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

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