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 for package moveit_servo

1.0.7 (2020-11-20)

• [feature] Cleanup current state handling in servo (#2372)
• [feature] Servo namespacing logic (#2354)
• [feature] A library for servoing toward a moving pose (#2203)
• [feature] Refactor velocity limit enforcement and add a unit test (#2260)
• [feature] Add a utility to print collision pairs (#2275)
• [feature] Update last_sent_command_ at ServoCalcs start (#2249)
• [fix] Fix servo trajectory point timestamping (#2375)
• [fix] Fix ordering of windup args to control_toolbox::Pid (#2370)
• [fix] Fix Servo thread interruption (#2314)
• [fix] Servo heap-buffer-overflow bug (#2307)
• [maint] add soname version to moveit_servo (#2266)
• Contributors: AdamPettinger, AndyZe, Jere Liukkonen, Nathan Brooks, Robert Haschke, Tyler Weaver

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