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tiago_moveit_config package from tiago_moveit_config repotiago_moveit_config |
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Package Summary
| Tags | No category tags. |
| Version | 3.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pal-robotics/tiago_moveit_config.git |
| VCS Type | git |
| VCS Version | humble-devel |
| Last Updated | 2022-11-29 |
| 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
An automatically generated package with all the configuration and launch files for using the tiago with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- TIAGo PAL support team
- Jordan Palacios
- Noel Jimenez
Authors
- MoveIt Setup Assistant
TIAGo MoveIt! Config
This package contains the MoveIt! config files for all possible TIAGo configurations (end effectors, force torque sensors..).
To make maintenance easier, there are templates of the files that differ between configurations. To understand how this template works please read https://github.com/pal-robotics/tiago_robot/ readme.
Running the setup assistant
If you need to modify the setup assistant, you'll need to:
- Provide arguments to the xacro file to get the variant of TIAGo that you need. For MoveIt! the parameters may need to modify are
arm,end_effectorandft_sensor. - Create (or softlnk) a SRDF file at
config/tiago.srdfif you want to load existing moveit configuration. The SRDF files used are inconfig/srdf, and only changes in that directory will not reflect on the robot.
Make sure that after running to reflect the changes in the auto generated files.
CHANGELOG
Changelog for package tiago_moveit_config
3.0.0 (2022-11-29)
- Merge pull request #11 from AndyZe/andyz/cm_update [Humble] Update the ControllerManger name
- Update in the .em file as well
- Update the Controller Manager name
- Merge branch \'add_missing_dependencies\' into \'humble-devel\' Add missing dependencies See merge request robots/tiago_moveit_config!46
- add missing dependencies
- Merge branch \'update_rviz_cfg\' into \'humble-devel\' Update rviz config See merge request robots/tiago_moveit_config!45
- update rviz cfg
- Merge branch \'cleanup\' into \'humble-devel\' update pkg deps See merge request robots/tiago_moveit_config!44
- update pkg deps
- Merge branch \'linters\' into \'humble-devel\' Linters See merge request robots/tiago_moveit_config!43
- linters
- copyright
- CONTRIBUTING.md
- add linters
- Merge branch \'update_launchers\' into \'humble-devel\' Update moveit launchers refactor See merge request robots/tiago_moveit_config!42
- update config and use MoveItConfigsBuilder for launchers
- regenerate controller yaml files
- rm name to avoid duplicated node
- update moveit launchers refactor
- Merge branch \'refactor_ld\' into \'humble-devel\' Refactor LaunchDescription population See merge request robots/tiago_moveit_config!41
- refactor LaunchDescription population
- Merge branch \'license\' into \'humble-devel\' Add Apache License See merge request robots/tiago_moveit_config!40
- add LICENSE
- Merge branch \'cleanup\' into \'humble-devel\' Cleanup See merge request robots/tiago_moveit_config!39
- rm ros1 launchers
- Merge branch \'update_maintainers\' into \'humble-devel\' update maintainers See merge request robots/tiago_moveit_config!38
- update maintainers
- Merge branch \'separate_rviz_and_move_group\' into \'foxy-devel\' Separate rviz from move group launcher See merge request robots/tiago_moveit_config!33
- separate rviz from move_group launcher
- Update rviz config
- Add camera_model to description generator
- Style and cleanup
- Use rviz in this repo
- Update move_group for all tiago configurations
- Fix controllers and srdf generation
- Regenerate srdf and controllers for ROS2
- Initial hard coded ROS2 version
- Contributors: AndyZe, Jordan Palacios, Noel Jimenez, Noel Jimenez Garcia, Sai Kishor Kothakota, Victor Lopez
1.1.1 (2021-05-06)
1.1.0 (2021-05-06)
- Merge branch \'robotiq_gripper\' into \'erbium-devel\' Robotiq gripper See merge request robots/tiago_moveit_config!22
- update the SRDF with the missing FT links
- Update the SRDF configuration
- update the robotiq end effector naming
- initial commit of robotiq 85 and 140 moveit config of TIAGo
- Add README and update setup assistant xacro file name
- Contributors: Sai Kishor Kothakota, Victor Lopez, saikishor
1.0.6 (2020-10-01)
- Merge branch \'hey5_marker\' into \'erbium-devel\' Hey5 marker See merge request robots/tiago_moveit_config!21
- Hey5 marker
- Contributors: Adria Roig, victor
1.0.5 (2020-06-09)
- Add arm_5 wrist ignore collisions
- Contributors: Victor Lopez
1.0.4 (2020-04-21)
- Merge branch \'custom-ee\' into \'erbium-devel\' Allow using custom end-effector See merge request robots/tiago_moveit_config!19
- Allow using custom end-effector
- Contributors: davidfernandez, victor
1.0.3 (2020-02-06)
- Merge branch \'move_group_capability\' into \'erbium-devel\' send capabilities through args See merge request robots/tiago_moveit_config!18
- send capabilities through args
- Contributors: Victor Lopez, YueErro
1.0.2 (2019-08-22)
- Add missing multi argument
- Decrease segment size for validation
- Contributors: Victor Lopez
1.0.1 (2018-12-19)
- Merge branch \'specifics-refactor\' into \'erbium-devel\' Added autogenerated srdf See merge request robots/tiago_moveit_config!16
- Restore old camera parameter
- Refactor controllers files
- Refactor joint limits and srdf
- Added autogenerated srdf
- Contributors: Victor Lopez
1.0.0 (2018-12-19)
0.0.22 (2018-07-30)
- Merge branch \'fix-simulation-warnings\' into \'cobalt-devel\' fix deprecated namespace See merge request robots/tiago_moveit_config!15
- fix deprecated namespace
- fix demo mode by adding missing argument You hacked multi-robot support into a generated moveit configuration but didn\'t test \"roslaunch tiago_moveit_config demo.launch\". I agree that gazebo support is better than the demo mode, but it can be very useful to test MoveIt-based code without controlling.
- Contributors: Jordi Pages, Victor Lopez, v4hn
0.0.21 (2018-03-28)
- Merge branch \'disable-sonar-collision\' into \'cobalt-devel\' Disable sonar collision with base_link See merge request robots/tiago_moveit_config!14
- Disable sonar collision with base_link
- Contributors: Victor Lopez, davidfernandez
0.0.20 (2018-03-26)
- Merge branch \'recover-chessboard-tiago\' into \'cobalt-devel\' Disable collision between arm 7 and chessboard See merge request robots/tiago_moveit_config!13
- Disable collision between arm 7 and chessboard
- Contributors: Jordi Pages, Victor Lopez
0.0.19 (2018-01-24)
- add config files for schunk and some renamings
- Contributors: Jordi Pages
0.0.18 (2017-11-03)
- Change the topic and the max_range for the octomap parameters
- Contributors: AleDF, Jordi Pages
0.0.17 (2017-05-16)
- Merge branch \'octomap_track_ik\' into \'cobalt-devel\' merge_problems_with david See merge request !11
- merge_problems_with david
- Merge branch \'iron-configuration\' into \'cobalt-devel\' Add configuration for Tiago Iron See merge request !10
- Merge branch \'octomap_track_ik\' into \'cobalt-devel\' octomap & track ik solver for MoveIt! See merge request !9
- Add configuration for Tiago Iron
- octomap & track ik solver for MoveIt!
- Contributors: AleDF, Jordi Pages, davidfernandez
0.0.16 (2016-10-21)
- fix maintainer
- add argument for steel and titanium versions
- add missing xml formatting
- add specific controllers for steel and titanium
- disable collision arm_5_link-gripper_link
- disable collision arm_6_link-wrist_ft_link
- add missing joints
- use soft links for steel and titanium srdf files
- disable collisions arm_5_link-gripper_link
- Contributors: Jordi Pages
0.0.15 (2016-07-08)
- Merge branch \'add-titanium-collisions-with-ft\' into \'cobalt-devel\' add missing potential collisions with ft sensor frames See merge request !5
- add collisions with ft sensor
- Merge branch \'tiago_configs\' into \'cobalt-devel\' Added the 4 possible configurations of tiago_moveit_config See merge request !4
- Added the 4 possible configurations of tiago_moveit_config
- Contributors: Jordi Pages, Sam Pfeiffer, Victor Lopez
0.0.14 (2016-06-13)
- Added necessary dependence to run moveit with a simulated or real robot
- Add disable collisions for force torque sensor
- Contributors: Sam Pfeiffer
0.0.13 (2016-06-01)
- Added controllers for hand and gripper
- Contributors: Sam Pfeiffer
0.0.12 (2016-04-04)
- Increase max speed of torso
- Contributors: Sam Pfeiffer
0.0.11 (2016-04-04)
- Missing hand_palm_link in collision disables
- Contributors: Sam Pfeiffer
0.0.10 (2016-04-04)
- Add disables in between hand finger links Without this, the robot will refuse to plan with closed hand
- Contributors: Sam Pfeiffer
0.0.9 (2016-03-31)
- Add disable collisions Using the generator. From: 1300 / 2145 pairs disabled in tiago_titanium (845 enabled) To: 2268 / 3096 pairs disabled in tiago_titanium (828 enabled)
- Add disable collisions Generated using https://gist.github.com/awesomebytes/18fe75b808c4c644bd3d a script that runs the urdf tree for adjacent links and checks for links without collision mesh to also disable the collision computation between them. From: (Generating matrix with max sampling density) 329 / 465 pairs disabled in tiago_steel (136 enabled) To: 754 / 873 pairs disabled in tiago_steel (119 enabled)
- Contributors: Sam Pfeiffer
0.0.8 (2016-03-18)
- Added impossible collision disabling between torso_fixed_column_link and arm_2_link
- Contributors: Sam Pfeiffer
0.0.7 (2016-03-18)
- Passing change to titanium too about torso_fixed_column_link collision with arm1 disabling
- Added another currently happening collision exception between torso_fixed_column_link and arm_1_link
- Contributors: Sam Pfeiffer
0.0.6 (2016-03-18)
- Add hand passive joints as passive
- added clear octomap and removed exceptions on collisions of arm wit hhead
- Contributors: Sam Pfeiffer
0.0.5 (2016-03-10)
- Refs #11489. Discard collisions between torsolinks
- Fix collisions with column
- Remove elements of prototype mobilebase
- Disable collision hand safety box <-> wrist mesh
- Add arm group + disable more internal hand collisions
- Contributors: Bence Magyar, jordi.pages@pal-robotics.com
0.0.4 (2015-05-20)
- Add hand_safety_box to the game!
- Disable more collisions between hand links
- Contributors: Bence Magyar
0.0.3 (2015-04-14)
- Fix gripper parts
- Add torso controller
- Separate configuration files for titanium and steel, launch files parametrized
- Contributors: Bence Magyar
0.0.2 (2015-01-20)
- Remove tiago_description dependency
- Contributors: Bence Magyar
0.0.1 (2015-01-20)
- Added configuration with arm controllers
- Initial version of tiago_moveit_config (no hand)
- Contributors: Sammy Pfeiffer
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| tiago_gazebo | github-pal-robotics-tiago_simulation |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tiago_moveit_config at answers.ros.org
|
|
tiago_moveit_config package from tiago_moveit_config repotiago_moveit_config |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.1.1 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pal-robotics/tiago_moveit_config.git |
| VCS Type | git |
| VCS Version | foxy-devel |
| Last Updated | 2022-05-27 |
| 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
An automatically generated package with all the configuration and launch files for using the tiago with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- TIAGo PAL support team
Authors
- MoveIt Setup Assistant
TIAGo MoveIt! Config
This package contains the MoveIt! config files for all possible TIAGo configurations (end effectors, force torque sensors..).
To make maintenance easier, there are templates of the files that differ between configurations. To understand how this template works please read https://github.com/pal-robotics/tiago_robot/ readme.
Running the setup assistant
If you need to modify the setup assistant, you'll need to:
- Provide arguments to the xacro file to get the variant of TIAGo that you need. For MoveIt! the parameters may need to modify are
arm,end_effectorandft_sensor. - Create (or softlnk) a SRDF file at
config/tiago.srdfif you want to load existing moveit configuration. The SRDF files used are inconfig/srdf, and only changes in that directory will not reflect on the robot.
Make sure that after running to reflect the changes in the auto generated files.
CHANGELOG
Changelog for package tiago_moveit_config
1.1.1 (2021-05-06)
1.1.0 (2021-05-06)
- Merge branch \'robotiq_gripper\' into \'erbium-devel\' Robotiq gripper See merge request robots/tiago_moveit_config!22
- update the SRDF with the missing FT links
- Update the SRDF configuration
- update the robotiq end effector naming
- initial commit of robotiq 85 and 140 moveit config of TIAGo
- Add README and update setup assistant xacro file name
- Contributors: Sai Kishor Kothakota, Victor Lopez, saikishor
1.0.6 (2020-10-01)
- Merge branch \'hey5_marker\' into \'erbium-devel\' Hey5 marker See merge request robots/tiago_moveit_config!21
- Hey5 marker
- Contributors: Adria Roig, victor
1.0.5 (2020-06-09)
- Add arm_5 wrist ignore collisions
- Contributors: Victor Lopez
1.0.4 (2020-04-21)
- Merge branch \'custom-ee\' into \'erbium-devel\' Allow using custom end-effector See merge request robots/tiago_moveit_config!19
- Allow using custom end-effector
- Contributors: davidfernandez, victor
1.0.3 (2020-02-06)
- Merge branch \'move_group_capability\' into \'erbium-devel\' send capabilities through args See merge request robots/tiago_moveit_config!18
- send capabilities through args
- Contributors: Victor Lopez, YueErro
1.0.2 (2019-08-22)
- Add missing multi argument
- Decrease segment size for validation
- Contributors: Victor Lopez
1.0.1 (2018-12-19)
- Merge branch \'specifics-refactor\' into \'erbium-devel\' Added autogenerated srdf See merge request robots/tiago_moveit_config!16
- Restore old camera parameter
- Refactor controllers files
- Refactor joint limits and srdf
- Added autogenerated srdf
- Contributors: Victor Lopez
1.0.0 (2018-12-19)
0.0.22 (2018-07-30)
- Merge branch \'fix-simulation-warnings\' into \'cobalt-devel\' fix deprecated namespace See merge request robots/tiago_moveit_config!15
- fix deprecated namespace
- fix demo mode by adding missing argument You hacked multi-robot support into a generated moveit configuration but didn\'t test \"roslaunch tiago_moveit_config demo.launch\". I agree that gazebo support is better than the demo mode, but it can be very useful to test MoveIt-based code without controlling.
- Contributors: Jordi Pages, Victor Lopez, v4hn
0.0.21 (2018-03-28)
- Merge branch \'disable-sonar-collision\' into \'cobalt-devel\' Disable sonar collision with base_link See merge request robots/tiago_moveit_config!14
- Disable sonar collision with base_link
- Contributors: Victor Lopez, davidfernandez
0.0.20 (2018-03-26)
- Merge branch \'recover-chessboard-tiago\' into \'cobalt-devel\' Disable collision between arm 7 and chessboard See merge request robots/tiago_moveit_config!13
- Disable collision between arm 7 and chessboard
- Contributors: Jordi Pages, Victor Lopez
0.0.19 (2018-01-24)
- add config files for schunk and some renamings
- Contributors: Jordi Pages
0.0.18 (2017-11-03)
- Change the topic and the max_range for the octomap parameters
- Contributors: AleDF, Jordi Pages
0.0.17 (2017-05-16)
- Merge branch \'octomap_track_ik\' into \'cobalt-devel\' merge_problems_with david See merge request !11
- merge_problems_with david
- Merge branch \'iron-configuration\' into \'cobalt-devel\' Add configuration for Tiago Iron See merge request !10
- Merge branch \'octomap_track_ik\' into \'cobalt-devel\' octomap & track ik solver for MoveIt! See merge request !9
- Add configuration for Tiago Iron
- octomap & track ik solver for MoveIt!
- Contributors: AleDF, Jordi Pages, davidfernandez
0.0.16 (2016-10-21)
- fix maintainer
- add argument for steel and titanium versions
- add missing xml formatting
- add specific controllers for steel and titanium
- disable collision arm_5_link-gripper_link
- disable collision arm_6_link-wrist_ft_link
- add missing joints
- use soft links for steel and titanium srdf files
- disable collisions arm_5_link-gripper_link
- Contributors: Jordi Pages
0.0.15 (2016-07-08)
- Merge branch \'add-titanium-collisions-with-ft\' into \'cobalt-devel\' add missing potential collisions with ft sensor frames See merge request !5
- add collisions with ft sensor
- Merge branch \'tiago_configs\' into \'cobalt-devel\' Added the 4 possible configurations of tiago_moveit_config See merge request !4
- Added the 4 possible configurations of tiago_moveit_config
- Contributors: Jordi Pages, Sam Pfeiffer, Victor Lopez
0.0.14 (2016-06-13)
- Added necessary dependence to run moveit with a simulated or real robot
- Add disable collisions for force torque sensor
- Contributors: Sam Pfeiffer
0.0.13 (2016-06-01)
- Added controllers for hand and gripper
- Contributors: Sam Pfeiffer
0.0.12 (2016-04-04)
- Increase max speed of torso
- Contributors: Sam Pfeiffer
0.0.11 (2016-04-04)
- Missing hand_palm_link in collision disables
- Contributors: Sam Pfeiffer
0.0.10 (2016-04-04)
- Add disables in between hand finger links Without this, the robot will refuse to plan with closed hand
- Contributors: Sam Pfeiffer
0.0.9 (2016-03-31)
- Add disable collisions Using the generator. From: 1300 / 2145 pairs disabled in tiago_titanium (845 enabled) To: 2268 / 3096 pairs disabled in tiago_titanium (828 enabled)
- Add disable collisions Generated using https://gist.github.com/awesomebytes/18fe75b808c4c644bd3d a script that runs the urdf tree for adjacent links and checks for links without collision mesh to also disable the collision computation between them. From: (Generating matrix with max sampling density) 329 / 465 pairs disabled in tiago_steel (136 enabled) To: 754 / 873 pairs disabled in tiago_steel (119 enabled)
- Contributors: Sam Pfeiffer
0.0.8 (2016-03-18)
- Added impossible collision disabling between torso_fixed_column_link and arm_2_link
- Contributors: Sam Pfeiffer
0.0.7 (2016-03-18)
- Passing change to titanium too about torso_fixed_column_link collision with arm1 disabling
- Added another currently happening collision exception between torso_fixed_column_link and arm_1_link
- Contributors: Sam Pfeiffer
0.0.6 (2016-03-18)
- Add hand passive joints as passive
- added clear octomap and removed exceptions on collisions of arm wit hhead
- Contributors: Sam Pfeiffer
0.0.5 (2016-03-10)
- Refs #11489. Discard collisions between torsolinks
- Fix collisions with column
- Remove elements of prototype mobilebase
- Disable collision hand safety box <-> wrist mesh
- Add arm group + disable more internal hand collisions
- Contributors: Bence Magyar, jordi.pages@pal-robotics.com
0.0.4 (2015-05-20)
- Add hand_safety_box to the game!
- Disable more collisions between hand links
- Contributors: Bence Magyar
0.0.3 (2015-04-14)
- Fix gripper parts
- Add torso controller
- Separate configuration files for titanium and steel, launch files parametrized
- Contributors: Bence Magyar
0.0.2 (2015-01-20)
- Remove tiago_description dependency
- Contributors: Bence Magyar
0.0.1 (2015-01-20)
- Added configuration with arm controllers
- Initial version of tiago_moveit_config (no hand)
- Contributors: Sammy Pfeiffer
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | ament_cmake | |
| 1 | launch_pal | |
| 3 | moveit_ros_move_group | |
| 3 | moveit_fake_controller_manager | |
| 2 | moveit_kinematics | |
| 3 | moveit_planners_ompl | |
| 3 | moveit_ros_visualization | |
| 1 | tiago_description |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/ros1_launch_files/move_group.launch
-
- arm [default: True]
- end_effector [default: pal-hey5]
- ft_sensor [default: schunk-ft]
- laser_model [default: sick-571]
- camera_model [default: orbbec-astra]
- camera [default: false]
- 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: ]
- launch/ros1_launch_files/run_benchmark_ompl.launch
-
- arm [default: True]
- end_effector [default: pal-hey5]
- ft_sensor [default: schunk-ft]
- laser_model [default: sick-571]
- camera_model [default: orbbec-astra]
- cfg
- launch/ros1_launch_files/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/ros1_launch_files/moveit_planning_execution.launch
- launch/ros1_launch_files/warehouse.launch
-
- moveit_warehouse_database_path
- launch/ros1_launch_files/demo_tiago.launch
-
- debug [default: false]
- launch/ros1_launch_files/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- arm [default: True]
- end_effector [default: pal-hey5]
- ft_sensor [default: schunk-ft]
- laser_model [default: sick-571]
- camera_model [default: orbbec-astra]
- multi [default: ]
- launch/ros1_launch_files/demo.launch
-
- arm [default: True]
- end_effector [default: pal-hey5]
- ft_sensor [default: schunk-ft]
- laser_model [default: sick-571]
- camera_model [default: orbbec-astra]
- db [default: false]
- debug [default: false]
- launch/ros1_launch_files/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- launch/ros1_launch_files/default_warehouse_db.launch
-
- reset [default: false]
- launch/ros1_launch_files/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/ros1_launch_files/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/ros1_launch_files/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: tiago]
- launch/ros1_launch_files/fake_moveit_controller_manager.launch.xml
-
- robot_sufix [default: ]
- launch/ros1_launch_files/tiago_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- controller_manager_name [default: controller_manager]
- use_controller_manager [default: true]
- robot_sufix [default: ]
- launch/ros1_launch_files/ompl_planning_pipeline.launch.xml
- launch/ros1_launch_files/tiago_moveit_sensor_manager.launch.xml
- launch/ros1_launch_files/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: tiago]
- robot_sufix [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tiago_moveit_config at answers.ros.org
No version for distro rolling. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
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|
|
tiago_moveit_config package from tiago_moveit_config repotiago_moveit_config |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.15 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pal-robotics/tiago_moveit_config.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2018-06-12 |
| 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
An automatically generated package with all the configuration and launch files for using the tiago with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- TIAGo PAL support team
Authors
- MoveIt Setup Assistant
tiago_moveit_config
For more information please refer to http://wiki.ros.org/Robots/TIAGo
For technical questions please write to tiago-support@pal-robotics.com
CHANGELOG
Changelog for package tiago_moveit_config
0.0.15 (2016-07-08)
- Merge branch \'add-titanium-collisions-with-ft\' into \'cobalt-devel\' add missing potential collisions with ft sensor frames See merge request !5
- add collisions with ft sensor
- Merge branch \'tiago_configs\' into \'cobalt-devel\' Added the 4 possible configurations of tiago_moveit_config See merge request !4
- Added the 4 possible configurations of tiago_moveit_config
- Contributors: Jordi Pages, Sam Pfeiffer, Victor Lopez
0.0.14 (2016-06-13)
- Added necessary dependence to run moveit with a simulated or real robot
- Add disable collisions for force torque sensor
- Contributors: Sam Pfeiffer
0.0.13 (2016-06-01)
- Added controllers for hand and gripper
- Contributors: Sam Pfeiffer
0.0.12 (2016-04-04)
- Increase max speed of torso
- Contributors: Sam Pfeiffer
0.0.11 (2016-04-04)
- Missing hand_palm_link in collision disables
- Contributors: Sam Pfeiffer
0.0.10 (2016-04-04)
- Add disables in between hand finger links Without this, the robot will refuse to plan with closed hand
- Contributors: Sam Pfeiffer
0.0.9 (2016-03-31)
- Add disable collisions Using the generator. From: 1300 / 2145 pairs disabled in tiago_titanium (845 enabled) To: 2268 / 3096 pairs disabled in tiago_titanium (828 enabled)
- Add disable collisions Generated using https://gist.github.com/awesomebytes/18fe75b808c4c644bd3d a script that runs the urdf tree for adjacent links and checks for links without collision mesh to also disable the collision computation between them. From: (Generating matrix with max sampling density) 329 / 465 pairs disabled in tiago_steel (136 enabled) To: 754 / 873 pairs disabled in tiago_steel (119 enabled)
- Contributors: Sam Pfeiffer
0.0.8 (2016-03-18)
- Added impossible collision disabling between torso_fixed_column_link and arm_2_link
- Contributors: Sam Pfeiffer
0.0.7 (2016-03-18)
- Passing change to titanium too about torso_fixed_column_link collision with arm1 disabling
- Added another currently happening collision exception between torso_fixed_column_link and arm_1_link
- Contributors: Sam Pfeiffer
0.0.6 (2016-03-18)
- Add hand passive joints as passive
- added clear octomap and removed exceptions on collisions of arm wit hhead
- Contributors: Sam Pfeiffer
0.0.5 (2016-03-10)
- Refs #11489. Discard collisions between torsolinks
- Fix collisions with column
- Remove elements of prototype mobilebase
- Disable collision hand safety box <-> wrist mesh
- Add arm group + disable more internal hand collisions
- Contributors: Bence Magyar, jordi.pages@pal-robotics.com
0.0.4 (2015-05-20)
- Add hand_safety_box to the game!
- Disable more collisions between hand links
- Contributors: Bence Magyar
0.0.3 (2015-04-14)
- Fix gripper parts
- Add torso controller
- Separate configuration files for titanium and steel, launch files parametrized
- Contributors: Bence Magyar
0.0.2 (2015-01-20)
- Remove tiago_description dependency
- Contributors: Bence Magyar
0.0.1 (2015-01-20)
- Added configuration with arm controllers
- Initial version of tiago_moveit_config (no hand)
- Contributors: Sammy Pfeiffer
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | catkin | |
| 3 | moveit_ros_move_group | |
| 3 | moveit_planners_ompl | |
| 3 | moveit_ros_visualization | |
| 3 | moveit_simple_controller_manager | |
| 2 | joint_state_publisher | |
| 2 | robot_state_publisher | |
| 1 | xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/move_group.launch
-
- robot [default: titanium]
- camera [default: false]
- 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]
- robot_sufix [default: ]
- launch/run_benchmark_ompl.launch
-
- robot [default: titanium]
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/moveit_planning_execution.launch
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/demo_tiago.launch
-
- debug [default: false]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- robot [default: titanium]
- launch/demo.launch
-
- robot [default: titanium]
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: tiago]
- launch/fake_moveit_controller_manager.launch.xml
-
- robot_sufix [default: ]
- launch/tiago_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- controller_manager_name [default: controller_manager]
- use_controller_manager [default: true]
- robot_sufix [default: ]
- launch/ompl_planning_pipeline.launch.xml
- launch/tiago_moveit_sensor_manager.launch.xml
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: tiago]
- robot_sufix [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tiago_moveit_config at answers.ros.org
|
|
tiago_moveit_config package from tiago_moveit_config repotiago_moveit_config |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.22 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pal-robotics/tiago_moveit_config.git |
| VCS Type | git |
| VCS Version | hydro-devel |
| Last Updated | 2018-07-30 |
| 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
An automatically generated package with all the configuration and launch files for using the tiago with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- TIAGo PAL support team
Authors
- MoveIt Setup Assistant
README
No README found.
No README in repository either.
CHANGELOG
Changelog for package tiago_moveit_config
0.0.22 (2018-07-30)
- Merge branch \'fix-simulation-warnings\' into \'cobalt-devel\' fix deprecated namespace See merge request robots/tiago_moveit_config!15
- fix deprecated namespace
- fix demo mode by adding missing argument You hacked multi-robot support into a generated moveit configuration but didn\'t test \"roslaunch tiago_moveit_config demo.launch\". I agree that gazebo support is better than the demo mode, but it can be very useful to test MoveIt-based code without controlling.
- Contributors: Jordi Pages, Victor Lopez, v4hn
0.0.21 (2018-03-28)
- Merge branch \'disable-sonar-collision\' into \'cobalt-devel\' Disable sonar collision with base_link See merge request robots/tiago_moveit_config!14
- Disable sonar collision with base_link
- Contributors: Victor Lopez, davidfernandez
0.0.20 (2018-03-26)
- Merge branch \'recover-chessboard-tiago\' into \'cobalt-devel\' Disable collision between arm 7 and chessboard See merge request robots/tiago_moveit_config!13
- Disable collision between arm 7 and chessboard
- Contributors: Jordi Pages, Victor Lopez
0.0.19 (2018-01-24)
- add config files for schunk and some renamings
- Contributors: Jordi Pages
0.0.18 (2017-11-03)
- Change the topic and the max_range for the octomap parameters
- Contributors: AleDF, Jordi Pages
0.0.17 (2017-05-16)
- Merge branch \'octomap_track_ik\' into \'cobalt-devel\' merge_problems_with david See merge request !11
- merge_problems_with david
- Merge branch \'iron-configuration\' into \'cobalt-devel\' Add configuration for Tiago Iron See merge request !10
- Merge branch \'octomap_track_ik\' into \'cobalt-devel\' octomap & track ik solver for MoveIt! See merge request !9
- Add configuration for Tiago Iron
- octomap & track ik solver for MoveIt!
- Contributors: AleDF, Jordi Pages, davidfernandez
0.0.16 (2016-10-21)
- fix maintainer
- add argument for steel and titanium versions
- add missing xml formatting
- add specific controllers for steel and titanium
- disable collision arm_5_link-gripper_link
- disable collision arm_6_link-wrist_ft_link
- add missing joints
- use soft links for steel and titanium srdf files
- disable collisions arm_5_link-gripper_link
- Contributors: Jordi Pages
0.0.15 (2016-07-08)
- Merge branch \'add-titanium-collisions-with-ft\' into \'cobalt-devel\' add missing potential collisions with ft sensor frames See merge request !5
- add collisions with ft sensor
- Merge branch \'tiago_configs\' into \'cobalt-devel\' Added the 4 possible configurations of tiago_moveit_config See merge request !4
- Added the 4 possible configurations of tiago_moveit_config
- Contributors: Jordi Pages, Sam Pfeiffer, Victor Lopez
0.0.14 (2016-06-13)
- Added necessary dependence to run moveit with a simulated or real robot
- Add disable collisions for force torque sensor
- Contributors: Sam Pfeiffer
0.0.13 (2016-06-01)
- Added controllers for hand and gripper
- Contributors: Sam Pfeiffer
0.0.12 (2016-04-04)
- Increase max speed of torso
- Contributors: Sam Pfeiffer
0.0.11 (2016-04-04)
- Missing hand_palm_link in collision disables
- Contributors: Sam Pfeiffer
0.0.10 (2016-04-04)
- Add disables in between hand finger links Without this, the robot will refuse to plan with closed hand
- Contributors: Sam Pfeiffer
0.0.9 (2016-03-31)
- Add disable collisions Using the generator. From: 1300 / 2145 pairs disabled in tiago_titanium (845 enabled) To: 2268 / 3096 pairs disabled in tiago_titanium (828 enabled)
- Add disable collisions Generated using https://gist.github.com/awesomebytes/18fe75b808c4c644bd3d a script that runs the urdf tree for adjacent links and checks for links without collision mesh to also disable the collision computation between them. From: (Generating matrix with max sampling density) 329 / 465 pairs disabled in tiago_steel (136 enabled) To: 754 / 873 pairs disabled in tiago_steel (119 enabled)
- Contributors: Sam Pfeiffer
0.0.8 (2016-03-18)
- Added impossible collision disabling between torso_fixed_column_link and arm_2_link
- Contributors: Sam Pfeiffer
0.0.7 (2016-03-18)
- Passing change to titanium too about torso_fixed_column_link collision with arm1 disabling
- Added another currently happening collision exception between torso_fixed_column_link and arm_1_link
- Contributors: Sam Pfeiffer
0.0.6 (2016-03-18)
- Add hand passive joints as passive
- added clear octomap and removed exceptions on collisions of arm wit hhead
- Contributors: Sam Pfeiffer
0.0.5 (2016-03-10)
- Refs #11489. Discard collisions between torsolinks
- Fix collisions with column
- Remove elements of prototype mobilebase
- Disable collision hand safety box <-> wrist mesh
- Add arm group + disable more internal hand collisions
- Contributors: Bence Magyar, jordi.pages@pal-robotics.com
0.0.4 (2015-05-20)
- Add hand_safety_box to the game!
- Disable more collisions between hand links
- Contributors: Bence Magyar
0.0.3 (2015-04-14)
- Fix gripper parts
- Add torso controller
- Separate configuration files for titanium and steel, launch files parametrized
- Contributors: Bence Magyar
0.0.2 (2015-01-20)
- Remove tiago_description dependency
- Contributors: Bence Magyar
0.0.1 (2015-01-20)
- Added configuration with arm controllers
- Initial version of tiago_moveit_config (no hand)
- Contributors: Sammy Pfeiffer
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | catkin | |
| 3 | moveit_ros_move_group | |
| 3 | moveit_planners_ompl | |
| 3 | moveit_ros_visualization | |
| 3 | moveit_simple_controller_manager | |
| 2 | joint_state_publisher | |
| 2 | robot_state_publisher | |
| 1 | xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/move_group.launch
-
- robot [default: titanium]
- camera [default: false]
- 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]
- robot_sufix [default: ]
- launch/run_benchmark_ompl.launch
-
- robot [default: titanium]
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/moveit_planning_execution.launch
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/demo_tiago.launch
-
- debug [default: false]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- robot [default: titanium]
- launch/demo.launch
-
- robot [default: titanium]
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: tiago]
- launch/fake_moveit_controller_manager.launch.xml
-
- robot_sufix [default: ]
- launch/tiago_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- controller_manager_name [default: controller_manager]
- use_controller_manager [default: true]
- robot_sufix [default: ]
- launch/ompl_planning_pipeline.launch.xml
- launch/tiago_moveit_sensor_manager.launch.xml
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: tiago]
- robot_sufix [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tiago_moveit_config at answers.ros.org
|
|
tiago_moveit_config package from tiago_moveit_config repotiago_moveit_config |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.2.4 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/pal-robotics/tiago_moveit_config.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2022-12-13 |
| 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
An automatically generated package with all the configuration and launch files for using the tiago with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- TIAGo PAL support team
Authors
- MoveIt Setup Assistant
TIAGo MoveIt! Config
This package contains the MoveIt! config files for all possible TIAGo configurations (end effectors, force torque sensors..).
To make maintenance easier, there are templates of the files that differ between configurations. To understand how this template works please read https://github.com/pal-robotics/tiago_robot/ readme.
Updating or adding support for an end effector
Prequisites: pal_moveit_config_generator
There is one *.srdf.xacro file in config/srdf/end_effectors for each supported end effector.
These files have to provide 2 xacro elements:
* property end_effector_name: eg. gripper or hand, will be passed as a prefix for all groups and links of that end effector
* macro define_end_effector (arm, name): to inject end effector-specific SRDF elements like group, end_effector, and passive_joint. Special care needs to be taken to rename all dependent names with ${name} (prefix of the end effector, derived from end_effector_name) or ${arm} (name of the corresponding arm, used for end_effector)
Afterwards the SRDF files need to be regenerated (takes ~10 minutes):
./config/srdf/scripts/update.sh
The changes have to be reviewed and added/committed carefully.
Running the setup assistant
If you need to modify the setup assistant, you'll need to:
- Provide arguments to the xacro file to get the variant of TIAGo that you need. For MoveIt! the parameters may need to modify are
arm,end_effector,base_typeandft_sensor. - Create (or softlnk) a SRDF file at
config/tiago.srdfif you want to load existing moveit configuration. The SRDF files used are inconfig/srdf, and only changes in that directory will not reflect on the robot.
Make sure that after running to reflect the changes in the auto generated files.
CHANGELOG
Changelog for package tiago_moveit_config
1.2.4 (2022-12-13)
- Merge branch \'extra-moveit-capabilities\' into \'erbium-devel\' Extra moveit capabilities See merge request robots/tiago_moveit_config!47
- Add arguments for advanced grasping
- Add sensor manager param
- Add dependency on pal_moveit_plugins
- set capability default back to empty
- Add capability loader plugin
- Add extra capabilities
- If no arm don\'t load padding of arm
- Add link padding to arm-link-5
- Contributors: David ter Kuile, saikishor
1.2.3 (2022-08-01)
- Merge branch \'gallium-fix\' into \'erbium-devel\' Add default_velocity_scaling_factor to avoid slow movements See merge request robots/tiago_moveit_config!32
- Add default_velocity_scaling_factor to avoid slow movements
- Contributors: David ter Kuile, Jordan Palacios
1.2.2 (2022-07-19)
- Merge branch \'mlu/fix/move-scripts-out\' into \'erbium-devel\' Use pal_moveit_config_generator See merge request robots/tiago_moveit_config!36
- Show warning if pal_moveit_config_generator is missing
- Clean-up installed files
- Use pal_moveit_config_generator
- Contributors: Mathias L
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | catkin | |
| 3 | moveit_ros_move_group | |
| 0 | pal_moveit_capabilities | |
| 0 | pal_moveit_plugins | |
| 3 | moveit_planners_ompl | |
| 3 | moveit_ros_visualization | |
| 3 | moveit_simple_controller_manager | |
| 2 | joint_state_publisher | |
| 2 | robot_state_publisher | |
| 1 | xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/move_group.launch
-
- load_robot_description [default: false]
- arm [default: True]
- end_effector [default: pal-hey5]
- ft_sensor [default: schunk-ft]
- laser_model [default: sick-571]
- camera_model [default: orbbec-astra]
- camera [default: false]
- base_type [default: pmb2]
- moveit_sensor_manager [default: tiago]
- 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: ]
- launch/run_benchmark_ompl.launch
-
- arm [default: True]
- end_effector [default: pal-hey5]
- ft_sensor [default: schunk-ft]
- laser_model [default: sick-571]
- camera_model [default: orbbec-astra]
- base_type [default: pmb2]
- cfg
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/moveit_planning_execution.launch
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/demo_tiago.launch
-
- debug [default: false]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- arm [default: True]
- end_effector [default: pal-hey5]
- ft_sensor [default: schunk-ft]
- laser_model [default: sick-571]
- camera_model [default: orbbec-astra]
- base_type [default: pmb2]
- multi [default: ]
- launch/demo.launch
-
- arm [default: True]
- end_effector [default: pal-hey5]
- ft_sensor [default: schunk-ft]
- laser_model [default: sick-571]
- camera_model [default: orbbec-astra]
- base_type [default: pmb2]
- db [default: false]
- debug [default: false]
- launch/moveit_rviz.launch
-
- debug [default: false]
- config [default: false]
- launch/default_warehouse_db.launch
-
- reset [default: false]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/advanced_grasping_moveit_sensor_manager.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/sensor_manager.launch.xml
-
- moveit_sensor_manager [default: tiago]
- launch/fake_moveit_controller_manager.launch.xml
-
- robot_sufix [default: ]
- launch/tiago_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- controller_manager_name [default: controller_manager]
- use_controller_manager [default: true]
- robot_sufix [default: ]
- launch/ompl_planning_pipeline.launch.xml
- launch/tiago_moveit_sensor_manager.launch.xml
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: tiago]
- robot_sufix [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.