Package Summary
Tags | No category tags. |
Version | 2.1.0 |
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 | 2021-03-02 |
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
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 for package moveit_servo
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
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_servo at answers.ros.org
Package Summary
Tags | No category tags. |
Version | 1.1.1 |
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 | 2020-12-09 |
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
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 for package moveit_servo
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
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
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
Services
Plugins
Recent questions tagged moveit_servo at answers.ros.org
Package Summary
Tags | No category tags. |
Version | 1.0.7 |
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 | 2021-03-02 |
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
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 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
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
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