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Package Summary
| Tags | No category tags. |
| Version | 2.1.4 |
| License | BSD 3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-planning/moveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2021-06-11 |
| Dev Status | DEVELOPED |
| 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
Provides real-time manipulator Cartesian and joint servoing.
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
- Tyler Weaver
- Adam Pettinger
Moveit Servo
See the Running the Demos guide for installation instructions and quick-start guide
See the Servo Tutorial to get an overview about moveit_servo and learn how to set it up on your robot.
CHANGELOG
Changelog for package moveit_servo
2.1.4 (2021-05-31)
- Delete MoveIt fake_controller_manager (#471)
- Contributors: AndyZe
2.1.3 (2021-05-22)
- Refactor Servo velocity bounds enforcement. Disable flaky unit tests. (#428)
- Fix joint limit handling when velocities aren\'t included in robot state (#451)
- Fix Servo logging frequency (#457)
- Replace last ament_export_libraries macro calls with ament_export_targets (#448)
- Contributors: AndyZe, Sebastian Jahr, Vatan Aksoy Tezer
2.1.2 (2021-04-20)
- Re-enable test_servo_pose_tracking integration test (#423) Co-authored-by: AndyZe <zelenak@picknik.ai>
- Unify PickNik name in copyrights (#419)
- Contributors: Tyler Weaver, Vatan Aksoy Tezer
2.1.1 (2021-04-12)
- Do not output positions at all if they are set to false (#410)
- Update launch files to use ros2 control spawner (#405)
- Include boost optional in pose_tracking (#406)
- Use fake_components::GenericSystem from ros2_control (#361)
- Fix EXPORT install in CMake (#372)
- moveit servo: fix constructing duration from double & fix bug in insertRedundantPointsIntoTrajectory function (#374)
- port pose tracking (#320)
- Fix \'start_servo\' service topic in demo
- Sync main branch with MoveIt 1 from previous head https://github.com/ros-planning/moveit/commit/0247ed0027ca9d7f1a7f066e62c80c9ce5dbbb5e up to https://github.com/ros-planning/moveit/commit/74b3e30db2e8683ac17b339cc124675ae52a5114
- Protect paused_ flag, for thread safety (#2494)
- Do not break out of loop -- need to update low pass filters (#2496)
- [Servo] Fix initial angle error is always 0 (#2464)
- Add an important sleep in Servo pose tracking (#2463)
- Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
- [feature] Low latency mode (#2401)
- Move timer initialization down to fix potential race condition
- Contributors: Abishalini Sivaraman, AdamPettinger, AndyZe, Boston Cleek, Henning Kayser, Jafar Abdi, Nathan Brooks, Tyler Weaver
2.1.0 (2020-11-23)
- [maint] Wrap common cmake code in \'moveit_package()\' macro
(#285)
- New moveit_package() macro for compile flags, Windows support etc
- Add package \'moveit_common\' as build dependency for moveit_package()
- Added -Wno-overloaded-virtual compiler flag for moveit_ros_planners_ompl
- [fix] Servo runtime issues (#257, #265, #294)
- [ros2-migration] Port moveit_servo to ROS 2
(#248)
- Ports the source from MoveIt
- Adds examples (C++ interface, composable node interface, teleoperation demo for gamepad)
- Adds integration and unit tests
- Contributors: Adam Pettinger, Henning Kayser, Lior Lustgarten, Tyler Weaver
1.1.1 (2020-10-13)
- [feature] A library for servoing toward a moving pose (#2203)
- [feature] Refactor velocity limit enforcement and add a unit test (#2260)
- [fix] Servo thread interruption (#2314)
- [fix] Servo heap-buffer-overflow bug (#2307)
- [maint] Cleanup MSA includes (#2351)
- Contributors: AndyZe, Robert Haschke, Tyler Weaver
1.1.0 (2020-09-04)
- [feature] Update last_sent_command_ at ServoCalcs start (#2249)
- [feature] Add a utility to print collision pairs (#2275)
- [fix] Various fixes for upcoming Noetic release (#2180)
- [maint] add soname version to moveit_servo (#2266)
- [maint] delete python integration tests (#2186)
- Contributors: AdamPettinger, AndyZe, Robert Haschke, Ruofan Xu, Tyler Weaver, v4hn
1.0.6 (2020-08-19)
- [feature] A ROS service to reset the Servo status (#2246)
- [feature] Check collisions during joint motions, too (#2204)
- [fix] Correctly set velocities to zero when stale (#2255)
- [maint] Remove unused yaml param (#2232)
- [maint] Adapt repository for splitted moveit_resources layout (#2199)
- [maint] Migrate to clang-format-10
- Contributors: AndyZe, Robert Haschke, Ruofan Xu, Michael G
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged moveit_servo at answers.ros.org
Package Summary
| Tags | No category tags. |
| Version | 1.1.5 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-planning/moveit.git |
| VCS Type | git |
| VCS Version | noetic-devel |
| Last Updated | 2021-06-10 |
| 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
Provides real-time manipulator Cartesian and joint servoing.
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
- Tyler Weaver
MoveIt Servo
Quick Start Guide for UR5 example
Clone the universal_robot repo into your catkin workspace:
git clone https://github.com/ros-industrial/universal_robot.git
Run rosdep install from the src folder to install dependencies.
rosdep install --from-paths . --ignore-src -y
Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
In RViz, "plan and execute" a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.
rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"
Launch the servo node. This example uses commands from a SpaceNavigator joystick-like device:
roslaunch moveit_servo spacenav_cpp.launch
If you dont have a SpaceNavigator, send commands like this:
rostopic pub -r 100 /servo_server/delta_twist_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
If you see a warning about "close to singularity", try changing the direction of motion.
Running Tests
Run tests from the moveit_servo folder:
catkin run_tests --no-deps --this
CHANGELOG
Changelog for package moveit_servo
1.1.5 (2021-05-23)
1.1.4 (2021-05-12)
1.1.3 (2021-04-29)
- Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
- Contributors: Nathan Brooks
1.1.2 (2021-04-08)
- Fix formatting errors
- Halt Servo command on Pose Tracking stop (#2501)
- stop_requested_ flag clearing fix (#2537)
- Add missing include (#2519)
- Refactor Servo velocity bounds enforcement (#2471)
- Protect paused_ flag, for thread safety (#2494)
- Do not break out of loop -- need to update low pass filters (#2496)
- Fix initial angle error is always 0 (#2464)
- Add an important sleep in Servo pose tracking (#2463)
- Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
- Low latency mode (#2401)
- Move timer initialization down to fix potential race condition
- Fix pose tracking race condition (#2395)
- Cleanup current state handling in servo (#2372)
- Change servo namespacing logic (#2354)
- Fix servo trajectory point timestamping (#2375)
- Fix ordering of windup args to control_toolbox::Pid (#2370)
- Contributors: AdamPettinger, AndyZe, Jere Liukkonen, Michael G
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/cpp_interface_example.launch
- launch/spacenav_teleop_tools.launch
-
- cmd_vel [default: spacenav/joy]
- teleop_config [default: $(find moveit_servo)/config/spacenav_via_teleop_tools.yaml]
- launch/pose_tracking_example.launch
- launch/spacenav_cpp.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged moveit_servo at answers.ros.org
Package Summary
| Tags | No category tags. |
| Version | 1.0.8 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-planning/moveit.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2021-06-07 |
| 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
Provides real-time manipulator Cartesian and joint servoing.
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
- Tyler Weaver
Moveit Servo
Quick Start Guide for UR5 example
Clone the universal_robot repo into your catkin workspace:
git clone https://github.com/ros-industrial/universal_robot.git
Run rosdep install from the src folder to install dependencies.
rosdep install --from-paths . --ignore-src -y
Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
In RViz, "plan and execute" a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.
rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"
Launch the servo node. This example uses commands from a SpaceNavigator joystick-like device:
roslaunch moveit_servo spacenav_cpp.launch
If you dont have a SpaceNavigator, send commands like this:
rostopic pub -r 100 /servo_server/delta_twist_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
If you see a warning about "close to singularity", try changing the direction of motion.
Running Tests
Run tests from the moveit_servo folder:
catkin run_tests --no-deps --this
CHANGELOG
Changelog for package moveit_servo
1.0.8 (2021-05-23)
- Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
- Halt Servo command on Pose Tracking stop (#2501)
- stop_requested_ flag clearing fix (#2537)
- Refactor Servo velocity bounds enforcement (#2471)
- Protect paused_ flag, for thread safety (#2494)
- Do not break out of loop -- need to update low pass filters (#2496)
- Fix initial angle error is always 0 (#2464)
- Add an important sleep in Servo pose tracking (#2463)
- Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
- Low latency mode (#2401)
- Move timer initialization down to fix potential race condition
- Fix pose tracking race condition (#2395)
- Contributors: AdamPettinger, AndyZe, Jere Liukkonen, Michael G
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/cpp_interface_example.launch
- launch/spacenav_teleop_tools.launch
-
- cmd_vel [default: spacenav/joy]
- teleop_config [default: $(find moveit_servo)/config/spacenav_via_teleop_tools.yaml]
- launch/pose_tracking_example.launch
- launch/spacenav_cpp.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged moveit_servo at answers.ros.org
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