_link" />
 
-  <xacro:minibot name="minibot" parent="world">
+  <xacro:minibot name="minibot" parent="base_link">
     <origin xyz="0.0 0.0 0.0"/>
   </xacro:minibot>
   <joint name="world_joint" type="fixed">

catkin_ws/src/minibot/minibot/model/minibot_in_world.urdf.xacro

+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="Eddie">
+       
+  <xacro:include filename="$(find minibot)/model/minibot.urdf.xacro" />
+    
+  <link name="base_display_link" />
+
+  <xacro:minibot name="minibot" parent="base_display_link">
+    <origin xyz="0.0 0.0 0.0"/>
+  </xacro:minibot>
+  <joint name="base_display_joint" type="fixed">
+    <parent link="base_display_link" />
+    <child link = "base_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </joint>
+
+</robot>

catkin_ws/src/minibot/minibot_moveit/.setup_assistant

+moveit_setup_assistant_config:
+  URDF:
+    package: minibot
+    relative_path: model/minibot.urdf
+    xacro_args: ""
+  SRDF:
+    relative_path: config/Minibot.srdf
+  CONFIG:
+    author_name: Simon M. Haller-Seeber
+    author_email: simon.haller-seeber@uibk.ac.at
+    generated_timestamp: 1629796600
\ No newline at end of file

catkin_ws/src/minibot/minibot_moveit/CMakeLists.txt

+cmake_minimum_required(VERSION 3.1.3)
+project(minibot_moveit)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

catkin_ws/src/minibot/minibot_moveit/config/Minibot.srdf

+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="Minibot">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="move_arm_group">
+        <chain base_link="lss_4dof_base_link" tip_link="lss_4dof_gripper_r_link" />
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="home" group="move_arm_group">
+        <joint name="lss_4dof_axis_1_joint" value="0" />
+        <joint name="lss_4dof_axis_2_joint" value="-1.6" />
+        <joint name="lss_4dof_axis_3_joint" value="3" />
+        <joint name="lss_4dof_axis_4_joint" value="0" />
+        <joint name="lss_4dof_gripper_r" value="0" />
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="gripper" parent_link="lss_4dof_axis_4_link" group="move_arm_group" parent_group="move_arm_group" />
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="sphero_rvr_wheel_rl_joint" />
+    <passive_joint name="sphero_rvr_wheel_rr_joint" />
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="battery_holder_link" link2="jetson_protection_link" reason="Never" />
+    <disable_collisions link1="battery_holder_link" link2="lss_4dof_axis_1_link" reason="Never" />
+    <disable_collisions link1="battery_holder_link" link2="lss_4dof_axis_2_link" reason="Never" />
+    <disable_collisions link1="battery_holder_link" link2="lss_4dof_base_link" reason="Adjacent" />
+    <disable_collisions link1="battery_holder_link" link2="sphero_rvr_base_link" reason="Adjacent" />
+    <disable_collisions link1="battery_holder_link" link2="sphero_rvr_wheel_fl_link" reason="Never" />
+    <disable_collisions link1="battery_holder_link" link2="sphero_rvr_wheel_fr_link" reason="Never" />
+    <disable_collisions link1="battery_holder_link" link2="sphero_rvr_wheel_rl_link" reason="Never" />
+    <disable_collisions link1="battery_holder_link" link2="sphero_rvr_wheel_rr_link" reason="Never" />
+    <disable_collisions link1="camera_link" link2="camera_mount_link" reason="Adjacent" />
+    <disable_collisions link1="camera_link" link2="lss_4dof_axis_2_link" reason="Never" />
+    <disable_collisions link1="camera_link" link2="lss_4dof_axis_3_link" reason="Never" />
+    <disable_collisions link1="camera_link" link2="lss_4dof_axis_4_link" reason="Never" />
+    <disable_collisions link1="camera_link" link2="lss_4dof_gripper_l_link" reason="Never" />
+    <disable_collisions link1="camera_link" link2="lss_4dof_gripper_r_link" reason="Never" />
+    <disable_collisions link1="camera_mount_link" link2="lss_4dof_axis_2_link" reason="Never" />
+    <disable_collisions link1="camera_mount_link" link2="lss_4dof_axis_3_link" reason="Default" />
+    <disable_collisions link1="camera_mount_link" link2="lss_4dof_axis_4_link" reason="Adjacent" />
+    <disable_collisions link1="camera_mount_link" link2="lss_4dof_gripper_l_link" reason="Never" />
+    <disable_collisions link1="camera_mount_link" link2="lss_4dof_gripper_r_link" reason="Never" />
+    <disable_collisions link1="jetson_protection_link" link2="lss_4dof_axis_1_link" reason="Never" />
+    <disable_collisions link1="jetson_protection_link" link2="lss_4dof_base_link" reason="Adjacent" />
+    <disable_collisions link1="jetson_protection_link" link2="sphero_rvr_base_link" reason="Never" />
+    <disable_collisions link1="jetson_protection_link" link2="sphero_rvr_wheel_fl_link" reason="Never" />
+    <disable_collisions link1="jetson_protection_link" link2="sphero_rvr_wheel_fr_link" reason="Never" />
+    <disable_collisions link1="jetson_protection_link" link2="sphero_rvr_wheel_rl_link" reason="Never" />
+    <disable_collisions link1="jetson_protection_link" link2="sphero_rvr_wheel_rr_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_1_link" link2="lss_4dof_axis_2_link" reason="Adjacent" />
+    <disable_collisions link1="lss_4dof_axis_1_link" link2="lss_4dof_base_link" reason="Adjacent" />
+    <disable_collisions link1="lss_4dof_axis_1_link" link2="sphero_rvr_base_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_1_link" link2="sphero_rvr_wheel_fl_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_1_link" link2="sphero_rvr_wheel_fr_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_1_link" link2="sphero_rvr_wheel_rl_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_1_link" link2="sphero_rvr_wheel_rr_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_2_link" link2="lss_4dof_axis_3_link" reason="Adjacent" />
+    <disable_collisions link1="lss_4dof_axis_2_link" link2="lss_4dof_axis_4_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_2_link" link2="lss_4dof_base_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_2_link" link2="sphero_rvr_base_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_2_link" link2="sphero_rvr_wheel_fl_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_2_link" link2="sphero_rvr_wheel_fr_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_2_link" link2="sphero_rvr_wheel_rl_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_2_link" link2="sphero_rvr_wheel_rr_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_3_link" link2="lss_4dof_axis_4_link" reason="Adjacent" />
+    <disable_collisions link1="lss_4dof_axis_3_link" link2="lss_4dof_gripper_l_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_3_link" link2="lss_4dof_gripper_r_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_axis_4_link" link2="lss_4dof_gripper_l_link" reason="Adjacent" />
+    <disable_collisions link1="lss_4dof_axis_4_link" link2="lss_4dof_gripper_r_link" reason="Adjacent" />
+    <disable_collisions link1="lss_4dof_base_link" link2="sphero_rvr_base_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_base_link" link2="sphero_rvr_wheel_fl_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_base_link" link2="sphero_rvr_wheel_fr_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_base_link" link2="sphero_rvr_wheel_rl_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_base_link" link2="sphero_rvr_wheel_rr_link" reason="Never" />
+    <disable_collisions link1="lss_4dof_gripper_l_link" link2="lss_4dof_gripper_r_link" reason="Never" />
+    <disable_collisions link1="sphero_rvr_base_link" link2="sphero_rvr_wheel_fl_link" reason="Adjacent" />
+    <disable_collisions link1="sphero_rvr_base_link" link2="sphero_rvr_wheel_fr_link" reason="Adjacent" />
+    <disable_collisions link1="sphero_rvr_base_link" link2="sphero_rvr_wheel_rl_link" reason="Adjacent" />
+    <disable_collisions link1="sphero_rvr_base_link" link2="sphero_rvr_wheel_rr_link" reason="Adjacent" />
+    <disable_collisions link1="sphero_rvr_wheel_fl_link" link2="sphero_rvr_wheel_fr_link" reason="Never" />
+    <disable_collisions link1="sphero_rvr_wheel_fl_link" link2="sphero_rvr_wheel_rl_link" reason="Never" />
+    <disable_collisions link1="sphero_rvr_wheel_fl_link" link2="sphero_rvr_wheel_rr_link" reason="Never" />
+    <disable_collisions link1="sphero_rvr_wheel_fr_link" link2="sphero_rvr_wheel_rl_link" reason="Never" />
+    <disable_collisions link1="sphero_rvr_wheel_fr_link" link2="sphero_rvr_wheel_rr_link" reason="Never" />
+    <disable_collisions link1="sphero_rvr_wheel_rl_link" link2="sphero_rvr_wheel_rr_link" reason="Never" />
+</robot>

catkin_ws/src/minibot/minibot_moveit/config/cartesian_limits.yaml

+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57

catkin_ws/src/minibot/minibot_moveit/config/chomp_planning.yaml

+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
\ No newline at end of file

catkin_ws/src/minibot/minibot_moveit/config/fake_controllers.yaml

+controller_list:
+  - name: fake_move_arm_group_controller
+    type: $(arg execution_type)
+    joints:
+      - lss_4dof_axis_1_joint
+      - lss_4dof_axis_2_joint
+      - lss_4dof_axis_3_joint
+      - lss_4dof_axis_4_joint
+initial:  # Define initial robot poses.
+  - group: move_arm_group
+    pose: home
\ No newline at end of file

catkin_ws/src/minibot/minibot_moveit/config/joint_limits.yaml

+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  lss_4dof_axis_1_joint:
+    has_velocity_limits: true
+    max_velocity: 3.14159265359
+    has_acceleration_limits: false
+    max_acceleration: 0
+  lss_4dof_axis_2_joint:
+    has_velocity_limits: true
+    max_velocity: 3.14159265359
+    has_acceleration_limits: false
+    max_acceleration: 0
+  lss_4dof_axis_3_joint:
+    has_velocity_limits: true
+    max_velocity: 3.14159265359
+    has_acceleration_limits: false
+    max_acceleration: 0
+  lss_4dof_axis_4_joint:
+    has_velocity_limits: true
+    max_velocity: 3.14159265359
+    has_acceleration_limits: false
+    max_acceleration: 0
+  lss_4dof_gripper_r:
+    has_velocity_limits: true
+    max_velocity: 3.14159265359
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file

catkin_ws/src/minibot/minibot_moveit/config/kinematics.yaml

+{}
\ No newline at end of file