pr2eus_moveit

This package contains euslisp interface file for using moveit

Setting Up

Check if pr2 robot with moveit is already running, if not, run gazebo and moveit by

$ roslaunch pr2eus_moveit test-pr2eus-moveit.test  gui:=true

Run roseus, load required packages and setup robot-interface with moveit feature enabled.

(load "package://pr2eus/pr2-interface.l")
(load "package://pr2eus_moveit/euslisp/pr2eus-moveit.l")
(pr2-init)
(send *ri* :set-moveit-environment (instance pr2-moveit-environment :init))

Send collision-free angle-vector

To send collision-free angle-vector, run following command instead of normal :angle-vector

(send *ri* :angle-vector-motion-plan (send *pr2* :reset-pose) :move-arm :rarm :use-torso t)

Plan motions and execute

If you want to specify target enc-coords instead of angle-vector, use following command

(send *ri* :move-end-coords-plan (make-coords :pos #f(700 0 750)) :move-arm :larm :use-torso t)

Use MoveIt IK service

If you want to use IK service provided by MoveIt, try

(setq av (send *ri* :collision-aware-ik (make-coords :pos #f(700 0 850)) :move-arm :rarm :use-torso nil))
(send *pr2* :angle-vector av)

Changelog for package pr2eus_moveit

0.3.15 (2023-04-17)

• Loosen test condition for test-collision-object-publisher (#484)
• integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
• test check apply_planning_scene before creating collision-object-publisher/ci without MoveIt (#469)
• check apply_planning_scene before creating collision-object-publisher/ci (#446)
• add test code for #461 (#468)
• [pr2eus_moveit] Add timeout arg for computing IK and increase timeout for test (#438)
• Check current collision when trajectory could not be generated (#448)
• [pr2eus_moveit] evaluate all bodies only when it has bodies (#442)
• [pr2eus_moveit] Add test for collision-object-publisher (#431)
• [pr2eus_moveit] fix collision-object-sample.l and :add-object in collision-object-publisher.l (#423)
• [pr2eus_moveit] add method to delete collision objects by id (#421)
• [pr2eus_moveit] fix cylinder collision object msg (#419)
• enable to test navigation in gazebo for pr2-ri-test (#420)
• [pr2eus_moveit] Add docstring to :angle-vector-motion-plan (#392)
• need to check both pr2_gazebo and pr2_moveit_config (#393)
• Contributors: Kei Okada, Koki Shinjo, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Shun Hasegawa, Yuto Uchimi

0.3.14 (2019-02-11)

• fix typo and add pr2-init in pr2eus-moveit.l for PR2 + moveit (#382 )
  • add moveit pr2-init in pr2eus-moveit.l redefine original pr2-init -> pr2-init-org
  • fix parenthesis close in pr2eus-moveit.l
• Fix velocity time scaling (#377 )
  • Fix scaling of multi dof joint trajectory
  • scale accelerations in :trajectory-filter
  • fix velocity time scaling
  • Add test for time scaling of vel and acc in :trajectory-filter
• Fix :angle-vector-make-trajectory to ignore start-offset-time (#365 )
  • Remove first point of new traj if it overlaps with existing traj. Without this fix, traj points having the same time_from_start appear. This may harm joint trajectory action server.
  • Use exact time_from_start to pass test
  • Fix :angle-vector-make-trajectory to ignore start-offset-time
  • Reduce start-offset-time to speed up tests
  • Use init-pose instead of reset-manip-pose to speed up test-angle-vector-sequence-motion-plan
  • Loosen time limit of new test
  • Add test for start-offset-time with avs
• Fix time_from_start in motion-planned angle-vector-sequence (#363 )
  • Update robot in ri in 1st loop
  • Set time_from_start correctly in :angle-vector-make-trajectory Previously, traj points for second av started from zero time_from_start
  • Add equal to sort in test to avoid error
  • Add test for concatenation in :angle-vector-make-trajectory
• Fix :trajectory-filter to ignore start-offset-time (#361 )
  • Remove start-offset-time from passing args
  • Fix :trajectory-filter to ignore start-offset-time
  • Add test for start-offset-time
• pr2eus_moveit: support motion with mobile base (#357 )
  • reset-total-time is used only when trajectory is short See https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/0.3.13/pr2eus_moveit/euslisp/robot-moveit.l#L539-L544
  • Don't skip :trajectory-filter as before So far, this has been realized by an odd way (https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/ca27e9d8dbe765b1879daf9ccd80e09c81674ab1)
  • pr2eus_moveit: run test only when pr2_gazebo is available
  • pr2eus_moveit: support planning with base movement
• run everything within jenkins (#340)
  • explictly set DISPLAY="" for roseus test
  • re-define :joint-angle to avoid print violate max/min-angle that exceeds 4M log limit
  • test-pr2eus-moveit.l: not sure why, but sometimes utf-8 code is displayed and brakes catkin build
  • set time-limit for pr2-ri-test to 600
  • .travis.yml: run everything within travis
  • install pr2-arm-kinematics for indigo
• Use service call for collision-object-publisher (#324)
  • operate attached_collision_object by service call
  • refactor codes in collision-object-publisher
• Contributors: Affonso Guilherme, Kei Okada, Shingo Kitagawa, Shun Hasegawa, Yuki Furuta

0.3.13 (2017-07-14)

• [pr2eus_moveit] add 0.5 seconds sleep after collision object pub (#315)
  • add comment why we need unix:sleep
  • add 0.5 seconds sleep after collision object pub
• add test for https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/310#issuecomment-314694668 (#312 )
  • test/test-pr2eus-moveit.l, add test-moveit-fastest-trajectory, ensure that :angle-vector-motion-plan will not send faster motion then moveit planned motion
  • display both scaled trajectory time and actual time_to_start time
  • robot-moveit.l : set default start-offset-time to 0, not to skip :trajectory-filter
  • robot-moveit.l, fix debug info (/ total-time 1000) -> (/ total-time 1000.0)
• Revert #310 "[pr2eus_moveit] fix typo in total-time condition" (#314 )
• Contributors: Kei Okada, Shingo Kitagawa

0.3.12 (2017-07-11)

• robot-interface.l: send angle-vector only once, some controller-table had multiple definition for one method, we ignore them (#308)
  • test/test-pr2eus-moveit.test only runs on indigo
  • fix when two controller has same action instance
  • add dummy controller for #308
  • send angle-vector only once, some controller-table had multiple definition for one method, we ignore them
• [pr2eus_moveit] fix bug in angle-vector-motion-plan (#309)
  • fix bug in angle-vector-motion-plan error occur when (length controller-actions) != (length (send self ctype)) this case happens when you init robot-interface with :default-controller, but send av with :rarm-controller.
• [pr2eus_moveit] fix typo in total-time condition (#310)
• [pr2eus_moveit] fix typo in robot-moveit.l (#306 )
  • [(:angle-vector-motion-plan] controller-type -> ctype
• Contributors: Kei Okada, Shingo Kitagawa

0.3.11 (2017-06-25)

• pr2eus_moveit/euslisp/robot-moveit.l: support tm :fast in :angle-vector-motion-plan (#297 )
  • add :scale for :fast in :angle-vector-motion-plan
  • add trajectory_constraints commentout trajectory_constraints is not used in motion planning. see https://github.com/ros-planning/moveit_msgs/issues/2
  • add max_velocity/acceleration_scaling_factor
  • support tm :fast in :angle-vector-motion-plan
• pr2eus_moveit/euslisp/robot-moveit.l: add angle-vector-sequence-motion-plan test (#293 )
  • set longer time-limit for moveit test
• pass ctype in angle-vector-motion-plan (#292 )
• advertise CollisionObject with latch=t (#290 )
• Contributors: Kei Okada, Shingo Kitagawa

0.3.10 (2017-03-02)

0.3.9 (2017-02-22)

• Support Kinetic (#284 )
  • pr2_controllers_msgs is not released on J/K
• [pr2eus_moveit/collision-object-publisher.l] fix bug in :wipe-all (#283 )
  • separate wipe-all and fix bug
  • set new hash-table in :clear-all
• [pr2eus_moveit/robot-moveit.l] support angle-vector-sequence with MoveIt! (#282 )
  • support angle-vector-sequence for motion plan
  • remove trajectory-constraints for motion plan
• Contributors: Kei Okada, Shingo Kitagawa

0.3.8 (2017-02-07)

• robot-moveit.l
  • enable set default planner in moveit-env initialization (#280 )
  • [pr2eus_moveit] pass start-offset-time as starttime to :send-trajectory (#276)
  • pass start-offset-time to :send-trajectory
  • angle-vector-motion-plan return angle-vector (#268)
  • angle-vector-motion-plan accepts angle-vector seq modify :angle-vector-motion-plan to accept angle-vector-sequence set (butlast avs) as TrajectoryConstraints (#259)
  • add :ctype args in angle-vector-motion-plan to set controller-type for :angle-vector-motion-plan(#261)
  • total-time is msec ,and orig-total-time is sec, :total-time in :trajectory-fiter is msec (#257) FIx bugs in #252
• collision-object-publisher.l
  • [pr2eus_moveit/collision-object-publisher] support body class object (#269)
  • fix bug in collision-object-publisher :wipe-all (#267)
  • remove unused key in collision-object-publisher (#266)
• Contributors: Naoya Yamaguchi, Kei Okada, Shingo Kitagawa

0.3.7 (2016-11-08)

• :trajectory-filter add clear-velocities
• Contributors: Kei Okada

0.3.6 (2016-11-02)

• Update on robot-modeit.l ( #252 )
  • :angle-vector-motion send trajectory for joints not incldued in move-arm
  • :trajectory-filter scale based on original time sequences
  • add feature to filter trajectory using total-time
  • robot-moveit.l (:trajectory-filter) add start-offset-time
  • more message on ros-info
  • cleanup :angle-vector-motion-plan function using orig-total-time variable
• Contributors: Kei Okada

0.3.5 (2016-09-16)

0.3.4 (2016-06-22)

0.3.3 (2016-05-28)

• CMakeLists.txt : forget to install euslisp directory ( #230 )
• Contributors: Kei Okada

0.3.2 (2016-05-26)

0.3.1 (2016-05-22)

• add pr2eus_moveit/README.md
• pr2eus_moveit: add test program
• robot-moveit.l : add info message for mumber of points and duration
• use RRTConnectkConfigDefault as a defualt planner
• robot-moveit.l : fix wrong commit on https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/7d461b7ef199e26f0f9826ed4f1b1fd4cea606fe#commitcomment-17502889
• move pr2eus-moveit -> robot-moveit.l
• pr2eus_moveit: CMakeLists.txt install euslisp/ tutorials/ directory
• pr2eus-moveit.l : fix wrong commit on https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/a55cfb08724ae0034382e2407f60d6830729e04b#commitcomment-17500452
• Contributors: Kei Okada

0.3.0 (2016-03-20)

0.2.1 (2016-03-04)

0.2.0 (2015-11-03)

0.1.11 (2015-06-11)

0.1.10 (2015-04-03 18:49)

0.1.9 (2015-04-03 16:52)

0.1.8 (2015-02-25)

• [pr2eus_moveit] package.xml fix version number
• [pr2eus_moveit] Catkinize pr2eus_moveit
• Contributors: Kei Okada, aginika

0.1.7 (2015-02-10)

• fix typo
• add code for using action-server instead of service
• add check-state-validity service and fix minor bug
• fix bug in collision-object-publisher.l
• change moveit groupname
• add code for using arms
• added eus2scene.l
• add publish-eusscene-marker.l
• add publish-eusscene.l
• Contributors: YoheiKakiuchi, mmurooka, tarukosu

0.1.6 (2014-05-11)

0.1.5 (2014-05-03)

0.1.4 (2014-05-02 22:28)

0.1.3 (2014-05-02 18:04)

0.1.2 (2014-05-01 22:43)

0.1.1 (2014-05-01 02:14)

• add pr2-tabletop-demo, picking object up on table useing moveit
• comment out debug message
• update pr2eus_moveit for using constraints
• Merge pull request #9 from YoheiKakiuchi/add_use_directly_joint_trajectory use joint trajectory mode for moveit
• add clear-world-scene method to pr2eus-moveit
• use joint trajectory mode for moveit
• fix typo :frame_id -> :frame-id
• enable to set object-id with keyword
• update publish-eusobject.l
• add publish-eusobject.l for publishing eus model to moveit environment
• change loading order for pr2eus-moveit
• fix minor bug
• add pr2-moveit.l
• fix typo
• add publish-collision-object
• add make-virtual-joint-constraints
• add :motion-plan-raw method for testing planning
• delete method for attached-object
• add :add-attached-object to collision-object-publisher
• add :query-planner-interface to pr2eus-moveit
• update
• add keyword for adding constraints to motion-plan
• add making constraints functions
• update pr2eus-moveit.l
• add method for robot-interface on pr2eus-moveit
• update pr2eus-moveit
• update pr2eus_moveit tutorials
• add :sync-robot-model method to pr2eus-moveit
• move collision-object-sample.l to tutorials
• add tutorials to pr2eus_moveit
• add :execute-trajectory method to pr2eus-moveit
• update sample for pr2eus_moveit
• add updating faces coords
• add collision-object-sample
• add :relative-pose keyword to collision-object-publisher.l
• fix typo and minor bug
• implement :motion-plan method to pr2eus-moveit.l
• fix typo
• add using torso configuration to pr2eus-moveit.l
• rename pr2eus_moveit.l -> pr2eus-moveit.l
• implement :get-ik-for-pose to moveit-environment
• rename scene-topic -> scene-service
• add pr2eus_moveit.l for using moveit from roseus interface
• add package dependancy to pr2eus_moveit
• move :get-planning-scene method to get-planning-scene function
• add pr2eus_moveit for using moveit components from roseus
• Contributors: Yohei Kakiuchi, YoheiKakiuchi, youhei