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

1.1.5 (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