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crane_plus_moveit_config package from crane_plus repo

crane_plus crane_plus_control crane_plus_description crane_plus_examples crane_plus_gazebo crane_plus_moveit_config

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.0.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/rt-net/crane_plus.git
VCS Type git
VCS Version humble-devel
Last Updated 2023-09-08
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

CRANE+ V2 move_group config package

Additional Links

No additional links.

Maintainers

  • RT Corporation

Authors

  • Shota Aoki
  • Atsushi Kuwagata
crane_plus_moveit_config/README.md

crane_plus_moveit_config

このパッケージはCRANE+ V2のmove_group設定ファイル及びlaunchファイルを含んでいます。

ros-planning/moveit2/moveit_demo_nodes/run_move_group を参考にパッケージを作成しています。

ノードの起動

run_move_group.launch.pyを実行すると、move_groupやrviz等のノードが起動します。 コントローラノードは起動しないため、 CRANE+ V2本体を動かすことはできません。(crane_plus_examplesを参照してください。)

configファイル

  • controllers.yaml
    • moveit_simple_controller_managerのパラメータを設定しています
    • 設定内容はcrane_plus_controlのコントローラ名やコントローラタイプに依存します
  • crane_plus.srdf
    • move_groupとしてarm、gripperを設定しています
    • armのgourp_stateとしてhome、verticalを設定しています
  • kinematics.yaml
    • armのkinematics_solverを設定しています
    • デフォルトのKDLKinematicsPluginでは軌道計画に失敗するため、LMAKinematicsPluginを使用しています
  • ompl_planning.yaml
CHANGELOG

Changelog for package crane_plus_moveit_config

2.0.1 (2023-09-08)

2.0.0 (2023-08-01)

  • カメラサンプルのHumble対応 (#64)
  • Contributors: Shota Aoki, YusukeKato

1.1.0 (2022-08-16)

  • Update author tags (#49)
  • Rename CRANE+V2 to CRANE+ V2 (#44)
  • Contributors: Shota Aoki

1.0.0 (2022-06-22)

  • パッケージバージョン表記の更新 (#40)
  • xacroファイルの読み込みを一元化するためのPythonスクリプトを追加 (#36)
  • Update crane_plus_gazebo (#30)
  • Update installation for foxy release. (#29)
  • Contributors: Atsushi Kuwagata, Shota Aoki

0.1.0 (2020-11-11)

  • Update maintainer and author in package.xml (#23)
  • Update crane_plus_moveit_config (#20)
  • Add joint_values example and pick_and_place example (#15)
  • Add crane_plus_examples (#13)
  • Fix launch files (#12)
  • Use joint_trajectory_controller for gripper control (#11)
  • Refactor to pass ament_lint check (#9)
  • Add crane_plus_gazebo (#5)
  • Add crane plus control (#3)
  • Add moveit config (#2)
  • Contributors: Shota Aoki

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
ament_lint_auto
ament_lint_common
moveit
robot_state_publisher
rviz2
tf2_ros
xacro

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
crane_plus
crane_plus_examples
crane_plus_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged crane_plus_moveit_config at Robotics Stack Exchange

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crane_plus_moveit_config package from crane_plus repo

crane_plus crane_plus_control crane_plus_description crane_plus_examples crane_plus_gazebo crane_plus_ignition crane_plus_moveit_config

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.2.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/rt-net/crane_plus.git
VCS Type git
VCS Version foxy-devel
Last Updated 2023-08-08
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

CRANE+ V2 move_group config package

Additional Links

No additional links.

Maintainers

  • RT Corporation

Authors

  • Shota Aoki
  • Atsushi Kuwagata
crane_plus_moveit_config/README.md

crane_plus_moveit_config

このパッケージはCRANE+ V2のmove_group設定ファイル及びlaunchファイルを含んでいます。

ros-planning/moveit2/moveit_demo_nodes/run_move_group を参考にパッケージを作成しています。

ノードの起動

run_move_group.launch.pyを実行すると、move_groupやrviz等のノードが起動します。 コントローラノードは起動しないため、 CRANE+ V2本体を動かすことはできません。(crane_plus_examplesを参照してください。)

configファイル

  • controllers.yaml
    • moveit_simple_controller_managerのパラメータを設定しています
    • 設定内容はcrane_plus_controlのコントローラ名やコントローラタイプに依存します
  • crane_plus.srdf
    • move_groupとしてarm、gripperを設定しています
    • armのgourp_stateとしてhome、verticalを設定しています
  • kinematics.yaml
    • armのkinematics_solverを設定しています
    • デフォルトのKDLKinematicsPluginでは軌道計画に失敗するため、LMAKinematicsPluginを使用しています
  • ompl_planning.yaml
CHANGELOG

Changelog for package crane_plus_moveit_config

1.1.0 (2022-08-16)

  • Update author tags (#49)
  • Rename CRANE+V2 to CRANE+ V2 (#44)
  • Contributors: Shota Aoki

1.0.0 (2022-06-22)

  • パッケージバージョン表記の更新 (#40)
  • xacroファイルの読み込みを一元化するためのPythonスクリプトを追加 (#36)
  • Update crane_plus_gazebo (#30)
  • Update installation for foxy release. (#29)
  • Contributors: Atsushi Kuwagata, Shota Aoki

0.1.0 (2020-11-11)

  • Update maintainer and author in package.xml (#23)
  • Update crane_plus_moveit_config (#20)
  • Add joint_values example and pick_and_place example (#15)
  • Add crane_plus_examples (#13)
  • Fix launch files (#12)
  • Use joint_trajectory_controller for gripper control (#11)
  • Refactor to pass ament_lint check (#9)
  • Add crane_plus_gazebo (#5)
  • Add crane plus control (#3)
  • Add moveit config (#2)
  • Contributors: Shota Aoki

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
ament_lint_auto
ament_lint_common
moveit
robot_state_publisher
rviz2
tf2_ros
xacro

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
crane_plus
crane_plus_examples
crane_plus_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged crane_plus_moveit_config at Robotics Stack Exchange

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