|
Package Summary
Tags | No category tags. |
Version | 2.8.0 |
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 | 2023-09-15 |
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
- Henning Kayser
- Tyler Weaver
- Robert Haschke
- MoveIt Release Team
- David V. Lu!!
Authors
- David V. Lu!!
- Dave Coleman
Changelog for package moveit_setup_assistant
2.8.0 (2023-09-10)
2.7.4 (2023-05-18)
2.7.3 (2023-04-24)
- Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
- Contributors: Shobuj Paul
2.7.2 (2023-04-18)
- Update pre-commit (#2094)
- Contributors: Shobuj Paul
2.7.1 (2023-03-23)
2.7.0 (2023-01-29)
- Fix BSD license in package.xml
(#1796)
- fix BSD license in package.xml
- this must also be spdx compliant
- Minimize use of [this->]{.title-ref} (#1784) It\'s often unnecessary. MoveIt already avoids this in most cases so this PR better cements that existing pattern.
- Add braces around blocks. (#999)
- Use <> for non-local headers (#1734) Unless a header lives in the same or a child directory of the file including it, it\'s recommended to use <> for the #include statement. For more information, see the C++ Core Guidelines item SF.12 https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#sf12-prefer-the-quoted-form-of-include-for-files-relative-to-the-including-file-and-the-angle-bracket-form-everywhere-else
-
Fix clang-tidy issues (#1706)
- Blindly apply automatic clang-tidy fixes
- Exemplarily cleanup a few automatic clang-tidy fixes
- Clang-tidy fixups
- Missed const-ref fixups
- Fix unsupported non-const -> const
* More fixes Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Contributors: Chris Thrasher, Christian Henkel, Cory Crean, Robert Haschke
2.6.0 (2022-11-10)
- Improve CMake usage (#1550)
- Contributors: Sebastian Jahr
2.5.3 (2022-07-28)
- Organize package xml of MSA (#1454)
- Contributors: Vatan Aksoy Tezer
2.5.2 (2022-07-18)
- [MSA] Testing Framework for MoveItSetupAssistant (#1383)
- Merge pull request #1254 from ros-planning/feature/msa MoveIt Setup Assistant - Merge the Feature branch
- Fix compile issues
- Merge remote-tracking branch \'upstream/main\' into feature/msa
- [MSA] ros2_control Integration (#1299)
- [MSA] Workaround to launch files without controllers (#1275)
- [MSA] PR Feedback
- [MSA] Initial Controllers and Simulation Steps Port (#1252)
- [MSA] Launch Updates (#1247)
- [MSA] Merge main into feature/msa (Part II) (#1240)
- [MSA] Three small edits (#1203)
- [MSA] Add Setup Step for Generating Launch Files (#1129)
- [MSA] Fix arg parsing in main (#1110)
- [MSA] Simplify loading of new SRDF (#1102)
- [MSA] SRDF Setup (#1057)
- [MSA] Navigation Widget Fixes (#1054)
- [MSA] Initial Refactor
- [MSA] Move Files Around (split into multiple packages, change to hpp extension)
- Contributors: David V. Lu!!, Vatan Aksoy Tezer
2.5.1 (2022-05-31)
2.5.0 (2022-05-26)
- Make moveit_common a \'depend\' rather than \'build_depend\' (#1226)
- Avoid bind(), use lambdas instead (#1204) Adaption of https://github.com/ros-planning/moveit/pull/3106
- banish bind() source:https://github.com/ros-planning/moveit/pull/3106/commits/a2911c80c28958c1fce8fb52333d770248c4ec05; required minor updates compared to original source commit in order to ensure compatibility with ROS2
- Merge https://github.com/ros-planning/moveit/commit/424a5b7b8b774424f78346d1e98bf1c9a33f0e78
- Merge #3081: Improve Gazebo-compatible URDF generation in MSA
- Add inertial/origin tag
- Don\'t overwrite existing attributes
- Merge https://github.com/ros-planning/moveit/commit/ab42a1d7017b27eb6c353fb29331b2da08ab0039
- Move getGazeboCompatibleURDF() from MoveItConfigData to SimulationWidget This is a function specific to the SimulationWidget
- Provide button to open original URDF file
- Fix widget layout
- Use focusGiven() + focusLost() to generate and validate Gazebo URDF
- XmlSyntaxHighlighter: allow nested highlighting
- Replace manual highlighting with a SyntaxHighlighter
- Simplify getGazeboCompatibleURDF() Use a new utility function uniqueInsert() to avoid code duplication when inserting XML elements uniquely.
- getGazeboCompatibleURDF(): Compare original and final XML Instead of manually keeping track of changes, compare the two docs. This is much more robust.
- getGazeboCompatibleURDF(): Skip catching YAML exceptions There is no YAML involved!
- fixup: config_path_ -> static const CONFIG_PATH
- fixup: Simplify saving
- new_gazebo_urdf_ -> save_gazebo_urdf_
- directly save content, avoid extra parsing
- hide overwrite button if doc is empty
- disable overwrite button if saving is not possible due to xacro
- fixup: Drop hidden_func_ from ConfigurationFilesWidget but (re)create the list of to-be-generated files each time entering the widget to allow for dynamic adaption of the file list
- fixup: Improve message boxes
- fixup: avoid code duplication
- Allow (over)writing the Gazebo-compatible URDF
- Use more specific check for correct tag
- static_cast<std::string>() -> std::string()
- fixup: (slightly) improve comment
- fixup: avoid segfaults if expected XML elements are missing
- fixup: fix variable name: transitions_elements -> transmission_elements
- 1.1.9
- Avoid creating duplicate transmission tags Only add Gazebo transmission tags for joints if they are not yet present.
- Fix collisions_updater\'s set comparison (#3076) Use operator< of std::pair(string,string) for comparing two link pairs.
- Compilation fixes for Jammy and bring back Rolling CI
(#1095)
- Use jammy dockers and clang-format-12
- Fix unused depend, and move to python3-lxml
- add ompl to repos, fix versions and ogre
- Remove ogre keys
- Fix boolean node operator
- Stop building dockers on branch and fix servo null pointer
- update pre-commit to clang-format-12 and pre-commit fixes
- clang-format workaround and more pre-commit fixes
- MSA: boost::bind -> std::bind (#3039)
- Do not automatically load robot description in move_group.launch (#3065) MoveIt should not overwrite a previously uploaded robot description. It should only provide it optionally in demo mode.
- Merge https://github.com/ros-planning/moveit/commit/25a63b920adf46f0a747aad92ada70d8afedb3ec
- Merge https://github.com/ros-planning/moveit/commit/0d7462f140e03b4c319fa8cce04a47fe3f650c60
- 1.1.8
- Merge PR #2938: Rework ACM Implement ACM defaults as a fallback instead of an override. Based on ros-planning/srdfdom#97, this allows disabling collisions for specific links/objects by default and re-enabling individual pairs if necessary.
-
MSA: Add STOMP + OMPL-CHOMP configs (#2955)
- Add stomp planner to MSA
- Add OMPL-CHOMP planner to MSA
- Remove obsolete CHOMP parameters
- Update CHOMP config parameters to match code defaults
- Create CHOMP config via template (instead of code) Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
1.1.7
Move MoveItConfigData::setCollisionLinkPairs to collisions_updater.cpp This method is only used there to update disabled collision entries.
Unify initialization of ACM from SRDF
Adapt to API changes in srdfdom \@v4hn requested splitting of collision_pairs into (re)enabled and disabled.
Adapt to API changes in srdfdom
Merge PR #3013: MSA cleanup
Modernize loops
Pass xacro_args to both, urdf and srdf loading
Switch to std::bind (#2967) * boost::bind -> std::bind grep -rlI --exclude-dir=.git \"boost::bind\" | xargs sed -i \'s/boost::bind/std::bind/g\' * Convert bind placeholders grep -rlI --exclude-dir=.git \" _[0-9]\" | xargs sed -i \'s/ _([0-9])/ std::placeholders::_1/g\' * Update bind include header grep -rlI --exclude-dir=.git \"boost/bind\" | xargs sed -i \'s#boost/bind.hpp#functional#\'
MSA: Notice file updates (#2964) This commit fixes a MSA bug causing files in a loaded MoveIt config to be incorrectly classified as externally modified after being written by the \"Generate Package\" button. As this status is solely based on the file timestamp relative to the timestamp stored in the .setupassistant file, we need to update this timestamp when we wrote the files.
Upload controller_list for simple controller manager (#2954)
1.1.6
Pilz: Define default planner
Simplify definition of [planning_plugin]{.title-ref} parameter There is no means to declare the planning_plugin as an arg first.
Allow checking/unchecking multiple files for generation
Improve instructions
moveit.rviz: Use Orbit view controller
moveit.rviz template: remove link names
Rename launch argument execution_type -> fake_execution_type ... to clarify that this parameter is only used for fake controllers
gazebo.launch: delayed unpause Only unpause simulation when robot model was loaded. This ensures that the initial pose is actually held.
gazebo.yaml: Allow initial_joint_positions
gazebo.launch: Load URDF via xacro if neccessary
Modularize demo_gazebo.launch: draw on demo.launch
demo.launch: start joint + robot-state publishers in fake mode only This will facilitate re-use of demo.launch.
Formatting
-
Fix controller choice - Provide all types of JointTrajectoryController as well as FollowJointTrajectory and GripperCommand (use by simple manager)
- Use effort_controllers/JointTrajectoryController as default
- Create FollowJointTrajectory entries for any JointTrajectoryController
Simplify code
Update widget texts to speak about generic controllers
Rename ROSControllersWidget -> ControllersWidget
Rename files ros_controllers_widget.* -> controllers_widget.*
Rename ros_controllers_config_ -> controller_configs_
Rename functions ROSController -> Controller
Rename ROSControlConfig -> ControllerConfig
Fix ros_controllers.yaml: always handle joints as sequence
-
Rework controller config generation We should write separate controller config files for different controller managers:
- simple_moveit_controllers.yaml handles everything relevant for SimpleMoveItControllerManager
- ros_controllers.yaml handles ros_control config
- gazebo_controllers.yaml handles controllers required for Gazebo
Add gazebo_controllers.yaml
-
Fix handling of sensors_3d.yaml - Reading both, the default and the existing package\'s sensors_3d.yaml into the config, the config file was growing by 2 configs each time.
- Not visiting the Perception tab, was writing the default config with 2 entries
- Selecting \"None\" was writing an invalid config: sensors: - {} - {}
Cleanup generation of ros_controllers.yaml
-
Rework moveit_controller_manager handling There are 3 basic MoveIt controller manager plugins: - fake = [moveit_fake_controller_manager::MoveItFakeControllerManager]{.title-ref} Used in demo.launch. Doesn\'t really control the robot, but just interpolates between via points. Allows these execution_types:
- via points: just jumps to the via points
- interpolate: linearly interpolates between via points (default)
- last point: jumps to the final trajectory point (used for fast execution testing)
- ros_control = [moveit_ros_control_interface::MoveItControllerManager]{.title-ref} Interfaces to ros_control controllers. - simple = [moveit_simple_controller_manager/MoveItSimpleControllerManager]{.title-ref} Interfaces to action servers for [FollowJointTrajectory]{.title-ref} and/or [GripperCommand]{.title-ref} that in turn interface to the low-level robot controllers (typically based on ros_control) However, so far move_group.launch distinguished between [fake]{.title-ref} and [robot]{.title-ref} only. The argument moveit_controller_manager now allows switching between all 3 variants. Adding more *_moveit_controller_manager.launch files allows for an extension of this scheme.
Fix definition of real-robot moveit_controller_manager Fixes the following error (occurring since 61d18f2f073aa4c8a13c2278c41a63591d401c4a)
` [FATAL] ros.moveit_ros_planning.trajectory_execution_manager: Exception while loading controller manager 'robot': According to the loaded plugin descriptions the class robot with base class type moveit_controller_manager::MoveItControllerManager does not exist.
[ As we introduced `pass_all_args=\"true\"]{.title-ref}, the value of the argument [moveit_controller_manager]{.title-ref} was the robot name.Remove execution_type argument from real-robot controller_manager.launch
moveit_controller_manager.launch: pass execution_type via pass_all_args (#2928) While we need to pass execution_type to fake_moveit_controller_manager.launch, the controller_manager.launch files of real-robot shouldn\'t be required to define this argument. However, if they don\'t roslaunch fails with an [unused args]{.title-ref} exception (see #2786). Passing arguments via pass_all_args should solve that issue.
Contributors: Abishalini, Henning Kayser, Jafar, Jochen Sprickerhof, Loy van Beek, Michael G
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
qtbase5-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_setup_assistant at answers.ros.org
|
Package Summary
Tags | No category tags. |
Version | 2.8.0 |
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 | 2023-09-15 |
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
- Henning Kayser
- Tyler Weaver
- Robert Haschke
- MoveIt Release Team
- David V. Lu!!
Authors
- David V. Lu!!
- Dave Coleman
Changelog for package moveit_setup_assistant
2.8.0 (2023-09-10)
2.7.4 (2023-05-18)
2.7.3 (2023-04-24)
- Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
- Contributors: Shobuj Paul
2.7.2 (2023-04-18)
- Update pre-commit (#2094)
- Contributors: Shobuj Paul
2.7.1 (2023-03-23)
2.7.0 (2023-01-29)
- Fix BSD license in package.xml
(#1796)
- fix BSD license in package.xml
- this must also be spdx compliant
- Minimize use of [this->]{.title-ref} (#1784) It\'s often unnecessary. MoveIt already avoids this in most cases so this PR better cements that existing pattern.
- Add braces around blocks. (#999)
- Use <> for non-local headers (#1734) Unless a header lives in the same or a child directory of the file including it, it\'s recommended to use <> for the #include statement. For more information, see the C++ Core Guidelines item SF.12 https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#sf12-prefer-the-quoted-form-of-include-for-files-relative-to-the-including-file-and-the-angle-bracket-form-everywhere-else
-
Fix clang-tidy issues (#1706)
- Blindly apply automatic clang-tidy fixes
- Exemplarily cleanup a few automatic clang-tidy fixes
- Clang-tidy fixups
- Missed const-ref fixups
- Fix unsupported non-const -> const
* More fixes Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Contributors: Chris Thrasher, Christian Henkel, Cory Crean, Robert Haschke
2.6.0 (2022-11-10)
- Improve CMake usage (#1550)
- Contributors: Sebastian Jahr
2.5.3 (2022-07-28)
- Organize package xml of MSA (#1454)
- Contributors: Vatan Aksoy Tezer
2.5.2 (2022-07-18)
- [MSA] Testing Framework for MoveItSetupAssistant (#1383)
- Merge pull request #1254 from ros-planning/feature/msa MoveIt Setup Assistant - Merge the Feature branch
- Fix compile issues
- Merge remote-tracking branch \'upstream/main\' into feature/msa
- [MSA] ros2_control Integration (#1299)
- [MSA] Workaround to launch files without controllers (#1275)
- [MSA] PR Feedback
- [MSA] Initial Controllers and Simulation Steps Port (#1252)
- [MSA] Launch Updates (#1247)
- [MSA] Merge main into feature/msa (Part II) (#1240)
- [MSA] Three small edits (#1203)
- [MSA] Add Setup Step for Generating Launch Files (#1129)
- [MSA] Fix arg parsing in main (#1110)
- [MSA] Simplify loading of new SRDF (#1102)
- [MSA] SRDF Setup (#1057)
- [MSA] Navigation Widget Fixes (#1054)
- [MSA] Initial Refactor
- [MSA] Move Files Around (split into multiple packages, change to hpp extension)
- Contributors: David V. Lu!!, Vatan Aksoy Tezer
2.5.1 (2022-05-31)
2.5.0 (2022-05-26)
- Make moveit_common a \'depend\' rather than \'build_depend\' (#1226)
- Avoid bind(), use lambdas instead (#1204) Adaption of https://github.com/ros-planning/moveit/pull/3106
- banish bind() source:https://github.com/ros-planning/moveit/pull/3106/commits/a2911c80c28958c1fce8fb52333d770248c4ec05; required minor updates compared to original source commit in order to ensure compatibility with ROS2
- Merge https://github.com/ros-planning/moveit/commit/424a5b7b8b774424f78346d1e98bf1c9a33f0e78
- Merge #3081: Improve Gazebo-compatible URDF generation in MSA
- Add inertial/origin tag
- Don\'t overwrite existing attributes
- Merge https://github.com/ros-planning/moveit/commit/ab42a1d7017b27eb6c353fb29331b2da08ab0039
- Move getGazeboCompatibleURDF() from MoveItConfigData to SimulationWidget This is a function specific to the SimulationWidget
- Provide button to open original URDF file
- Fix widget layout
- Use focusGiven() + focusLost() to generate and validate Gazebo URDF
- XmlSyntaxHighlighter: allow nested highlighting
- Replace manual highlighting with a SyntaxHighlighter
- Simplify getGazeboCompatibleURDF() Use a new utility function uniqueInsert() to avoid code duplication when inserting XML elements uniquely.
- getGazeboCompatibleURDF(): Compare original and final XML Instead of manually keeping track of changes, compare the two docs. This is much more robust.
- getGazeboCompatibleURDF(): Skip catching YAML exceptions There is no YAML involved!
- fixup: config_path_ -> static const CONFIG_PATH
- fixup: Simplify saving
- new_gazebo_urdf_ -> save_gazebo_urdf_
- directly save content, avoid extra parsing
- hide overwrite button if doc is empty
- disable overwrite button if saving is not possible due to xacro
- fixup: Drop hidden_func_ from ConfigurationFilesWidget but (re)create the list of to-be-generated files each time entering the widget to allow for dynamic adaption of the file list
- fixup: Improve message boxes
- fixup: avoid code duplication
- Allow (over)writing the Gazebo-compatible URDF
- Use more specific check for correct tag
- static_cast<std::string>() -> std::string()
- fixup: (slightly) improve comment
- fixup: avoid segfaults if expected XML elements are missing
- fixup: fix variable name: transitions_elements -> transmission_elements
- 1.1.9
- Avoid creating duplicate transmission tags Only add Gazebo transmission tags for joints if they are not yet present.
- Fix collisions_updater\'s set comparison (#3076) Use operator< of std::pair(string,string) for comparing two link pairs.
- Compilation fixes for Jammy and bring back Rolling CI
(#1095)
- Use jammy dockers and clang-format-12
- Fix unused depend, and move to python3-lxml
- add ompl to repos, fix versions and ogre
- Remove ogre keys
- Fix boolean node operator
- Stop building dockers on branch and fix servo null pointer
- update pre-commit to clang-format-12 and pre-commit fixes
- clang-format workaround and more pre-commit fixes
- MSA: boost::bind -> std::bind (#3039)
- Do not automatically load robot description in move_group.launch (#3065) MoveIt should not overwrite a previously uploaded robot description. It should only provide it optionally in demo mode.
- Merge https://github.com/ros-planning/moveit/commit/25a63b920adf46f0a747aad92ada70d8afedb3ec
- Merge https://github.com/ros-planning/moveit/commit/0d7462f140e03b4c319fa8cce04a47fe3f650c60
- 1.1.8
- Merge PR #2938: Rework ACM Implement ACM defaults as a fallback instead of an override. Based on ros-planning/srdfdom#97, this allows disabling collisions for specific links/objects by default and re-enabling individual pairs if necessary.
-
MSA: Add STOMP + OMPL-CHOMP configs (#2955)
- Add stomp planner to MSA
- Add OMPL-CHOMP planner to MSA
- Remove obsolete CHOMP parameters
- Update CHOMP config parameters to match code defaults
- Create CHOMP config via template (instead of code) Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
1.1.7
Move MoveItConfigData::setCollisionLinkPairs to collisions_updater.cpp This method is only used there to update disabled collision entries.
Unify initialization of ACM from SRDF
Adapt to API changes in srdfdom \@v4hn requested splitting of collision_pairs into (re)enabled and disabled.
Adapt to API changes in srdfdom
Merge PR #3013: MSA cleanup
Modernize loops
Pass xacro_args to both, urdf and srdf loading
Switch to std::bind (#2967) * boost::bind -> std::bind grep -rlI --exclude-dir=.git \"boost::bind\" | xargs sed -i \'s/boost::bind/std::bind/g\' * Convert bind placeholders grep -rlI --exclude-dir=.git \" _[0-9]\" | xargs sed -i \'s/ _([0-9])/ std::placeholders::_1/g\' * Update bind include header grep -rlI --exclude-dir=.git \"boost/bind\" | xargs sed -i \'s#boost/bind.hpp#functional#\'
MSA: Notice file updates (#2964) This commit fixes a MSA bug causing files in a loaded MoveIt config to be incorrectly classified as externally modified after being written by the \"Generate Package\" button. As this status is solely based on the file timestamp relative to the timestamp stored in the .setupassistant file, we need to update this timestamp when we wrote the files.
Upload controller_list for simple controller manager (#2954)
1.1.6
Pilz: Define default planner
Simplify definition of [planning_plugin]{.title-ref} parameter There is no means to declare the planning_plugin as an arg first.
Allow checking/unchecking multiple files for generation
Improve instructions
moveit.rviz: Use Orbit view controller
moveit.rviz template: remove link names
Rename launch argument execution_type -> fake_execution_type ... to clarify that this parameter is only used for fake controllers
gazebo.launch: delayed unpause Only unpause simulation when robot model was loaded. This ensures that the initial pose is actually held.
gazebo.yaml: Allow initial_joint_positions
gazebo.launch: Load URDF via xacro if neccessary
Modularize demo_gazebo.launch: draw on demo.launch
demo.launch: start joint + robot-state publishers in fake mode only This will facilitate re-use of demo.launch.
Formatting
-
Fix controller choice - Provide all types of JointTrajectoryController as well as FollowJointTrajectory and GripperCommand (use by simple manager)
- Use effort_controllers/JointTrajectoryController as default
- Create FollowJointTrajectory entries for any JointTrajectoryController
Simplify code
Update widget texts to speak about generic controllers
Rename ROSControllersWidget -> ControllersWidget
Rename files ros_controllers_widget.* -> controllers_widget.*
Rename ros_controllers_config_ -> controller_configs_
Rename functions ROSController -> Controller
Rename ROSControlConfig -> ControllerConfig
Fix ros_controllers.yaml: always handle joints as sequence
-
Rework controller config generation We should write separate controller config files for different controller managers:
- simple_moveit_controllers.yaml handles everything relevant for SimpleMoveItControllerManager
- ros_controllers.yaml handles ros_control config
- gazebo_controllers.yaml handles controllers required for Gazebo
Add gazebo_controllers.yaml
-
Fix handling of sensors_3d.yaml - Reading both, the default and the existing package\'s sensors_3d.yaml into the config, the config file was growing by 2 configs each time.
- Not visiting the Perception tab, was writing the default config with 2 entries
- Selecting \"None\" was writing an invalid config: sensors: - {} - {}
Cleanup generation of ros_controllers.yaml
-
Rework moveit_controller_manager handling There are 3 basic MoveIt controller manager plugins: - fake = [moveit_fake_controller_manager::MoveItFakeControllerManager]{.title-ref} Used in demo.launch. Doesn\'t really control the robot, but just interpolates between via points. Allows these execution_types:
- via points: just jumps to the via points
- interpolate: linearly interpolates between via points (default)
- last point: jumps to the final trajectory point (used for fast execution testing)
- ros_control = [moveit_ros_control_interface::MoveItControllerManager]{.title-ref} Interfaces to ros_control controllers. - simple = [moveit_simple_controller_manager/MoveItSimpleControllerManager]{.title-ref} Interfaces to action servers for [FollowJointTrajectory]{.title-ref} and/or [GripperCommand]{.title-ref} that in turn interface to the low-level robot controllers (typically based on ros_control) However, so far move_group.launch distinguished between [fake]{.title-ref} and [robot]{.title-ref} only. The argument moveit_controller_manager now allows switching between all 3 variants. Adding more *_moveit_controller_manager.launch files allows for an extension of this scheme.
Fix definition of real-robot moveit_controller_manager Fixes the following error (occurring since 61d18f2f073aa4c8a13c2278c41a63591d401c4a)
` [FATAL] ros.moveit_ros_planning.trajectory_execution_manager: Exception while loading controller manager 'robot': According to the loaded plugin descriptions the class robot with base class type moveit_controller_manager::MoveItControllerManager does not exist.
[ As we introduced `pass_all_args=\"true\"]{.title-ref}, the value of the argument [moveit_controller_manager]{.title-ref} was the robot name.Remove execution_type argument from real-robot controller_manager.launch
moveit_controller_manager.launch: pass execution_type via pass_all_args (#2928) While we need to pass execution_type to fake_moveit_controller_manager.launch, the controller_manager.launch files of real-robot shouldn\'t be required to define this argument. However, if they don\'t roslaunch fails with an [unused args]{.title-ref} exception (see #2786). Passing arguments via pass_all_args should solve that issue.
Contributors: Abishalini, Henning Kayser, Jafar, Jochen Sprickerhof, Loy van Beek, Michael G
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
qtbase5-dev |
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_setup_assistant at answers.ros.org
|
Package Summary
Tags | No category tags. |
Version | 2.8.0 |
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 | 2023-09-15 |
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
- Henning Kayser
- Tyler Weaver
- Robert Haschke
- MoveIt Release Team
- David V. Lu!!
Authors
- David V. Lu!!
- Dave Coleman
Changelog for package moveit_setup_assistant
2.8.0 (2023-09-10)
2.7.4 (2023-05-18)
2.7.3 (2023-04-24)
- Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
- Contributors: Shobuj Paul
2.7.2 (2023-04-18)
- Update pre-commit (#2094)
- Contributors: Shobuj Paul
2.7.1 (2023-03-23)
2.7.0 (2023-01-29)
- Fix BSD license in package.xml
(#1796)
- fix BSD license in package.xml
- this must also be spdx compliant
- Minimize use of [this->]{.title-ref} (#1784) It\'s often unnecessary. MoveIt already avoids this in most cases so this PR better cements that existing pattern.
- Add braces around blocks. (#999)
- Use <> for non-local headers (#1734) Unless a header lives in the same or a child directory of the file including it, it\'s recommended to use <> for the #include statement. For more information, see the C++ Core Guidelines item SF.12 https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#sf12-prefer-the-quoted-form-of-include-for-files-relative-to-the-including-file-and-the-angle-bracket-form-everywhere-else
-
Fix clang-tidy issues (#1706)
- Blindly apply automatic clang-tidy fixes
- Exemplarily cleanup a few automatic clang-tidy fixes
- Clang-tidy fixups
- Missed const-ref fixups
- Fix unsupported non-const -> const
* More fixes Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Contributors: Chris Thrasher, Christian Henkel, Cory Crean, Robert Haschke
2.6.0 (2022-11-10)
- Improve CMake usage (#1550)
- Contributors: Sebastian Jahr
2.5.3 (2022-07-28)
- Organize package xml of MSA (#1454)
- Contributors: Vatan Aksoy Tezer
2.5.2 (2022-07-18)
- [MSA] Testing Framework for MoveItSetupAssistant (#1383)
- Merge pull request #1254 from ros-planning/feature/msa MoveIt Setup Assistant - Merge the Feature branch
- Fix compile issues
- Merge remote-tracking branch \'upstream/main\' into feature/msa
- [MSA] ros2_control Integration (#1299)
- [MSA] Workaround to launch files without controllers (#1275)
- [MSA] PR Feedback
- [MSA] Initial Controllers and Simulation Steps Port (#1252)
- [MSA] Launch Updates (#1247)
- [MSA] Merge main into feature/msa (Part II) (#1240)
- [MSA] Three small edits (#1203)
- [MSA] Add Setup Step for Generating Launch Files (#1129)
- [MSA] Fix arg parsing in main (#1110)
- [MSA] Simplify loading of new SRDF (#1102)
- [MSA] SRDF Setup (#1057)
- [MSA] Navigation Widget Fixes (#1054)
- [MSA] Initial Refactor
- [MSA] Move Files Around (split into multiple packages, change to hpp extension)
- Contributors: David V. Lu!!, Vatan Aksoy Tezer
2.5.1 (2022-05-31)
2.5.0 (2022-05-26)
- Make moveit_common a \'depend\' rather than \'build_depend\' (#1226)
- Avoid bind(), use lambdas instead (#1204) Adaption of https://github.com/ros-planning/moveit/pull/3106
- banish bind() source:https://github.com/ros-planning/moveit/pull/3106/commits/a2911c80c28958c1fce8fb52333d770248c4ec05; required minor updates compared to original source commit in order to ensure compatibility with ROS2
- Merge https://github.com/ros-planning/moveit/commit/424a5b7b8b774424f78346d1e98bf1c9a33f0e78
- Merge #3081: Improve Gazebo-compatible URDF generation in MSA
- Add inertial/origin tag
- Don\'t overwrite existing attributes
- Merge https://github.com/ros-planning/moveit/commit/ab42a1d7017b27eb6c353fb29331b2da08ab0039
- Move getGazeboCompatibleURDF() from MoveItConfigData to SimulationWidget This is a function specific to the SimulationWidget
- Provide button to open original URDF file
- Fix widget layout
- Use focusGiven() + focusLost() to generate and validate Gazebo URDF
- XmlSyntaxHighlighter: allow nested highlighting
- Replace manual highlighting with a SyntaxHighlighter
- Simplify getGazeboCompatibleURDF() Use a new utility function uniqueInsert() to avoid code duplication when inserting XML elements uniquely.
- getGazeboCompatibleURDF(): Compare original and final XML Instead of manually keeping track of changes, compare the two docs. This is much more robust.
- getGazeboCompatibleURDF(): Skip catching YAML exceptions There is no YAML involved!
- fixup: config_path_ -> static const CONFIG_PATH
- fixup: Simplify saving
- new_gazebo_urdf_ -> save_gazebo_urdf_
- directly save content, avoid extra parsing
- hide overwrite button if doc is empty
- disable overwrite button if saving is not possible due to xacro
- fixup: Drop hidden_func_ from ConfigurationFilesWidget but (re)create the list of to-be-generated files each time entering the widget to allow for dynamic adaption of the file list
- fixup: Improve message boxes
- fixup: avoid code duplication
- Allow (over)writing the Gazebo-compatible URDF
- Use more specific check for correct tag
- static_cast<std::string>() -> std::string()
- fixup: (slightly) improve comment
- fixup: avoid segfaults if expected XML elements are missing
- fixup: fix variable name: transitions_elements -> transmission_elements
- 1.1.9
- Avoid creating duplicate transmission tags Only add Gazebo transmission tags for joints if they are not yet present.
- Fix collisions_updater\'s set comparison (#3076) Use operator< of std::pair(string,string) for comparing two link pairs.
- Compilation fixes for Jammy and bring back Rolling CI
(#1095)
- Use jammy dockers and clang-format-12
- Fix unused depend, and move to python3-lxml
- add ompl to repos, fix versions and ogre
- Remove ogre keys
- Fix boolean node operator
- Stop building dockers on branch and fix servo null pointer
- update pre-commit to clang-format-12 and pre-commit fixes
- clang-format workaround and more pre-commit fixes
- MSA: boost::bind -> std::bind (#3039)
- Do not automatically load robot description in move_group.launch (#3065) MoveIt should not overwrite a previously uploaded robot description. It should only provide it optionally in demo mode.
- Merge https://github.com/ros-planning/moveit/commit/25a63b920adf46f0a747aad92ada70d8afedb3ec
- Merge https://github.com/ros-planning/moveit/commit/0d7462f140e03b4c319fa8cce04a47fe3f650c60
- 1.1.8
- Merge PR #2938: Rework ACM Implement ACM defaults as a fallback instead of an override. Based on ros-planning/srdfdom#97, this allows disabling collisions for specific links/objects by default and re-enabling individual pairs if necessary.
-
MSA: Add STOMP + OMPL-CHOMP configs (#2955)
- Add stomp planner to MSA
- Add OMPL-CHOMP planner to MSA
- Remove obsolete CHOMP parameters
- Update CHOMP config parameters to match code defaults
- Create CHOMP config via template (instead of code) Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
1.1.7
Move MoveItConfigData::setCollisionLinkPairs to collisions_updater.cpp This method is only used there to update disabled collision entries.
Unify initialization of ACM from SRDF
Adapt to API changes in srdfdom \@v4hn requested splitting of collision_pairs into (re)enabled and disabled.
Adapt to API changes in srdfdom
Merge PR #3013: MSA cleanup
Modernize loops
Pass xacro_args to both, urdf and srdf loading
Switch to std::bind (#2967) * boost::bind -> std::bind grep -rlI --exclude-dir=.git \"boost::bind\" | xargs sed -i \'s/boost::bind/std::bind/g\' * Convert bind placeholders grep -rlI --exclude-dir=.git \" _[0-9]\" | xargs sed -i \'s/ _([0-9])/ std::placeholders::_1/g\' * Update bind include header grep -rlI --exclude-dir=.git \"boost/bind\" | xargs sed -i \'s#boost/bind.hpp#functional#\'
MSA: Notice file updates (#2964) This commit fixes a MSA bug causing files in a loaded MoveIt config to be incorrectly classified as externally modified after being written by the \"Generate Package\" button. As this status is solely based on the file timestamp relative to the timestamp stored in the .setupassistant file, we need to update this timestamp when we wrote the files.
Upload controller_list for simple controller manager (#2954)
1.1.6
Pilz: Define default planner
Simplify definition of [planning_plugin]{.title-ref} parameter There is no means to declare the planning_plugin as an arg first.
Allow checking/unchecking multiple files for generation
Improve instructions
moveit.rviz: Use Orbit view controller
moveit.rviz template: remove link names
Rename launch argument execution_type -> fake_execution_type ... to clarify that this parameter is only used for fake controllers
gazebo.launch: delayed unpause Only unpause simulation when robot model was loaded. This ensures that the initial pose is actually held.
gazebo.yaml: Allow initial_joint_positions
gazebo.launch: Load URDF via xacro if neccessary
Modularize demo_gazebo.launch: draw on demo.launch
demo.launch: start joint + robot-state publishers in fake mode only This will facilitate re-use of demo.launch.
Formatting
-
Fix controller choice - Provide all types of JointTrajectoryController as well as FollowJointTrajectory and GripperCommand (use by simple manager)
- Use effort_controllers/JointTrajectoryController as default
- Create FollowJointTrajectory entries for any JointTrajectoryController
Simplify code
Update widget texts to speak about generic controllers
Rename ROSControllersWidget -> ControllersWidget
Rename files ros_controllers_widget.* -> controllers_widget.*
Rename ros_controllers_config_ -> controller_configs_
Rename functions ROSController -> Controller
Rename ROSControlConfig -> ControllerConfig
Fix ros_controllers.yaml: always handle joints as sequence
-
Rework controller config generation We should write separate controller config files for different controller managers:
- simple_moveit_controllers.yaml handles everything relevant for SimpleMoveItControllerManager
- ros_controllers.yaml handles ros_control config
- gazebo_controllers.yaml handles controllers required for Gazebo
Add gazebo_controllers.yaml
-
Fix handling of sensors_3d.yaml - Reading both, the default and the existing package\'s sensors_3d.yaml into the config, the config file was growing by 2 configs each time.
- Not visiting the Perception tab, was writing the default config with 2 entries
- Selecting \"None\" was writing an invalid config: sensors: - {} - {}
Cleanup generation of ros_controllers.yaml
-
Rework moveit_controller_manager handling There are 3 basic MoveIt controller manager plugins: - fake = [moveit_fake_controller_manager::MoveItFakeControllerManager]{.title-ref} Used in demo.launch. Doesn\'t really control the robot, but just interpolates between via points. Allows these execution_types:
- via points: just jumps to the via points
- interpolate: linearly interpolates between via points (default)
- last point: jumps to the final trajectory point (used for fast execution testing)
- ros_control = [moveit_ros_control_interface::MoveItControllerManager]{.title-ref} Interfaces to ros_control controllers. - simple = [moveit_simple_controller_manager/MoveItSimpleControllerManager]{.title-ref} Interfaces to action servers for [FollowJointTrajectory]{.title-ref} and/or [GripperCommand]{.title-ref} that in turn interface to the low-level robot controllers (typically based on ros_control) However, so far move_group.launch distinguished between [fake]{.title-ref} and [robot]{.title-ref} only. The argument moveit_controller_manager now allows switching between all 3 variants. Adding more *_moveit_controller_manager.launch files allows for an extension of this scheme.
Fix definition of real-robot moveit_controller_manager Fixes the following error (occurring since 61d18f2f073aa4c8a13c2278c41a63591d401c4a)
` [FATAL] ros.moveit_ros_planning.trajectory_execution_manager: Exception while loading controller manager 'robot': According to the loaded plugin descriptions the class robot with base class type moveit_controller_manager::MoveItControllerManager does not exist.
[ As we introduced `pass_all_args=\"true\"]{.title-ref}, the value of the argument [moveit_controller_manager]{.title-ref} was the robot name.Remove execution_type argument from real-robot controller_manager.launch
moveit_controller_manager.launch: pass execution_type via pass_all_args (#2928) While we need to pass execution_type to fake_moveit_controller_manager.launch, the controller_manager.launch files of real-robot shouldn\'t be required to define this argument. However, if they don\'t roslaunch fails with an [unused args]{.title-ref} exception (see #2786). Passing arguments via pass_all_args should solve that issue.
Contributors: Abishalini, Henning Kayser, Jafar, Jochen Sprickerhof, Loy van Beek, Michael G
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
qtbase5-dev |
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_setup_assistant at answers.ros.org
|
Package Summary
Tags | No category tags. |
Version | 1.1.13 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-planning/moveit.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2023-09-18 |
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
- Dave Coleman
- Robert Haschke
- MoveIt Release Team
Authors
- Dave Coleman
MoveIt Setup Assistant
Changelog for package moveit_setup_assistant
1.1.13 (2023-07-28)
- Fix OMPL\'s TRRT parameter names (#3461)
- Contributors: VideoSystemsTech
1.1.12 (2023-05-13)
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- templates/moveit_config_pkg_template/launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- pipeline [default: ompl]
- allow_trajectory_execution [default: true]
- moveit_controller_manager [default: simple]
- fake_execution_type [default: interpolate]
- max_safe_path_cost [default: 1]
- publish_monitored_planning_scene [default: true]
- capabilities [default: ]
- disable_capabilities [default: ]
- load_robot_description [default: false]
- templates/moveit_config_pkg_template/launch/run_benchmark_ompl.launch
-
- cfg
-
-
- templates/moveit_config_pkg_template/launch/ros_controllers.launch
- templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch
-
- cfg
- templates/moveit_config_pkg_template/launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- templates/moveit_config_pkg_template/launch/warehouse.launch
-
- moveit_warehouse_database_path
-
-
- templates/moveit_config_pkg_template/launch/demo_gazebo.launch
-
- pipeline [default: ompl] — Planning pipeline to use with MoveIt
- gazebo_gui [default: true] — Start Gazebo GUI
- paused [default: false] — Start Gazebo paused
- world_name [default: worlds/empty.world] — Gazebo world file
- world_pose [default: -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0] — Pose to spawn the robot at
- templates/moveit_config_pkg_template/launch/demo.launch
-
- pipeline [default: ompl]
- db [default: false]
- db_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- debug [default: false]
- load_robot_description [default: true]
- moveit_controller_manager [default: fake]
- fake_execution_type [default: interpolate]
- use_gui [default: false]
- use_rviz [default: true]
- templates/moveit_config_pkg_template/launch/moveit_rviz.launch
-
- debug [default: false]
- rviz_config [default: ]
- templates/moveit_config_pkg_template/launch/default_warehouse_db.launch
-
- reset [default: false]
- moveit_warehouse_database_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- launch/setup_assistant.launch
- Launch the MoveIt Setup Assistant, or just use rosrun
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
-
- start_state_max_bounds_error [default: 0.1]
- jiggle_fraction [default: 0.05]
- planning_adapters [default: default_planner_request_adapters/LimitMaxCartesianLinkSpeed default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/ResolveConstraintFrames default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints]
- templates/moveit_config_pkg_template/launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- templates/moveit_config_pkg_template/launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- templates/moveit_config_pkg_template/launch/simple_moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/stomp_planning_pipeline.launch.xml
-
- planning_adapters [default: default_planner_request_adapters/LimitMaxCartesianLinkSpeed default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints]
- templates/moveit_config_pkg_template/launch/ros_control_moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/fake_moveit_controller_manager.launch.xml
-
- fake_execution_type [default: interpolate]
- templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
-
- planning_adapters [default: default_planner_request_adapters/LimitMaxCartesianLinkSpeed default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints]
- start_state_max_bounds_error [default: 0.1]
- templates/moveit_config_pkg_template/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
-
- planning_adapters [default: ]
- templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
-
- planning_adapters [default: default_planner_request_adapters/LimitMaxCartesianLinkSpeed default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/ResolveConstraintFrames default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints]
- start_state_max_bounds_error [default: 0.1]
- jiggle_fraction [default: 0.05]
- templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
-
- moveit_controller_manager
- fake_execution_type [default: interpolate]
- moveit_manage_controllers [default: true]
- templates/moveit_config_pkg_template/launch/ompl-chomp_planning_pipeline.launch.xml
-
- planning_adapters [default: default_planner_request_adapters/LimitMaxCartesianLinkSpeed default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints chomp/OptimizerAdapter]
- templates/moveit_config_pkg_template/launch/moveit_sensor_manager.launch.xml
Messages
Services
Plugins
Recent questions tagged moveit_setup_assistant at answers.ros.org
|
Package Summary
Tags | No category tags. |
Version | 1.1.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-planning/moveit2.git |
VCS Type | git |
VCS Version | eloquent |
Last Updated | 2020-10-13 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Dave Coleman
- Robert Haschke
- MoveIt Release Team
Authors
- Dave Coleman
MoveIt Setup Assistant
Changelog for package moveit_setup_assistant
1.0.1 (2019-03-08)
- [fix] re-add required build dependencies (#1373)
- [improve] Apply clang tidy fix to entire code base (Part 1) (#1366)
- Contributors: Isaac I.Y. Saito, Robert Haschke, Yu, Yan
1.0.0 (2019-02-24)
- [fix] catkin_lint issues (#1341)
- [fix] memory leaks (#1292)
- [improve] Remove (redundant) random seeding and #attempts from RobotState::setFromIK() as the IK solver perform random seeding themselves. #1288
- [improve] support dark themes (#1173)
- Contributors: Dave Coleman, Robert Haschke, Victor Lamoine
0.10.8 (2018-12-24)
0.10.7 (2018-12-13)
0.10.6 (2018-12-09)
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | ompl | |
2 | rviz | |
1 | catkin | |
1 | xacro | |
1 | moveit_resources | |
1 | ament_cmake_gtest | |
3 | moveit_core | |
3 | moveit_ros_planning | |
3 | moveit_ros_visualization | |
2 | rosconsole | |
2 | roscpp | |
3 | urdf | |
1 | srdfdom |
System Dependencies
Dependant Packages
Name | Repo | Deps |
---|---|---|
moveit | github-ros-planning-moveit2 |
Launch files
- templates/moveit_config_pkg_template/launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- pipeline [default: ompl]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- capabilities [default: ]
- disable_capabilities [default: ]
- load_robot_description [default: true]
- templates/moveit_config_pkg_template/launch/run_benchmark_ompl.launch
-
- cfg
- templates/moveit_config_pkg_template/launch/gazebo.launch
-
- paused [default: false]
- gazebo_gui [default: true]
- urdf_path [default: [URDF_LOCATION]]
- world_name [default: worlds/empty.world]
- templates/moveit_config_pkg_template/launch/ros_controllers.launch
- templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/run_benchmark_trajopt.launch
-
- cfg
- templates/moveit_config_pkg_template/launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- templates/moveit_config_pkg_template/launch/warehouse.launch
-
- moveit_warehouse_database_path
-
-
- templates/moveit_config_pkg_template/launch/demo_gazebo.launch
-
- db [default: false]
- db_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- debug [default: false]
- use_gui [default: false]
- gazebo_gui [default: true]
- paused [default: false]
- urdf_path [default: [URDF_LOCATION]]
- templates/moveit_config_pkg_template/launch/demo.launch
-
- pipeline [default: ompl]
- db [default: false]
- db_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- debug [default: false]
- use_gui [default: false]
- use_rviz [default: true]
- templates/moveit_config_pkg_template/launch/moveit_rviz.launch
-
- debug [default: false]
- rviz_config [default: ]
- templates/moveit_config_pkg_template/launch/default_warehouse_db.launch
-
- reset [default: false]
- moveit_warehouse_database_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- launch/setup_assistant.launch
- Launch the MoveIt Setup Assistant, or just use rosrun
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
- templates/moveit_config_pkg_template/launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- templates/moveit_config_pkg_template/launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- templates/moveit_config_pkg_template/launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/fake_moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/trajopt_planning_pipeline.launch.xml
- templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
- templates/moveit_config_pkg_template/launch/moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/moveit_sensor_manager.launch.xml
Messages
Services
Plugins
Recent questions tagged moveit_setup_assistant at answers.ros.org
|
Package Summary
Tags | No category tags. |
Version | 2.8.0 |
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 | 2023-09-15 |
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
- Henning Kayser
- Tyler Weaver
- Robert Haschke
- MoveIt Release Team
- David V. Lu!!
Authors
- David V. Lu!!
- Dave Coleman
Changelog for package moveit_setup_assistant
2.8.0 (2023-09-10)
2.7.4 (2023-05-18)
2.7.3 (2023-04-24)
- Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
- Contributors: Shobuj Paul
2.7.2 (2023-04-18)
- Update pre-commit (#2094)
- Contributors: Shobuj Paul
2.7.1 (2023-03-23)
2.7.0 (2023-01-29)
- Fix BSD license in package.xml
(#1796)
- fix BSD license in package.xml
- this must also be spdx compliant
- Minimize use of [this->]{.title-ref} (#1784) It\'s often unnecessary. MoveIt already avoids this in most cases so this PR better cements that existing pattern.
- Add braces around blocks. (#999)
- Use <> for non-local headers (#1734) Unless a header lives in the same or a child directory of the file including it, it\'s recommended to use <> for the #include statement. For more information, see the C++ Core Guidelines item SF.12 https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#sf12-prefer-the-quoted-form-of-include-for-files-relative-to-the-including-file-and-the-angle-bracket-form-everywhere-else
-
Fix clang-tidy issues (#1706)
- Blindly apply automatic clang-tidy fixes
- Exemplarily cleanup a few automatic clang-tidy fixes
- Clang-tidy fixups
- Missed const-ref fixups
- Fix unsupported non-const -> const
* More fixes Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Contributors: Chris Thrasher, Christian Henkel, Cory Crean, Robert Haschke
2.6.0 (2022-11-10)
- Improve CMake usage (#1550)
- Contributors: Sebastian Jahr
2.5.3 (2022-07-28)
- Organize package xml of MSA (#1454)
- Contributors: Vatan Aksoy Tezer
2.5.2 (2022-07-18)
- [MSA] Testing Framework for MoveItSetupAssistant (#1383)
- Merge pull request #1254 from ros-planning/feature/msa MoveIt Setup Assistant - Merge the Feature branch
- Fix compile issues
- Merge remote-tracking branch \'upstream/main\' into feature/msa
- [MSA] ros2_control Integration (#1299)
- [MSA] Workaround to launch files without controllers (#1275)
- [MSA] PR Feedback
- [MSA] Initial Controllers and Simulation Steps Port (#1252)
- [MSA] Launch Updates (#1247)
- [MSA] Merge main into feature/msa (Part II) (#1240)
- [MSA] Three small edits (#1203)
- [MSA] Add Setup Step for Generating Launch Files (#1129)
- [MSA] Fix arg parsing in main (#1110)
- [MSA] Simplify loading of new SRDF (#1102)
- [MSA] SRDF Setup (#1057)
- [MSA] Navigation Widget Fixes (#1054)
- [MSA] Initial Refactor
- [MSA] Move Files Around (split into multiple packages, change to hpp extension)
- Contributors: David V. Lu!!, Vatan Aksoy Tezer
2.5.1 (2022-05-31)
2.5.0 (2022-05-26)
- Make moveit_common a \'depend\' rather than \'build_depend\' (#1226)
- Avoid bind(), use lambdas instead (#1204) Adaption of https://github.com/ros-planning/moveit/pull/3106
- banish bind() source:https://github.com/ros-planning/moveit/pull/3106/commits/a2911c80c28958c1fce8fb52333d770248c4ec05; required minor updates compared to original source commit in order to ensure compatibility with ROS2
- Merge https://github.com/ros-planning/moveit/commit/424a5b7b8b774424f78346d1e98bf1c9a33f0e78
- Merge #3081: Improve Gazebo-compatible URDF generation in MSA
- Add inertial/origin tag
- Don\'t overwrite existing attributes
- Merge https://github.com/ros-planning/moveit/commit/ab42a1d7017b27eb6c353fb29331b2da08ab0039
- Move getGazeboCompatibleURDF() from MoveItConfigData to SimulationWidget This is a function specific to the SimulationWidget
- Provide button to open original URDF file
- Fix widget layout
- Use focusGiven() + focusLost() to generate and validate Gazebo URDF
- XmlSyntaxHighlighter: allow nested highlighting
- Replace manual highlighting with a SyntaxHighlighter
- Simplify getGazeboCompatibleURDF() Use a new utility function uniqueInsert() to avoid code duplication when inserting XML elements uniquely.
- getGazeboCompatibleURDF(): Compare original and final XML Instead of manually keeping track of changes, compare the two docs. This is much more robust.
- getGazeboCompatibleURDF(): Skip catching YAML exceptions There is no YAML involved!
- fixup: config_path_ -> static const CONFIG_PATH
- fixup: Simplify saving
- new_gazebo_urdf_ -> save_gazebo_urdf_
- directly save content, avoid extra parsing
- hide overwrite button if doc is empty
- disable overwrite button if saving is not possible due to xacro
- fixup: Drop hidden_func_ from ConfigurationFilesWidget but (re)create the list of to-be-generated files each time entering the widget to allow for dynamic adaption of the file list
- fixup: Improve message boxes
- fixup: avoid code duplication
- Allow (over)writing the Gazebo-compatible URDF
- Use more specific check for correct tag
- static_cast<std::string>() -> std::string()
- fixup: (slightly) improve comment
- fixup: avoid segfaults if expected XML elements are missing
- fixup: fix variable name: transitions_elements -> transmission_elements
- 1.1.9
- Avoid creating duplicate transmission tags Only add Gazebo transmission tags for joints if they are not yet present.
- Fix collisions_updater\'s set comparison (#3076) Use operator< of std::pair(string,string) for comparing two link pairs.
- Compilation fixes for Jammy and bring back Rolling CI
(#1095)
- Use jammy dockers and clang-format-12
- Fix unused depend, and move to python3-lxml
- add ompl to repos, fix versions and ogre
- Remove ogre keys
- Fix boolean node operator
- Stop building dockers on branch and fix servo null pointer
- update pre-commit to clang-format-12 and pre-commit fixes
- clang-format workaround and more pre-commit fixes
- MSA: boost::bind -> std::bind (#3039)
- Do not automatically load robot description in move_group.launch (#3065) MoveIt should not overwrite a previously uploaded robot description. It should only provide it optionally in demo mode.
- Merge https://github.com/ros-planning/moveit/commit/25a63b920adf46f0a747aad92ada70d8afedb3ec
- Merge https://github.com/ros-planning/moveit/commit/0d7462f140e03b4c319fa8cce04a47fe3f650c60
- 1.1.8
- Merge PR #2938: Rework ACM Implement ACM defaults as a fallback instead of an override. Based on ros-planning/srdfdom#97, this allows disabling collisions for specific links/objects by default and re-enabling individual pairs if necessary.
-
MSA: Add STOMP + OMPL-CHOMP configs (#2955)
- Add stomp planner to MSA
- Add OMPL-CHOMP planner to MSA
- Remove obsolete CHOMP parameters
- Update CHOMP config parameters to match code defaults
- Create CHOMP config via template (instead of code) Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
1.1.7
Move MoveItConfigData::setCollisionLinkPairs to collisions_updater.cpp This method is only used there to update disabled collision entries.
Unify initialization of ACM from SRDF
Adapt to API changes in srdfdom \@v4hn requested splitting of collision_pairs into (re)enabled and disabled.
Adapt to API changes in srdfdom
Merge PR #3013: MSA cleanup
Modernize loops
Pass xacro_args to both, urdf and srdf loading
Switch to std::bind (#2967) * boost::bind -> std::bind grep -rlI --exclude-dir=.git \"boost::bind\" | xargs sed -i \'s/boost::bind/std::bind/g\' * Convert bind placeholders grep -rlI --exclude-dir=.git \" _[0-9]\" | xargs sed -i \'s/ _([0-9])/ std::placeholders::_1/g\' * Update bind include header grep -rlI --exclude-dir=.git \"boost/bind\" | xargs sed -i \'s#boost/bind.hpp#functional#\'
MSA: Notice file updates (#2964) This commit fixes a MSA bug causing files in a loaded MoveIt config to be incorrectly classified as externally modified after being written by the \"Generate Package\" button. As this status is solely based on the file timestamp relative to the timestamp stored in the .setupassistant file, we need to update this timestamp when we wrote the files.
Upload controller_list for simple controller manager (#2954)
1.1.6
Pilz: Define default planner
Simplify definition of [planning_plugin]{.title-ref} parameter There is no means to declare the planning_plugin as an arg first.
Allow checking/unchecking multiple files for generation
Improve instructions
moveit.rviz: Use Orbit view controller
moveit.rviz template: remove link names
Rename launch argument execution_type -> fake_execution_type ... to clarify that this parameter is only used for fake controllers
gazebo.launch: delayed unpause Only unpause simulation when robot model was loaded. This ensures that the initial pose is actually held.
gazebo.yaml: Allow initial_joint_positions
gazebo.launch: Load URDF via xacro if neccessary
Modularize demo_gazebo.launch: draw on demo.launch
demo.launch: start joint + robot-state publishers in fake mode only This will facilitate re-use of demo.launch.
Formatting
-
Fix controller choice - Provide all types of JointTrajectoryController as well as FollowJointTrajectory and GripperCommand (use by simple manager)
- Use effort_controllers/JointTrajectoryController as default
- Create FollowJointTrajectory entries for any JointTrajectoryController
Simplify code
Update widget texts to speak about generic controllers
Rename ROSControllersWidget -> ControllersWidget
Rename files ros_controllers_widget.* -> controllers_widget.*
Rename ros_controllers_config_ -> controller_configs_
Rename functions ROSController -> Controller
Rename ROSControlConfig -> ControllerConfig
Fix ros_controllers.yaml: always handle joints as sequence
-
Rework controller config generation We should write separate controller config files for different controller managers:
- simple_moveit_controllers.yaml handles everything relevant for SimpleMoveItControllerManager
- ros_controllers.yaml handles ros_control config
- gazebo_controllers.yaml handles controllers required for Gazebo
Add gazebo_controllers.yaml
-
Fix handling of sensors_3d.yaml - Reading both, the default and the existing package\'s sensors_3d.yaml into the config, the config file was growing by 2 configs each time.
- Not visiting the Perception tab, was writing the default config with 2 entries
- Selecting \"None\" was writing an invalid config: sensors: - {} - {}
Cleanup generation of ros_controllers.yaml
-
Rework moveit_controller_manager handling There are 3 basic MoveIt controller manager plugins: - fake = [moveit_fake_controller_manager::MoveItFakeControllerManager]{.title-ref} Used in demo.launch. Doesn\'t really control the robot, but just interpolates between via points. Allows these execution_types:
- via points: just jumps to the via points
- interpolate: linearly interpolates between via points (default)
- last point: jumps to the final trajectory point (used for fast execution testing)
- ros_control = [moveit_ros_control_interface::MoveItControllerManager]{.title-ref} Interfaces to ros_control controllers. - simple = [moveit_simple_controller_manager/MoveItSimpleControllerManager]{.title-ref} Interfaces to action servers for [FollowJointTrajectory]{.title-ref} and/or [GripperCommand]{.title-ref} that in turn interface to the low-level robot controllers (typically based on ros_control) However, so far move_group.launch distinguished between [fake]{.title-ref} and [robot]{.title-ref} only. The argument moveit_controller_manager now allows switching between all 3 variants. Adding more *_moveit_controller_manager.launch files allows for an extension of this scheme.
Fix definition of real-robot moveit_controller_manager Fixes the following error (occurring since 61d18f2f073aa4c8a13c2278c41a63591d401c4a)
` [FATAL] ros.moveit_ros_planning.trajectory_execution_manager: Exception while loading controller manager 'robot': According to the loaded plugin descriptions the class robot with base class type moveit_controller_manager::MoveItControllerManager does not exist.
[ As we introduced `pass_all_args=\"true\"]{.title-ref}, the value of the argument [moveit_controller_manager]{.title-ref} was the robot name.Remove execution_type argument from real-robot controller_manager.launch
moveit_controller_manager.launch: pass execution_type via pass_all_args (#2928) While we need to pass execution_type to fake_moveit_controller_manager.launch, the controller_manager.launch files of real-robot shouldn\'t be required to define this argument. However, if they don\'t roslaunch fails with an [unused args]{.title-ref} exception (see #2786). Passing arguments via pass_all_args should solve that issue.
Contributors: Abishalini, Henning Kayser, Jafar, Jochen Sprickerhof, Loy van Beek, Michael G
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
qtbase5-dev |
Dependant Packages
Name | Repo | Deps |
---|---|---|
moveit | github-ros-planning-moveit2 |
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_setup_assistant at answers.ros.org
|
Package Summary
Tags | No category tags. |
Version | 2.8.0 |
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 | 2023-09-15 |
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
- Henning Kayser
- Tyler Weaver
- Robert Haschke
- MoveIt Release Team
- David V. Lu!!
Authors
- David V. Lu!!
- Dave Coleman
Changelog for package moveit_setup_assistant
2.8.0 (2023-09-10)
2.7.4 (2023-05-18)
2.7.3 (2023-04-24)
- Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
- Contributors: Shobuj Paul
2.7.2 (2023-04-18)
- Update pre-commit (#2094)
- Contributors: Shobuj Paul
2.7.1 (2023-03-23)
2.7.0 (2023-01-29)
- Fix BSD license in package.xml
(#1796)
- fix BSD license in package.xml
- this must also be spdx compliant
- Minimize use of [this->]{.title-ref} (#1784) It\'s often unnecessary. MoveIt already avoids this in most cases so this PR better cements that existing pattern.
- Add braces around blocks. (#999)
- Use <> for non-local headers (#1734) Unless a header lives in the same or a child directory of the file including it, it\'s recommended to use <> for the #include statement. For more information, see the C++ Core Guidelines item SF.12 https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#sf12-prefer-the-quoted-form-of-include-for-files-relative-to-the-including-file-and-the-angle-bracket-form-everywhere-else
-
Fix clang-tidy issues (#1706)
- Blindly apply automatic clang-tidy fixes
- Exemplarily cleanup a few automatic clang-tidy fixes
- Clang-tidy fixups
- Missed const-ref fixups
- Fix unsupported non-const -> const
* More fixes Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Contributors: Chris Thrasher, Christian Henkel, Cory Crean, Robert Haschke
2.6.0 (2022-11-10)
- Improve CMake usage (#1550)
- Contributors: Sebastian Jahr
2.5.3 (2022-07-28)
- Organize package xml of MSA (#1454)
- Contributors: Vatan Aksoy Tezer
2.5.2 (2022-07-18)
- [MSA] Testing Framework for MoveItSetupAssistant (#1383)
- Merge pull request #1254 from ros-planning/feature/msa MoveIt Setup Assistant - Merge the Feature branch
- Fix compile issues
- Merge remote-tracking branch \'upstream/main\' into feature/msa
- [MSA] ros2_control Integration (#1299)
- [MSA] Workaround to launch files without controllers (#1275)
- [MSA] PR Feedback
- [MSA] Initial Controllers and Simulation Steps Port (#1252)
- [MSA] Launch Updates (#1247)
- [MSA] Merge main into feature/msa (Part II) (#1240)
- [MSA] Three small edits (#1203)
- [MSA] Add Setup Step for Generating Launch Files (#1129)
- [MSA] Fix arg parsing in main (#1110)
- [MSA] Simplify loading of new SRDF (#1102)
- [MSA] SRDF Setup (#1057)
- [MSA] Navigation Widget Fixes (#1054)
- [MSA] Initial Refactor
- [MSA] Move Files Around (split into multiple packages, change to hpp extension)
- Contributors: David V. Lu!!, Vatan Aksoy Tezer
2.5.1 (2022-05-31)
2.5.0 (2022-05-26)
- Make moveit_common a \'depend\' rather than \'build_depend\' (#1226)
- Avoid bind(), use lambdas instead (#1204) Adaption of https://github.com/ros-planning/moveit/pull/3106
- banish bind() source:https://github.com/ros-planning/moveit/pull/3106/commits/a2911c80c28958c1fce8fb52333d770248c4ec05; required minor updates compared to original source commit in order to ensure compatibility with ROS2
- Merge https://github.com/ros-planning/moveit/commit/424a5b7b8b774424f78346d1e98bf1c9a33f0e78
- Merge #3081: Improve Gazebo-compatible URDF generation in MSA
- Add inertial/origin tag
- Don\'t overwrite existing attributes
- Merge https://github.com/ros-planning/moveit/commit/ab42a1d7017b27eb6c353fb29331b2da08ab0039
- Move getGazeboCompatibleURDF() from MoveItConfigData to SimulationWidget This is a function specific to the SimulationWidget
- Provide button to open original URDF file
- Fix widget layout
- Use focusGiven() + focusLost() to generate and validate Gazebo URDF
- XmlSyntaxHighlighter: allow nested highlighting
- Replace manual highlighting with a SyntaxHighlighter
- Simplify getGazeboCompatibleURDF() Use a new utility function uniqueInsert() to avoid code duplication when inserting XML elements uniquely.
- getGazeboCompatibleURDF(): Compare original and final XML Instead of manually keeping track of changes, compare the two docs. This is much more robust.
- getGazeboCompatibleURDF(): Skip catching YAML exceptions There is no YAML involved!
- fixup: config_path_ -> static const CONFIG_PATH
- fixup: Simplify saving
- new_gazebo_urdf_ -> save_gazebo_urdf_
- directly save content, avoid extra parsing
- hide overwrite button if doc is empty
- disable overwrite button if saving is not possible due to xacro
- fixup: Drop hidden_func_ from ConfigurationFilesWidget but (re)create the list of to-be-generated files each time entering the widget to allow for dynamic adaption of the file list
- fixup: Improve message boxes
- fixup: avoid code duplication
- Allow (over)writing the Gazebo-compatible URDF
- Use more specific check for correct tag
- static_cast<std::string>() -> std::string()
- fixup: (slightly) improve comment
- fixup: avoid segfaults if expected XML elements are missing
- fixup: fix variable name: transitions_elements -> transmission_elements
- 1.1.9
- Avoid creating duplicate transmission tags Only add Gazebo transmission tags for joints if they are not yet present.
- Fix collisions_updater\'s set comparison (#3076) Use operator< of std::pair(string,string) for comparing two link pairs.
- Compilation fixes for Jammy and bring back Rolling CI
(#1095)
- Use jammy dockers and clang-format-12
- Fix unused depend, and move to python3-lxml
- add ompl to repos, fix versions and ogre
- Remove ogre keys
- Fix boolean node operator
- Stop building dockers on branch and fix servo null pointer
- update pre-commit to clang-format-12 and pre-commit fixes
- clang-format workaround and more pre-commit fixes
- MSA: boost::bind -> std::bind (#3039)
- Do not automatically load robot description in move_group.launch (#3065) MoveIt should not overwrite a previously uploaded robot description. It should only provide it optionally in demo mode.
- Merge https://github.com/ros-planning/moveit/commit/25a63b920adf46f0a747aad92ada70d8afedb3ec
- Merge https://github.com/ros-planning/moveit/commit/0d7462f140e03b4c319fa8cce04a47fe3f650c60
- 1.1.8
- Merge PR #2938: Rework ACM Implement ACM defaults as a fallback instead of an override. Based on ros-planning/srdfdom#97, this allows disabling collisions for specific links/objects by default and re-enabling individual pairs if necessary.
-
MSA: Add STOMP + OMPL-CHOMP configs (#2955)
- Add stomp planner to MSA
- Add OMPL-CHOMP planner to MSA
- Remove obsolete CHOMP parameters
- Update CHOMP config parameters to match code defaults
- Create CHOMP config via template (instead of code) Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
1.1.7
Move MoveItConfigData::setCollisionLinkPairs to collisions_updater.cpp This method is only used there to update disabled collision entries.
Unify initialization of ACM from SRDF
Adapt to API changes in srdfdom \@v4hn requested splitting of collision_pairs into (re)enabled and disabled.
Adapt to API changes in srdfdom
Merge PR #3013: MSA cleanup
Modernize loops
Pass xacro_args to both, urdf and srdf loading
Switch to std::bind (#2967) * boost::bind -> std::bind grep -rlI --exclude-dir=.git \"boost::bind\" | xargs sed -i \'s/boost::bind/std::bind/g\' * Convert bind placeholders grep -rlI --exclude-dir=.git \" _[0-9]\" | xargs sed -i \'s/ _([0-9])/ std::placeholders::_1/g\' * Update bind include header grep -rlI --exclude-dir=.git \"boost/bind\" | xargs sed -i \'s#boost/bind.hpp#functional#\'
MSA: Notice file updates (#2964) This commit fixes a MSA bug causing files in a loaded MoveIt config to be incorrectly classified as externally modified after being written by the \"Generate Package\" button. As this status is solely based on the file timestamp relative to the timestamp stored in the .setupassistant file, we need to update this timestamp when we wrote the files.
Upload controller_list for simple controller manager (#2954)
1.1.6
Pilz: Define default planner
Simplify definition of [planning_plugin]{.title-ref} parameter There is no means to declare the planning_plugin as an arg first.
Allow checking/unchecking multiple files for generation
Improve instructions
moveit.rviz: Use Orbit view controller
moveit.rviz template: remove link names
Rename launch argument execution_type -> fake_execution_type ... to clarify that this parameter is only used for fake controllers
gazebo.launch: delayed unpause Only unpause simulation when robot model was loaded. This ensures that the initial pose is actually held.
gazebo.yaml: Allow initial_joint_positions
gazebo.launch: Load URDF via xacro if neccessary
Modularize demo_gazebo.launch: draw on demo.launch
demo.launch: start joint + robot-state publishers in fake mode only This will facilitate re-use of demo.launch.
Formatting
-
Fix controller choice - Provide all types of JointTrajectoryController as well as FollowJointTrajectory and GripperCommand (use by simple manager)
- Use effort_controllers/JointTrajectoryController as default
- Create FollowJointTrajectory entries for any JointTrajectoryController
Simplify code
Update widget texts to speak about generic controllers
Rename ROSControllersWidget -> ControllersWidget
Rename files ros_controllers_widget.* -> controllers_widget.*
Rename ros_controllers_config_ -> controller_configs_
Rename functions ROSController -> Controller
Rename ROSControlConfig -> ControllerConfig
Fix ros_controllers.yaml: always handle joints as sequence
-
Rework controller config generation We should write separate controller config files for different controller managers:
- simple_moveit_controllers.yaml handles everything relevant for SimpleMoveItControllerManager
- ros_controllers.yaml handles ros_control config
- gazebo_controllers.yaml handles controllers required for Gazebo
Add gazebo_controllers.yaml
-
Fix handling of sensors_3d.yaml - Reading both, the default and the existing package\'s sensors_3d.yaml into the config, the config file was growing by 2 configs each time.
- Not visiting the Perception tab, was writing the default config with 2 entries
- Selecting \"None\" was writing an invalid config: sensors: - {} - {}
Cleanup generation of ros_controllers.yaml
-
Rework moveit_controller_manager handling There are 3 basic MoveIt controller manager plugins: - fake = [moveit_fake_controller_manager::MoveItFakeControllerManager]{.title-ref} Used in demo.launch. Doesn\'t really control the robot, but just interpolates between via points. Allows these execution_types:
- via points: just jumps to the via points
- interpolate: linearly interpolates between via points (default)
- last point: jumps to the final trajectory point (used for fast execution testing)
- ros_control = [moveit_ros_control_interface::MoveItControllerManager]{.title-ref} Interfaces to ros_control controllers. - simple = [moveit_simple_controller_manager/MoveItSimpleControllerManager]{.title-ref} Interfaces to action servers for [FollowJointTrajectory]{.title-ref} and/or [GripperCommand]{.title-ref} that in turn interface to the low-level robot controllers (typically based on ros_control) However, so far move_group.launch distinguished between [fake]{.title-ref} and [robot]{.title-ref} only. The argument moveit_controller_manager now allows switching between all 3 variants. Adding more *_moveit_controller_manager.launch files allows for an extension of this scheme.
Fix definition of real-robot moveit_controller_manager Fixes the following error (occurring since 61d18f2f073aa4c8a13c2278c41a63591d401c4a)
` [FATAL] ros.moveit_ros_planning.trajectory_execution_manager: Exception while loading controller manager 'robot': According to the loaded plugin descriptions the class robot with base class type moveit_controller_manager::MoveItControllerManager does not exist.
[ As we introduced `pass_all_args=\"true\"]{.title-ref}, the value of the argument [moveit_controller_manager]{.title-ref} was the robot name.Remove execution_type argument from real-robot controller_manager.launch
moveit_controller_manager.launch: pass execution_type via pass_all_args (#2928) While we need to pass execution_type to fake_moveit_controller_manager.launch, the controller_manager.launch files of real-robot shouldn\'t be required to define this argument. However, if they don\'t roslaunch fails with an [unused args]{.title-ref} exception (see #2786). Passing arguments via pass_all_args should solve that issue.
Contributors: Abishalini, Henning Kayser, Jafar, Jochen Sprickerhof, Loy van Beek, Michael G
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
qtbase5-dev |
Dependant Packages
Name | Repo | Deps |
---|---|---|
moveit | github-ros-planning-moveit2 |
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_setup_assistant at answers.ros.org
|
Package Summary
Tags | No category tags. |
Version | 0.9.18 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-planning/moveit.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2020-10-12 |
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
- Dave Coleman
- Robert Haschke
- MoveIt! Release Team
Authors
- Dave Coleman
MoveIt! Setup Assistant
Changelog for package moveit_setup_assistant
0.9.18 (2020-01-24)
- [feature] Add joint state controller config by default (#1024)
- Contributors: Mohmmad Ayman
0.9.17 (2019-07-09)
0.9.16 (2019-06-29)
Wiki Tutorials
Source Tutorials
Dependant Packages
Name | Repo | Deps |
---|---|---|
moveit | github-ros-planning-moveit |
Launch files
- templates/moveit_config_pkg_template/launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- capabilities [default: ]
- disable_capabilities [default: ]
- templates/moveit_config_pkg_template/launch/run_benchmark_ompl.launch
-
- cfg
- templates/moveit_config_pkg_template/launch/gazebo.launch
-
- paused [default: false]
- gazebo_gui [default: true]
- urdf_path [default: [URDF_LOCATION]]
- world_name [default: worlds/empty.world]
- templates/moveit_config_pkg_template/launch/ros_controllers.launch
- templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- templates/moveit_config_pkg_template/launch/warehouse.launch
-
- moveit_warehouse_database_path
-
-
- templates/moveit_config_pkg_template/launch/demo_gazebo.launch
-
- db [default: false]
- db_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- debug [default: false]
- use_gui [default: false]
- gazebo_gui [default: true]
- paused [default: false]
- urdf_path [default: [URDF_LOCATION]]
- templates/moveit_config_pkg_template/launch/demo.launch
-
- db [default: false]
- db_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- debug [default: false]
- use_gui [default: false]
- templates/moveit_config_pkg_template/launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- templates/moveit_config_pkg_template/launch/default_warehouse_db.launch
-
- reset [default: false]
- moveit_warehouse_database_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- launch/setup_assistant.launch
- Launch the MoveIt! Setup Assistant, or just use rosrun
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
- templates/moveit_config_pkg_template/launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- templates/moveit_config_pkg_template/launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- templates/moveit_config_pkg_template/launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/fake_moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
- templates/moveit_config_pkg_template/launch/moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/moveit_sensor_manager.launch.xml
Messages
Services
Plugins
Recent questions tagged moveit_setup_assistant at answers.ros.org
![]() |
moveit_setup_assistant package from moveit_setup_assistant repomoveit_setup_assistant |
|
Package Summary
Tags | No category tags. |
Version | 0.7.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-planning/moveit_setup_assistant.git |
VCS Type | git |
VCS Version | jade-devel |
Last Updated | 2016-08-05 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Ioan Sucan
- Dave Coleman
Authors
- Dave Coleman
This Repository Has Moved
The new location as of August 5th, 2016 is https://github.com/ros-planning/moveit
See migration notes for more details.
Please do not open new pull requests or issues in this old location.
Changelog for package moveit_setup_assistant
0.7.1 (2016-06-24)
- [sys] Qt adjustment.
- relax Qt-version requirement. Minor Qt version updates are ABI-compatible with each other: https://wiki.qt.io/Qt-Version-Compatibility
- auto-select Qt version matching the one from rviz #114
- Allow to conditionally compile against Qt5 by setting -DUseQt5=On
- [sys] Add line for supporting CMake 2.8.11 as required for Indigo
- [sys][travis] Update CI conf for ROS Jade (and optionally added Kinetic) #116
- [feat] add ApplyPlanningScene capability to template
- Contributors: Dave Coleman, Isaac I.Y. Saito, Robert Haschke, Simon Schmeisser (isys vision), v4hn
0.7.0 (2016-01-30)
- Merge pull request from ipa-mdl/indigo-devel Added command-line SRDF updater
- renamed target output to collisions_updater
- formatted code to roscpp style
- More verbose error descriptions, use ROS_ERROR_STREAM
- moved file loader helpers into tools
- added licence header
- Missed a negation sign
- CollisionUpdater class was not really needed
- factored out createFullURDFPath and createFullSRDFPath
- factored out MoveItConfigData::getSetupAssistantYAMLPath
- factored out MoveItConfigData::setPackagePath
- factored out setCollisionLinkPairs into MoveItConfigData
- require output path to be set if SRDF path is overwritten by a xacro file path
- separated xacro parsing from loadFileToString
- make disabled_collisions entries unique
- Added command-line SRDF updater
- Merge pull request from 130s/fix/windowsize Shrink window height
- Add scrollbar to the text area that could be squashed.
- Better minimum window size.
- Merge pull request #103 from gavanderhoorn/issue102_cfgrble_db_path Fix for issue #102 : allow user to set mongodb db location
- Update warehouse launch file to accept non-standard db location. Fix #102. Also update generated demo.launch accordingly. The default directory could be located on a non-writable file system, leading to crashes of the mongodb wrapper script. This change allows the user to specify an alternative location using the \'db_path\' argument.
- Update configuration_files_widget.cpp Fix link
- Contributors: Dave Coleman, Ioan A Sucan, Isaac IY Saito, Mathias L
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
3 | moveit_core | |
3 | moveit_ros_planning | |
3 | moveit_ros_visualization | |
1 | catkin | |
1 | xacro |
System Dependencies
Name |
---|
yaml-cpp |
Dependant Packages
Launch files
- templates/moveit_config_pkg_template/launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- templates/moveit_config_pkg_template/launch/run_benchmark_ompl.launch
-
- cfg
- templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- templates/moveit_config_pkg_template/launch/warehouse.launch
-
- moveit_warehouse_database_path
-
-
- templates/moveit_config_pkg_template/launch/demo.launch
-
- db [default: false]
- db_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- debug [default: false]
- templates/moveit_config_pkg_template/launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- templates/moveit_config_pkg_template/launch/default_warehouse_db.launch
-
- reset [default: false]
- moveit_warehouse_database_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- launch/setup_assistant.launch
- Launch the MoveIt Setup Assistant, or just use rosrun
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- templates/moveit_config_pkg_template/launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- templates/moveit_config_pkg_template/launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/fake_moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
- templates/moveit_config_pkg_template/launch/moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/moveit_sensor_manager.launch.xml
Messages
Services
Plugins
Recent questions tagged moveit_setup_assistant at answers.ros.org
![]() |
moveit_setup_assistant package from moveit_setup_assistant repomoveit_setup_assistant |
|
Package Summary
Tags | No category tags. |
Version | 0.7.2 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-planning/moveit_setup_assistant.git |
VCS Type | git |
VCS Version | indigo-devel |
Last Updated | 2016-08-05 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Ioan Sucan
- Dave Coleman
Authors
- Dave Coleman
This Repository Has Moved
The new location as of August 5th, 2016 is https://github.com/ros-planning/moveit
See migration notes for more details.
Please do not open new pull requests or issues in this old location.
Changelog for package moveit_setup_assistant
0.7.2 (2016-06-24)
- [sys] Qt adjustment.
- relax Qt-version requirement. Minor Qt version updates are ABI-compatible with each other: https://wiki.qt.io/Qt-Version-Compatibility
- auto-select Qt version matching the one from rviz #114
- Allow to conditionally compile against Qt5 by setting -DUseQt5=On
- [sys] Add line for supporting CMake 2.8.11 as required for Indigo
- [sys][travis] Update CI conf for ROS Jade (and optionally added Kinetic) #116
- [feat] add ApplyPlanningScene capability to template
- Contributors: Dave Coleman, Isaac I.Y. Saito, Robert Haschke, Simon Schmeisser (isys vision), v4hn
0.7.0 (2016-01-30)
- Merge pull request from ipa-mdl/indigo-devel Added command-line SRDF updater
- renamed target output to collisions_updater
- formatted code to roscpp style
- More verbose error descriptions, use ROS_ERROR_STREAM
- moved file loader helpers into tools
- added licence header
- Missed a negation sign
- CollisionUpdater class was not really needed
- factored out createFullURDFPath and createFullSRDFPath
- factored out MoveItConfigData::getSetupAssistantYAMLPath
- factored out MoveItConfigData::setPackagePath
- factored out setCollisionLinkPairs into MoveItConfigData
- require output path to be set if SRDF path is overwritten by a xacro file path
- separated xacro parsing from loadFileToString
- make disabled_collisions entries unique
- Added command-line SRDF updater
- Merge pull request from 130s/fix/windowsize Shrink window height
- Add scrollbar to the text area that could be squashed.
- Better minimum window size.
- Merge pull request #103 from gavanderhoorn/issue102_cfgrble_db_path Fix for issue #102 : allow user to set mongodb db location
- Update warehouse launch file to accept non-standard db location. Fix #102. Also update generated demo.launch accordingly. The default directory could be located on a non-writable file system, leading to crashes of the mongodb wrapper script. This change allows the user to specify an alternative location using the \'db_path\' argument.
- Update configuration_files_widget.cpp Fix link
- Contributors: Dave Coleman, Ioan A Sucan, Isaac IY Saito, Mathias L
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
3 | moveit_core | |
3 | moveit_ros_planning | |
3 | moveit_ros_visualization | |
1 | catkin | |
1 | xacro |
System Dependencies
Name |
---|
yaml-cpp |
Dependant Packages
Launch files
- templates/moveit_config_pkg_template/launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- templates/moveit_config_pkg_template/launch/run_benchmark_ompl.launch
-
- cfg
- templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- templates/moveit_config_pkg_template/launch/warehouse.launch
-
- moveit_warehouse_database_path
-
-
- templates/moveit_config_pkg_template/launch/demo.launch
-
- db [default: false]
- db_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- debug [default: false]
- templates/moveit_config_pkg_template/launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- templates/moveit_config_pkg_template/launch/default_warehouse_db.launch
-
- reset [default: false]
- moveit_warehouse_database_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- launch/setup_assistant.launch
- Launch the MoveIt Setup Assistant, or just use rosrun
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- templates/moveit_config_pkg_template/launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- templates/moveit_config_pkg_template/launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/fake_moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
- templates/moveit_config_pkg_template/launch/moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/moveit_sensor_manager.launch.xml
Messages
Services
Plugins
Recent questions tagged moveit_setup_assistant at answers.ros.org
![]() |
moveit_setup_assistant package from moveit_setup_assistant repomoveit_setup_assistant |
|
Package Summary
Tags | No category tags. |
Version | 0.5.9 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-planning/moveit_setup_assistant.git |
VCS Type | git |
VCS Version | hydro-devel |
Last Updated | 2014-08-19 |
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
- Ioan Sucan
- Dave Coleman
Authors
- Dave Coleman
Changelog for package moveit_setup_assistant
0.5.9 (2014-03-22)
- Fixed bug 82 in a quick way by reducing min size.
- Fix for issue #70: support yaml-cpp 0.5+ (new api).
- Generate joint_limits.yaml using ordered joints
- Ensures that group name changes are reflected in the end effectors and robot poses screens as well
- Prevent dirty transforms warning
- Cleaned up stray cout\'s
- Contributors: Benjamin Chretien, Dave Coleman, Dave Hershberger, Sachin Chitta
0.5.8 (2014-02-06)
- Update move_group.launch Adding get planning scene service to template launch file.
- Fix [#42 <https://github.com/ros-planning/moveit\_setup\_assistant/issues/42\>]{.title-ref} plus cosmetic param name change.
- Contributors: Acorn, Dave Hershberger, sachinchitta
0.5.7 (2014-01-03)
- Added back-link to tutorial and updated moveit website URL.
- Ported tutorial from wiki to sphinx in source repo.
0.5.6 (2013-12-31)
- Fix compilation on OS X 10.9 (clang)
- Contributors: Nikolaus Demmel, isucan
0.5.5 (2013-12-03)
- fix #64.
- Added Travis Continuous Integration
0.5.4 (2013-10-11)
- Added optional params so user knows they exist - values remain same
0.5.3 (2013-09-23)
- enable publishing more information for demo.launch
- Added 2 deps needed for some of the launch files generated by the setup assistant
- add source param for joint_state_publisher
- Added default octomap_resolution to prevent warning when move_group starts. Added comments.
- generate config files for fake controllers
- port to new robot state API
0.5.2 (2013-08-16)
0.5.1 (2013-08-13)
- make headers and author definitions aligned the same way; white space fixes
- add debug flag to demo.launch template
- default scene alpha is now 1.0
- add robot_state_publisher dependency for generated pkgs
- disable mongodb creation by default in demo.launch
- add dependency on joint_state_publisher for generated config pkgs
0.5.0 (2013-07-15)
- white space fixes (tabs are now spaces)
- fix #49
0.4.1 (2013-06-26)
- fix #44
- detect when xacro needs to be run and generate planning_context.launch accordingly
- fix #46
- refactor how planners are added to ompl_planning.yaml; include PRM & PRMstar, remove LazyRRT
- change defaults per #47
- SRDFWriter: add initModel() method for initializing from an existing urdf/srdf model in memory.
- SRDFWriter: add INCLUDE_DIRS to catkin_package command so srdf_writer.h can be used by other packages.
- git add option for minimum fraction of \'sometimes in collision\'
- fix #41
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
3 | moveit_core | |
3 | moveit_ros_planning | |
3 | moveit_ros_visualization | |
1 | catkin | |
1 | xacro |
System Dependencies
Name |
---|
yaml-cpp |
Dependant Packages
Launch files
- templates/moveit_config_pkg_template/launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- templates/moveit_config_pkg_template/launch/run_benchmark_ompl.launch
-
- cfg
- templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- templates/moveit_config_pkg_template/launch/warehouse.launch
-
- moveit_warehouse_database_path
-
-
- templates/moveit_config_pkg_template/launch/demo.launch
-
- db [default: false]
- debug [default: false]
- templates/moveit_config_pkg_template/launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- templates/moveit_config_pkg_template/launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/setup_assistant.launch
- Launch the MoveIt Setup Assistant, or just use rosrun
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- templates/moveit_config_pkg_template/launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- templates/moveit_config_pkg_template/launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/fake_moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
- templates/moveit_config_pkg_template/launch/moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/moveit_sensor_manager.launch.xml
Messages
Services
Plugins
Recent questions tagged moveit_setup_assistant at answers.ros.org
![]() |
moveit_setup_assistant package from moveit_setup_assistant repomoveit_setup_assistant |
|
Package Summary
Tags | No category tags. |
Version | 0.7.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-planning/moveit_setup_assistant.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2016-08-05 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Ioan Sucan
- Dave Coleman
Authors
- Dave Coleman
This Repository Has Moved
The new location as of August 5th, 2016 is https://github.com/ros-planning/moveit
See migration notes for more details.
Please do not open new pull requests or issues in this old location.
Changelog for package moveit_setup_assistant
0.7.1 (2016-06-24)
- [sys] Qt adjustment.
- relax Qt-version requirement. Minor Qt version updates are ABI-compatible with each other: https://wiki.qt.io/Qt-Version-Compatibility
- auto-select Qt version matching the one from rviz #114
- Allow to conditionally compile against Qt5 by setting -DUseQt5=On
- [sys] Add line for supporting CMake 2.8.11 as required for Indigo
- [sys][travis] Update CI conf for ROS Jade (and optionally added Kinetic) #116
- [feat] add ApplyPlanningScene capability to template
- Contributors: Dave Coleman, Isaac I.Y. Saito, Robert Haschke, Simon Schmeisser (isys vision), v4hn
0.7.0 (2016-01-30)
- Merge pull request from ipa-mdl/indigo-devel Added command-line SRDF updater
- renamed target output to collisions_updater
- formatted code to roscpp style
- More verbose error descriptions, use ROS_ERROR_STREAM
- moved file loader helpers into tools
- added licence header
- Missed a negation sign
- CollisionUpdater class was not really needed
- factored out createFullURDFPath and createFullSRDFPath
- factored out MoveItConfigData::getSetupAssistantYAMLPath
- factored out MoveItConfigData::setPackagePath
- factored out setCollisionLinkPairs into MoveItConfigData
- require output path to be set if SRDF path is overwritten by a xacro file path
- separated xacro parsing from loadFileToString
- make disabled_collisions entries unique
- Added command-line SRDF updater
- Merge pull request from 130s/fix/windowsize Shrink window height
- Add scrollbar to the text area that could be squashed.
- Better minimum window size.
- Merge pull request #103 from gavanderhoorn/issue102_cfgrble_db_path Fix for issue #102 : allow user to set mongodb db location
- Update warehouse launch file to accept non-standard db location. Fix #102. Also update generated demo.launch accordingly. The default directory could be located on a non-writable file system, leading to crashes of the mongodb wrapper script. This change allows the user to specify an alternative location using the \'db_path\' argument.
- Update configuration_files_widget.cpp Fix link
- Contributors: Dave Coleman, Ioan A Sucan, Isaac IY Saito, Mathias L
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
3 | moveit_core | |
3 | moveit_ros_planning | |
3 | moveit_ros_visualization | |
1 | catkin | |
1 | xacro |
System Dependencies
Name |
---|
yaml-cpp |
Dependant Packages
Launch files
- templates/moveit_config_pkg_template/launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- templates/moveit_config_pkg_template/launch/run_benchmark_ompl.launch
-
- cfg
- templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- templates/moveit_config_pkg_template/launch/warehouse.launch
-
- moveit_warehouse_database_path
-
-
- templates/moveit_config_pkg_template/launch/demo.launch
-
- db [default: false]
- db_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- debug [default: false]
- templates/moveit_config_pkg_template/launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- templates/moveit_config_pkg_template/launch/default_warehouse_db.launch
-
- reset [default: false]
- moveit_warehouse_database_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- launch/setup_assistant.launch
- Launch the MoveIt Setup Assistant, or just use rosrun
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- templates/moveit_config_pkg_template/launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- templates/moveit_config_pkg_template/launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/fake_moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
- templates/moveit_config_pkg_template/launch/moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/moveit_sensor_manager.launch.xml
Messages
Services
Plugins
Recent questions tagged moveit_setup_assistant at answers.ros.org
|
Package Summary
Tags | No category tags. |
Version | 1.0.11 |
License | BSD |
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
- Dave Coleman
- Robert Haschke
- MoveIt! Release Team
Authors
- Dave Coleman
MoveIt! Setup Assistant
Changelog for package moveit_setup_assistant
1.0.11 (2022-09-13)
- Pass xacro_args to both, urdf and srdf loading (#3200)
- Contributors: Robert Haschke
1.0.10 (2022-03-06)
1.0.9 (2022-01-09)
- Use moveit-resources@master
(#2951)
- Simplify launch files to use the test_environment.launch files
from
- Provide compatibility to the Noetic-style configuration of (multiple) planning pipelines Only a single pipeline can be used at a time, specified via the ~default_planning_pipeline parameter.
- Rename launch argument execution_type -> fake_execution_type
- Simplify launch files to use the test_environment.launch files
from
- Templates: Fix passing capabilities arguments (#2729)
- Fix writing an empty sensor config (#2708)
- Contributors: David V. Lu!!, G.A. vd. Hoorn, Michael G
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
2 | rviz | |
1 | catkin | |
1 | xacro | |
1 | moveit_resources_panda_moveit_config | |
1 | rosunit | |
3 | moveit_core | |
3 | moveit_ros_planning | |
3 | moveit_ros_visualization | |
2 | rosconsole | |
2 | roscpp | |
3 | urdf | |
1 | srdfdom |
System Dependencies
Dependant Packages
Launch files
- templates/moveit_config_pkg_template/launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- pipeline [default: ompl]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- fake_execution_type [default: interpolate]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- capabilities [default: ]
- disable_capabilities [default: ]
- load_robot_description [default: true]
- templates/moveit_config_pkg_template/launch/run_benchmark_ompl.launch
-
- cfg
- templates/moveit_config_pkg_template/launch/gazebo.launch
-
- paused [default: false]
- gazebo_gui [default: true]
- urdf_path [default: [URDF_LOCATION]]
- world_name [default: worlds/empty.world]
- templates/moveit_config_pkg_template/launch/ros_controllers.launch
- templates/moveit_config_pkg_template/launch/edit_configuration_package.launch
- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- templates/moveit_config_pkg_template/launch/warehouse.launch
-
- moveit_warehouse_database_path
-
-
- templates/moveit_config_pkg_template/launch/demo_gazebo.launch
-
- db [default: false]
- db_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- debug [default: false]
- load_robot_description [default: false]
- use_gui [default: false]
- gazebo_gui [default: true]
- paused [default: false]
- urdf_path [default: [URDF_LOCATION]]
- templates/moveit_config_pkg_template/launch/demo.launch
-
- pipeline [default: ompl]
- db [default: false]
- db_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- debug [default: false]
- load_robot_description [default: true]
- fake_execution_type [default: interpolate]
- use_gui [default: false]
- use_rviz [default: true]
- templates/moveit_config_pkg_template/launch/moveit_rviz.launch
-
- debug [default: false]
- rviz_config [default: ]
- templates/moveit_config_pkg_template/launch/default_warehouse_db.launch
-
- reset [default: false]
- moveit_warehouse_database_path [default: $(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db]
- launch/setup_assistant.launch
- Launch the MoveIt! Setup Assistant, or just use rosrun
-
- debug [default: false]
- templates/moveit_config_pkg_template/launch/chomp_planning_pipeline.launch.xml
-
- capabilities [default: ]
- disable_capabilities [default: ]
- templates/moveit_config_pkg_template/launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- templates/moveit_config_pkg_template/launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- capabilities [default: ]
- disable_capabilities [default: ]
- templates/moveit_config_pkg_template/launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/fake_moveit_controller_manager.launch.xml
-
- fake_execution_type [default: interpolate]
- templates/moveit_config_pkg_template/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
-
- capabilities [default: ]
- disable_capabilities [default: ]
- templates/moveit_config_pkg_template/launch/ompl_planning_pipeline.launch.xml
-
- capabilities [default: ]
- disable_capabilities [default: ]
- templates/moveit_config_pkg_template/launch/moveit_controller_manager.launch.xml
- templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
-
- fake_execution_type [default: interpolate]
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: [ROBOT_NAME]]
- templates/moveit_config_pkg_template/launch/moveit_sensor_manager.launch.xml