No version for distro humble. Known supported distros are highlighted in the buttons above.

No version for distro iron. Known supported distros are highlighted in the buttons above.

No version for distro rolling. Known supported distros are highlighted in the buttons above.

moveit_servo package from moveit repo

moveit moveit_commander moveit_core moveit_kinematics moveit_planners_chomp chomp_motion_planner moveit_chomp_optimizer_adapter moveit_planners moveit_planners_ompl pilz_industrial_motion_planner pilz_industrial_motion_planner_testutils sbpl_interface sbpl_interface_ros moveit_fake_controller_manager moveit_plugins moveit_ros_control_interface moveit_simple_controller_manager moveit_ros_benchmarks moveit_ros_manipulation moveit_ros_move_group moveit_ros moveit_servo moveit_ros_occupancy_map_monitor moveit_ros_perception moveit_ros_planning moveit_ros_planning_interface moveit_ros_robot_interaction moveit_ros_visualization moveit_ros_warehouse moveit_runtime moveit_setup_assistant

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.1.13
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	master
Last Updated	2024-04-25
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

Website

Maintainers

Blake Anderson
Andy Zelenak

Authors

Brian O'Neil
Andy Zelenak
Blake Anderson
Alexander Rössler
Tyler Weaver

moveit_ros/moveit_servo/README.md

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

1.1.13 (2023-07-28)

1.1.12 (2023-05-13)

Simplify servo config + reusable launch files (#3326)
Contributors: Robert Haschke

1.1.11 (2022-12-21)

1.1.10 (2022-09-13)

1.1.9 (2022-03-06)

1.1.8 (2022-01-30)

1.1.7 (2021-12-31)

1.1.6 (2021-11-06)

Backport position limit enforcement from MoveIt2 (#2898)
Use newly introduced cmake macro moveit_build_options() from moveit_core
Minor fixups (#2759)
Remove gtest include from non-testing source (#2747)
Fix an off-by-one error in servo_calcs.cpp (#2740)
Refactor moveit_servo::LowPassFilter to be assignable (#2722)
Contributors: Griswald Brooks, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	catkin
	2	joy_teleop
	1	spacenav_node
	1	rostest
	1	moveit_resources_panda_moveit_config
	1	control_msgs
	1	control_toolbox
	2	geometry_msgs
	1	moveit_msgs
	3	moveit_ros_planning_interface
	2	rosparam_shortcuts
	2	sensor_msgs
	2	std_msgs
	3	std_srvs
	3	tf2_eigen
	2	trajectory_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/spacenav_teleop_tools.launch
- - config [default: $(find moveit_servo)/config/ur_simulated_config.yaml]
  - cmd_vel [default: spacenav/joy]
  - teleop_config [default: $(find moveit_servo)/config/spacenav_via_teleop_tools.yaml]
launch/pose_tracking_example.launch
- - config [default: $(find moveit_servo)/config/ur_simulated_config.yaml]
launch/spacenav_cpp.launch
- - config [default: $(find moveit_servo)/config/ur_simulated_config.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `moveit_servo` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro ardent. Known supported distros are highlighted in the buttons above.

No version for distro bouncy. Known supported distros are highlighted in the buttons above.

No version for distro crystal. Known supported distros are highlighted in the buttons above.

No version for distro eloquent. Known supported distros are highlighted in the buttons above.

No version for distro dashing. Known supported distros are highlighted in the buttons above.

No version for distro galactic. Known supported distros are highlighted in the buttons above.

No version for distro foxy. Known supported distros are highlighted in the buttons above.

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.

moveit_servo package from moveit repo

moveit moveit_commander moveit_core moveit_kinematics moveit_planners_chomp chomp_motion_planner moveit_chomp_optimizer_adapter moveit_planners moveit_planners_ompl pilz_industrial_motion_planner pilz_industrial_motion_planner_testutils sbpl_interface sbpl_interface_ros moveit_controller_manager_example moveit_fake_controller_manager moveit_plugins moveit_ros_control_interface moveit_simple_controller_manager moveit_ros_benchmarks moveit_ros_manipulation moveit_ros_move_group moveit_ros moveit_servo moveit_ros_occupancy_map_monitor moveit_ros_perception moveit_ros_planning moveit_ros_planning_interface moveit_ros_robot_interaction moveit_ros_visualization moveit_ros_warehouse moveit_runtime moveit_setup_assistant

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	1.0.11
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	2022-09-13
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

Website

Maintainers

Blake Anderson
Andy Zelenak

Authors

Brian O'Neil
Andy Zelenak
Blake Anderson
Alexander Rössler
Tyler Weaver

moveit_ros/moveit_servo/README.md

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

1.0.11 (2022-09-13)

1.0.10 (2022-03-06)

1.0.9 (2022-01-09)

Fix an off-by-one error in servo_calcs.cpp (#2908)
Contributors: Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	catkin
	2	joy_teleop
	1	spacenav_node
	1	rostest
	1	moveit_resources_panda_moveit_config
	1	control_msgs
	1	control_toolbox
	2	geometry_msgs
	1	moveit_msgs
	3	moveit_ros_planning_interface
	2	rosparam_shortcuts
	2	sensor_msgs
	2	std_msgs
	3	std_srvs
	3	tf2_eigen
	2	trajectory_msgs

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 Robotics Stack Exchange

API Docs Browse Code Wiki

moveit_servo package from moveit repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

MoveIt Servo

Quick Start Guide for UR5 example

Running Tests

Changelog for package moveit_servo

1.1.13 (2023-07-28)

1.1.12 (2023-05-13)

1.1.11 (2022-12-21)

1.1.10 (2022-09-13)

1.1.9 (2022-03-06)

1.1.8 (2022-01-30)

1.1.7 (2021-12-31)

1.1.6 (2021-11-06)

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged moveit_servo at Robotics Stack Exchange

moveit_servo package from moveit repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

Moveit Servo

Quick Start Guide for UR5 example

Running Tests

Changelog for package moveit_servo

1.0.11 (2022-09-13)

1.0.10 (2022-03-06)

1.0.9 (2022-01-09)

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged moveit_servo at Robotics Stack Exchange

Recent questions tagged `moveit_servo` at Robotics Stack Exchange

Recent questions tagged `moveit_servo` at Robotics Stack Exchange