|
|
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 | 2023-11-29 |
| 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
1.1.13 (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()frommoveit_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::LowPassFilterto be assignable (#2722) - Contributors: Griswald Brooks, Michael G
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
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
Services
Plugins
Recent questions tagged moveit_servo at answers.ros.org
|
|
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
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
1.0.11 (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
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