Package Summary

Tags No category tags.
Version 1.1.5
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 2021-07-21
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

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

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_servo at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.8
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 2021-06-22
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

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

Changelog for package moveit_servo

1.0.8 (2021-05-23)

  • Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
  • Halt Servo command on Pose Tracking stop (#2501)
  • stop_requested_ flag clearing fix (#2537)
  • 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)
  • Contributors: AdamPettinger, AndyZe, Jere Liukkonen, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_servo at answers.ros.org