Commit ab88f534 authored by Simon Markus Haller-Seeber's avatar Simon Markus Haller-Seeber
Browse files

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
parent 1210c470
<launch>
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
<arg name="cfg" />
<!-- Load URDF -->
<include file="$(find minibot_moveit)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(find minibot_moveit)/launch/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>
<!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find minibot_moveit)/config/ompl_planning.yaml"/>
</node>
</launch>
<launch>
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for 3D sensors config -->
<rosparam command="load" file="$(find minibot_moveit)/config/sensors_3d.yaml" />
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="Minibot" />
<include file="$(find minibot_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>
<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
<launch>
<!-- Debug Info -->
<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" />
<!-- Run -->
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=minibot_moveit"
launch-prefix="$(arg launch_prefix)"
output="screen" />
</launch>
<launch>
<!-- This file makes it easy to include the settings for trajectory execution -->
<arg name="execution_type" default="interpolate" />
<!-- Flag indicating whether MoveIt! is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
<arg name="moveit_controller_manager" default="Minibot" />
<include file="$(find minibot_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml">
<arg name="execution_type" value="$(arg execution_type)" />
</include>
</launch>
<launch>
<!-- The path to the database must be specified -->
<arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters -->
<include file="$(find minibot_moveit)/launch/warehouse_settings.launch.xml" />
<!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
<param name="overwrite" value="false"/>
<param name="database_path" value="$(arg moveit_warehouse_database_path)" />
</node>
</launch>
<launch>
<!-- Set the parameters for the warehouse and run the mongodb server. -->
<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
<arg name="moveit_warehouse_port" default="33829" />
<!-- The default DB host for moveit -->
<arg name="moveit_warehouse_host" default="localhost" />
<!-- Set parameters for the warehouse -->
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
<param name="warehouse_exec" value="mongod" />
<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
</launch>
<package>
<name>minibot_moveit</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the Minibot with the MoveIt! Motion Planning Framework
</description>
<author email="simon.haller-seeber@uibk.ac.at">Simon M. Haller-Seeber</author>
<maintainer email="simon.haller-seeber@uibk.ac.at">Simon M. Haller-Seeber</maintainer>
<license>BSD</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
<url type="repository">https://github.com/ros-planning/moveit</url>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners_ompl</run_depend>
<run_depend>moveit_ros_visualization</run_depend>
<run_depend>moveit_setup_assistant</run_depend>
<run_depend>moveit_simple_controller_manager</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>joint_state_publisher_gui</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>xacro</run_depend>
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
<run_depend>minibot</run_depend>
</package>
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