|
|
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 | 2023-12-07 |
| 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 | 2023-12-07 |
| 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 | 2023-12-07 |
| 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 | 1.1.0 |
| 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 | 2023-12-07 |
| 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 | 2023-12-07 |
| 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 |