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Package Summary

Tags No category tags.
Version 1.1.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit_robots.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2019-06-21
Dev Status MAINTAINED
Released UNRELEASED

Package Description

An automatically generated package with all the configuration and launch files for using the baxter with the MoveIt Motion Planning Framework

Additional Links

Maintainers

  • Rethink Robotics Inc.

Authors

  • Rethink Robotics Inc.

Baxter MoveIt!

Author: Rethink Robotics Inc.

Website: https://github.com/RethinkRobotics/sdk-examples

MoveIt! configuration package for the Baxter Research Robot from Rethink Robotics.

PACKAGE DEPENDENCIES

To use the baxter_moveit_config package you will need the baxter_description package containing Baxter's URDF. This package is available for download at the following repository:

git clone https://github.com/RethinkRobotics/baxter_common.git

Generate SRDF with XACRO

To use the setup assistant, generate the latest baxter.srdf from the xacro file:

xacro --inorder `rospack find baxter_moveit_config`/config/baxter.srdf.xacro left_electric_gripper:=true right_electric_gripper:=true left_tip_name:=left_gripper right_tip_name:=right_gripper > config/baxter.srdf
CHANGELOG

Changelog for package baxter_moveit_config

1.1.1 (2017-11-26)

  • [capability] add gripper option for robot_description (#57)
  • Contributors: Shingo Kitagawa

1.1.0 (2016-11-15)

  • [capability] Add option from Setup Assistant into old Baxter moveit config
  • [capability] Add option not to launch db in baxter_moveit_config
  • Contributors: Dave Coleman, Kentaro Wada

1.0.6 (2016-04-19)

  • [fix] both_arm move group stopped functioning (ref)
  • Contributors: Ian McMahon

1.0.5 (2016-02-10)

  • [fix] Update ompl_planning.yaml to set default planning config, which is supported on moveit 0.7 (moveit_ros/pull/625)
  • Contributors: Kei Okada

1.0.4 (2016-01-15)

  • Added Gripper construction Xacros for Baxter baxter.srdf.xacro is now the new \"baxter.srdf\" (the old one is left unchanged for backwards compatibility). The xacro creates the standard \"no-gripper\" Baxter srdf by default, but can enable new gripper collision checks if left or right_electric_gripper args are set to true. Also, the link used as the kinematic tip for each arm (<side>_tip_name) can be set at launch

    • Set the default tip name to be <side>_gripper

    - Now a default end effector sdf takes care of the default <side>_gripper collisions - Electric Gripper specific collisions use the correct finger link names - Fixed a move_group arg value in demo_baxter

    - Removed nefarious planning_context.launch call from move_group.launch which would overwrite all args from a previous move_group.launch call

  • Contributors: Ian McMahon

1.0.3 (2015-11-02)

1.0.1 (2015-09-19)

  • Initial binary DEB release
  • Contributors: Kyle Maroney, Chris Smith, Ian McMahon, Isaac IY Saito, Kei Okada

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/trajectory_execution.launch
      • moveit_manage_controllers [default: true]
      • moveit_controller_manager [default: baxter]
  • launch/demo_baxter.launch
      • config [default: true]
      • rviz_config [default: $(find baxter_moveit_config)/launch/moveit.rviz]
      • planner [default: ompl]
      • debug [default: false]
      • load_robot_description [default: false]
      • right_electric_gripper [default: false]
      • left_electric_gripper [default: false]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
      • kinect [default: false]
      • xtion [default: false]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
  • launch/planning_pipeline.launch
      • pipeline [default: ompl]
  • launch/warehouse.launch
      • moveit_warehouse_database_path
  • launch/planning_context.launch
      • right_electric_gripper [default: true]
      • left_electric_gripper [default: true]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
      • load_robot_description [default: false]
      • robot_description [default: robot_description]
  • launch/baxter_planning_execution.launch
  • launch/ompl_planning_pipeline.launch
  • launch/sensor_manager.launch
      • moveit_sensor_manager [default: baxter]
      • kinect [default: false]
      • xtion [default: false]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • camera_link_pose [default: $(arg camera_link_pose)]
  • launch/move_group.launch
      • debug [default: false]
      • info [default: $(arg debug)]
      • allow_trajectory_execution [default: true]
      • fake_execution [default: false]
      • max_safe_path_cost [default: 1]
      • jiggle_fraction [default: 0.05]
      • publish_monitored_planning_scene [default: true]
      • planner [default: ompl]
      • kinect [default: false]
      • xtion [default: false]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • camera_link_pose [default: $(arg camera_link_pose)]
  • launch/chomp_planning_pipeline.launch
  • launch/default_warehouse_db.launch
      • reset [default: false]
      • moveit_warehouse_database_path [default: $(find baxter_moveit_config)/default_warehouse_mongo_db]
  • launch/baxter_grippers.launch
      • config [default: true]
      • rviz_config [default: $(find baxter_moveit_config)/launch/moveit.rviz]
      • load_robot_description [default: false]
      • right_electric_gripper [default: true]
      • left_electric_gripper [default: true]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
      • kinect [default: false]
      • xtion [default: false]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • camera_link_pose [default: $(arg camera_link_pose)]
  • launch/moveit_rviz.launch
      • rviz_config [default: $(find baxter_moveit_config)/launch/moveit.rviz]
      • debug [default: false]
      • config [default: false]
  • launch/run_benchmark_ompl.launch
      • cfg
  • launch/demo_xtion.launch
      • config [default: true]
      • rviz_config [default: $(find baxter_moveit_config)/launch/moveit.rviz]
      • planner [default: ompl]
      • debug [default: false]
      • load_robot_description [default: false]
      • right_electric_gripper [default: false]
      • left_electric_gripper [default: false]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
  • launch/demo_dummy.launch
      • config [default: true]
      • rviz_config [default: $(find baxter_moveit_config)/launch/moveit.rviz]
      • planner [default: ompl]
      • debug [default: false]
      • use_gui [default: false]
      • right_electric_gripper [default: false]
      • left_electric_gripper [default: false]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
      • kinect [default: false]
      • xtion [default: false]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • db [default: false]
      • db_path [default: $(find baxter_moveit_config)/default_warehouse_mongo_db]
  • launch/fake_moveit_controller_manager.launch
  • launch/warehouse_settings.launch
      • moveit_warehouse_port [default: 33829]
      • moveit_warehouse_host [default: localhost]
  • launch/demo_kinect.launch
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • config [default: true]
      • rviz_config [default: $(find baxter_moveit_config)/launch/moveit.rviz]
      • planner [default: ompl]
      • debug [default: false]
      • load_robot_description [default: false]
      • right_electric_gripper [default: false]
      • left_electric_gripper [default: false]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
  • launch/setup_assistant.launch
    • Re-launch the MoveIt Setup Assistant with this configuration package already loaded
      • debug [default: false]
  • launch/baxter_moveit_sensor_manager.launch
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • kinect [default: false]
      • xtion [default: false]
  • launch/baxter_moveit_controller_manager.launch
      • moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
      • controller_manager_name [default: simple_controller_manager]
      • use_controller_manager [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged baxter_moveit_config at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.0.7
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit_robots.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-11-26
Dev Status MAINTAINED
Released RELEASED

Package Description

An automatically generated package with all the configuration and launch files for using the baxter with the MoveIt Motion Planning Framework

Additional Links

Maintainers

  • MoveIt Setup Assistant
  • Rethink Robotics Inc.

Authors

  • Rethink Robotics Inc.

Baxter MoveIt!

Author: Rethink Robotics Inc.

Website: https://github.com/RethinkRobotics/sdk-examples

MoveIt! configuration package for the Baxter Research Robot from Rethink Robotics.

PACKAGE DEPENDENCIES

To use the baxter_moveit_config package you will need the baxter_description package containing Baxter's URDF. This package is available for download at the following repository:

git clone https://github.com/RethinkRobotics/baxter_common.git

CHANGELOG

Changelog for package baxter_moveit_config

1.0.7 (2016-11-15)

  • [enahancement] Add option not to launch db in baxter_moveit_config
  • Contributors: Kentaro Wada

1.0.6 (2016-04-19)

  • [fix] both_arm move group stopped functioning (ref)
  • Contributors: Ian McMahon

1.0.5 (2016-02-10)

  • [fix] Update ompl_planning.yaml to set default planning config, which is supported on moveit 0.7 (moveit_ros/pull/625)
  • Contributors: Kei Okada

1.0.4 (2016-01-15)

  • Added Gripper construction Xacros for Baxter baxter.srdf.xacro is now the new \"baxter.srdf\" (the old one is left unchanged for backwards compatibility). The xacro creates the standard \"no-gripper\" Baxter srdf by default, but can enable new gripper collision checks if left or right_electric_gripper args are set to true. Also, the link used as the kinematic tip for each arm (<side>_tip_name) can be set at launch

    • Set the default tip name to be <side>_gripper

    - Now a default end effector sdf takes care of the default <side>_gripper collisions - Electric Gripper specific collisions use the correct finger link names - Fixed a move_group arg value in demo_baxter

    - Removed nefarious planning_context.launch call from move_group.launch which would overwrite all args from a previous move_group.launch call

  • Contributors: Ian McMahon

1.0.3 (2015-11-02)

1.0.1 (2015-09-19)

  • Initial binary DEB release
  • Contributors: Kyle Maroney, Chris Smith, Ian McMahon, Isaac IY Saito, Kei Okada

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/trajectory_execution.launch
      • moveit_manage_controllers [default: true]
      • moveit_controller_manager [default: baxter]
  • launch/demo_baxter.launch
      • config [default: true]
      • rviz_config [default: $(find baxter_moveit_config)/launch/moveit.rviz]
      • load_robot_description [default: false]
      • right_electric_gripper [default: false]
      • left_electric_gripper [default: false]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
      • kinect [default: false]
      • xtion [default: false]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
  • launch/planning_pipeline.launch
      • pipeline [default: ompl]
  • launch/warehouse.launch
      • moveit_warehouse_database_path
  • launch/planning_context.launch
      • right_electric_gripper [default: true]
      • left_electric_gripper [default: true]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
      • load_robot_description [default: false]
  • launch/baxter_planning_execution.launch
  • launch/ompl_planning_pipeline.launch
  • launch/sensor_manager.launch
      • moveit_sensor_manager [default: baxter]
      • kinect [default: false]
      • xtion [default: false]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • camera_link_pose [default: $(arg camera_link_pose)]
  • launch/move_group.launch
      • debug [default: false]
      • info [default: $(arg debug)]
      • allow_trajectory_execution [default: true]
      • max_safe_path_cost [default: 1]
      • jiggle_fraction [default: 0.05]
      • publish_monitored_planning_scene [default: true]
      • kinect [default: false]
      • xtion [default: false]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • camera_link_pose [default: $(arg camera_link_pose)]
  • launch/default_warehouse_db.launch
      • reset [default: false]
      • moveit_warehouse_database_path [default: $(find baxter_moveit_config)/default_warehouse_mongo_db]
  • launch/baxter_grippers.launch
      • config [default: true]
      • rviz_config [default: $(find baxter_moveit_config)/launch/moveit.rviz]
      • load_robot_description [default: false]
      • right_electric_gripper [default: true]
      • left_electric_gripper [default: true]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
      • kinect [default: false]
      • xtion [default: false]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • camera_link_pose [default: $(arg camera_link_pose)]
  • launch/moveit_rviz.launch
      • rviz_config [default: $(find baxter_moveit_config)/launch/moveit.rviz]
      • debug [default: false]
      • config [default: false]
  • launch/run_benchmark_ompl.launch
      • cfg
  • launch/demo_xtion.launch
      • config [default: true]
      • rviz_config [default: $(find baxter_moveit_config)/launch/moveit.rviz]
      • load_robot_description [default: false]
      • right_electric_gripper [default: false]
      • left_electric_gripper [default: false]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • camera_link_pose [default: $(arg camera_link_pose)]
  • launch/demo_dummy.launch
      • config [default: true]
      • rviz_config [default: $(find baxter_moveit_config)/launch/moveit.rviz]
      • right_electric_gripper [default: false]
      • left_electric_gripper [default: false]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
      • kinect [default: false]
      • xtion [default: false]
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • camera_link_pose [default: $(arg camera_link_pose)]
      • db [default: true]
      • db_path [default: $(find baxter_moveit_config)/default_warehouse_mongo_db]
  • launch/warehouse_settings.launch
      • moveit_warehouse_port [default: 33829]
      • moveit_warehouse_host [default: localhost]
  • launch/demo_kinect.launch
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • config [default: true]
      • rviz_config [default: $(find baxter_moveit_config)/launch/moveit.rviz]
      • load_robot_description [default: false]
      • right_electric_gripper [default: false]
      • left_electric_gripper [default: false]
      • left_tip_name [default: left_gripper]
      • right_tip_name [default: right_gripper]
      • camera_link_pose [default: $(arg camera_link_pose)]
  • launch/setup_assistant.launch
    • Re-launch the MoveIt Setup Assistant with this configuration package already loaded
      • debug [default: false]
  • launch/baxter_moveit_sensor_manager.launch
      • camera_link_pose [default: 0.15 0.075 0.5 0.0 0.7854 0.0]
      • kinect [default: false]
      • xtion [default: false]
  • launch/baxter_moveit_controller_manager.launch
      • moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
      • controller_manager_name [default: simple_controller_manager]
      • use_controller_manager [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged baxter_moveit_config at answers.ros.org

No version for distro hydro. Known supported distros are highlighted in the buttons above.