tiago_moveit_config repository

Repository Summary

Checkout URI https://github.com/pal-robotics/tiago_moveit_config.git
VCS Type git
VCS Version humble-devel
Last Updated 2024-03-12
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)

Packages

Name Version
tiago_moveit_config 3.0.12

README

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:

  1. 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 and ft_sensor.
  2. Create (or softlnk) a SRDF file at config/tiago.srdf if you want to load existing moveit configuration. The SRDF files used are in config/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.

CONTRIBUTING

Contributing Guidelines

Thank you for your interest in contributing to this project Whether it's a bug report, new feature, correction, or additional documentation, we greatly value feedback and contributions from our community.

Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.

Reporting Bugs/Feature Requests

We welcome you to use the GitHub issue tracker to report bugs or suggest features.

When filing an issue, please check existing open issues, or recently closed, issues to make sure somebody else hasn't already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:

  • A reproducible test case or series of steps
  • The version of our code being used
  • Any modifications you've made relevant to the bug
  • Anything unusual about your environment or deployment

Contributing via Pull Requests

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

  1. You are working against the latest source on the humble-devel branch.
  2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already.
  3. You open an issue to discuss any significant work - we would hate for your time to be wasted.

To send us a pull request, please:

  1. Fork the repository.
  2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
  3. Ensure local tests pass. (colcon test)
  4. Commit to your fork using clear commit messages.
  5. Send a pull request, answering any default questions in the pull request interface.
  6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

GitHub provides additional documentation on forking a repository and creating a pull request.

Licensing

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.