From 24099429611b3651654b31410d09e30af56f07f7 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 15 Apr 2022 20:15:19 +0900 Subject: [PATCH 01/63] add pkg config files --- doc/multiple_robot_arms/CMakeLists.txt | 202 +++++++++++++++++++++++++ doc/multiple_robot_arms/package.xml | 59 ++++++++ 2 files changed, 261 insertions(+) create mode 100644 doc/multiple_robot_arms/CMakeLists.txt create mode 100644 doc/multiple_robot_arms/package.xml diff --git a/doc/multiple_robot_arms/CMakeLists.txt b/doc/multiple_robot_arms/CMakeLists.txt new file mode 100644 index 000000000..0d00805fd --- /dev/null +++ b/doc/multiple_robot_arms/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(multiple_robot_arms) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES multiple_robot_arms +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/multiple_robot_arms.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/multiple_robot_arms_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_multiple_robot_arms.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/doc/multiple_robot_arms/package.xml b/doc/multiple_robot_arms/package.xml new file mode 100644 index 000000000..a18b91c5c --- /dev/null +++ b/doc/multiple_robot_arms/package.xml @@ -0,0 +1,59 @@ + + + multiple_robot_arms + 0.0.0 + The multiple_robot_arms package + + + + + mohamed + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + From 9786ff6230d50934a1e1da23d0af80afaf453a6a Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 15 Apr 2022 20:19:56 +0900 Subject: [PATCH 02/63] include multiple arms tutorial --- index.rst | 1 + 1 file changed, 1 insertion(+) diff --git a/index.rst b/index.rst index f10a6cbc1..f71272541 100644 --- a/index.rst +++ b/index.rst @@ -68,6 +68,7 @@ Before attempting to integrate a new robot with MoveIt, check whether your robot doc/ikfast/ikfast_tutorial doc/trac_ik/trac_ik_tutorial doc/opw_kinematics/opw_kinematics_tutorial + doc/multiple_robot_arms/multiple_robot_arms_tutorial Configuration ------------- From 4b3b1bf813b4cbc5ff5d2a702f7a82349d7b627d Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 15 Apr 2022 20:20:23 +0900 Subject: [PATCH 03/63] add multiple arms tutorial images --- .../images/move_groups_poses.png | Bin 0 -> 110952 bytes .../images/multiple_arms_start.png | Bin 0 -> 87533 bytes .../images/panda_arm_collision1-2.png | Bin 0 -> 107932 bytes .../images/panda_arm_visual1-2.png | Bin 0 -> 125806 bytes .../images/rviz_fixed_frame.png | Bin 0 -> 21130 bytes doc/multiple_robot_arms/images/rviz_start.png | Bin 0 -> 81891 bytes 6 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 doc/multiple_robot_arms/images/move_groups_poses.png create mode 100644 doc/multiple_robot_arms/images/multiple_arms_start.png create mode 100644 doc/multiple_robot_arms/images/panda_arm_collision1-2.png create mode 100644 doc/multiple_robot_arms/images/panda_arm_visual1-2.png create mode 100644 doc/multiple_robot_arms/images/rviz_fixed_frame.png create mode 100644 doc/multiple_robot_arms/images/rviz_start.png diff --git a/doc/multiple_robot_arms/images/move_groups_poses.png b/doc/multiple_robot_arms/images/move_groups_poses.png new file mode 100644 index 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z-vF{!s4?{K`32GY=O89~^0??0H4O5j7Yn_dv7ZR(VIpHX(RNI9fpZhD958{#`UuHu z$CZZGTsrkx__KTFVh$yv%HhS7gQ6cT=XNs`?5%WB=emKS#FnU*F)>nNQKckbM~Wy{ ztG-m*$AXB~t)@?dp+%p1ID`h*))g3RD%Fvb_w8fG##yx}%4H9jpJ{rZ4L;?Wn z^K>|6;+SDkOjn{A1mOHgD-LDUz5RIJN1sm{+vgn%Sw^F#0C93eN(5yL7f1jAYe6XO z Date: Fri, 15 Apr 2022 20:21:24 +0900 Subject: [PATCH 04/63] include required steps for multiple arms tutorial --- .../multiple_robot_arms_tutorial.rst | 379 ++++++++++++++++++ 1 file changed, 379 insertions(+) create mode 100644 doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst new file mode 100644 index 000000000..71712d38a --- /dev/null +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -0,0 +1,379 @@ +Introduction +------------ +MoveIt provides capabilities of simulating and controlling multiple robot arms. This tutorial provides ROS beginners with the steps to model, control, and plan motions using MoveIt for their multiple robot arms without additional help. + +.. image:: images/multiple_arms_start.png + :width: 500pt + :align: center + +Requirement: can read the tutorial and set up a ros2_control / MoveIt pipeline +------------------------------------------------------------------------------ + +Getting Started +--------------- +If you haven't already done so, make sure you've completed the steps in `Getting Started <../getting_started/getting_started.html>`_. + + +The steps of setting multiple arms environments are as follows: + +1. Build the Xacro/URDF model of the muktiple arms. + +2. Prepare MoveIt config package using MoveIt setup assistant. + +3. Write the ros_control configuration for the multiple arms. + +4. Integrate the simulation in Gazebo with Rviz motion planning plugin/visualization. + +5. Plan arms motions with MoveIt Cpp interface. + +This tutorial explain every step in detail to help setup your multiple robot arms environment. + +Step 1: Build the Xacro/URDF model of the muktiple arms +------------------------------------------------------- + +The tutorial uses Panda robot arm, but the same method applies to other types of robot arms. + +Assuming that you have aleady downloaded the Panda MoveIt config package, to check the model you have, run the command: :: + + roslaunch panda_moveit_config demo.launch + +When using your robot arm, you do not need to build a single arm MoveIt config packages if you plan to use multiple arms. In this case, an alternative command to check your robot links and joints visually is: :: + + roslaunch urdf_tutorials display.launch model:=robot_arm.urdf + +If you have the xacro model, not the URDF, you can convert Xacro to URDF as follows then use the above command: :: + + rosrun xacro xacro.launch robot_file.xacro -o desired_urdf_name.urdf + + +The command takes the xacro file, and produces the urdf model with the `-o` option. + +To start building your multiple arms model, create a new package as follows: :: + + cd ~/ws_moveit + catkin create pkg panda_multiple_arms + cd panda_multiple_arms + mkdir robot_description + touch panda_multiple_arms.xacro + +To build your multiple robot arms robot description xacro file, you need to have each single arm's description file. In the following part, we will build a dual arm panda robot description file. + +It is worth mentioning that the difference between xacro and URDF is that TODO1. This property makes it easier to include multiple robot arms models in the same file, with a different prefix. + +The structure of your dual panda robot arm should be as follows: :: + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +Notes: + +1. The ``franka_description`` package is already installed as a dependency of the ``panda_moveit_config`` package. When modeling your robot, make sure the robot_descriptionb package is available in your ROS workspace. + +2. You need to have a careful look at your arm's xacro file to understand the xacro parameters to use. Here is an example from the ``panda_arm.xacro`` in the ``franka_description`` package: :: + + + +We can see the parameters and that some of them got default values and others did not. Search those parameters in the same file to understand the function of each. The ``arm_id`` sets a prefix name to the arm to be enable reusing the same model with different names. This is essential for our purpose of modeling multiple robots, and makes our job really simple. We can insert different arms with altering only the arm_id that changes the robot name. The ``connected_to`` parameter gives possibility to connect the robot base with a fixed joint to a given link. In our dual arm model, each robot is connected to the box shaped base. + +At this point, it is recommended to check our xacro file is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and if needed you can visualize it. RUn the following commands to check the URDF has no problems. :: + + cd ~ws_moveit + catkin build + source devel/setup.bash + roscd dual_panda_arms/robot_description + rosrun xacro xacro panda_multiple_arms.xacro -o panda_multiple_arms.urdf + check_urdf panda_multiple_arms.urdf + + +The ``check_urdf`` command shows the links tree and indicats if there are any errors: :: + + robot name is: dual_panda_arms + ---------- Successfully Parsed XML --------------- + root Link: base has 2 child(ren) + child(1): lft_panda_link0 + child(1): lft_panda_link1 + child(1): lft_panda_link2 + child(1): lft_panda_link3 + child(1): lft_panda_link4 + child(1): lft_panda_link5 + child(1): lft_panda_link6 + child(1): lft_panda_link7 + child(1): lft_panda_link8 + child(1): lft_panda_hand + child(1): lft_panda_leftfinger + child(2): lft_panda_rightfinger + child(3): lft_panda_hand_tcp + child(2): rgt_panda_link0 + child(1): rgt_panda_link1 + child(1): rgt_panda_link2 + child(1): rgt_panda_link3 + child(1): rgt_panda_link4 + child(1): rgt_panda_link5 + child(1): rgt_panda_link6 + child(1): rgt_panda_link7 + child(1): rgt_panda_link8 + child(1): rgt_panda_hand + child(1): rgt_panda_leftfinger + child(2): rgt_panda_rightfinger + child(3): rgt_panda_hand_tcp + +To visually check your multiple robot model, run the command: :: + + roslaunch urdf_tutorial display.launch model:=panda_multiple_arms.urdf + +Once Rviz GUI starts, set the fixed frame on the upper left corner to be ``base``. + +.. image:: images/rviz_fixed_frame.png + :width: 300pt + :align: center + +If the model is correctly prepared, it should show up as follows. + +.. image:: images/rviz_start.png + :width: 500pt + :align: center + + +This concludes the step of building the model and verifying it. + +Step 2: Prepare MoveIt config package using MoveIt Setup Assistant +------------------------------------------------------------------- + +If you are not familiar with MoveIt Setup Assistant, please refer to this tutorial_. + +.. _tutorial: https://ros-planning.github.io/moveit_tutorials/doc/setup_assistant/setup_assistant_tutorial.html + +We use the MoveIt Setup Assistant to configure our multiple robot arms for use with MoveIt. It generates necessary configuration files for using the Moveit pipeline. + +- Start the MoveIt Setup Assistant: :: + + roslaunch moveit_setup_assistant setup_assistant.launch + +Follow the MoveIt Setup Assistant tutorial_ to condifure the arms. Note that we will be making a separate move group for each arm. For our example, we wil call them ``rgt_arm`` and ``lft_arm``. + +.. _tutorial: https://ros-planning.github.io/moveit_tutorials/doc/setup_assistant/setup_assistant_tutorial.html + + +I will clarify two more steps over the previous tutorial to ensure your model is complete. + +When you generate the collision matrix, diable the collision between the pairs ``rgt_panda_link6`` & ``rgt_panda_link8``, and ``lft_panda_link6`` & ``lft_panda_link8``. The reason is that those pairs do not come into collision, but due to the collision geometry type, they come into collision. Have a look at the following figures for clear description. + +The visual meshes descriping the real robot do not collide. + +.. image:: images/panda_arm_visual1-2.png + :width: 500pt + :align: center + + +But the collision sphere geometries do come into collision. However, this shold be corrected considering the real robot. + +.. image:: images/panda_arm_collision1-2.png + :width: 500pt + :align: center + + +It is beyond the scope of this tutorial, but it is worth mentioning this is not the best representation of collision for panda_link8. I would suggest covering this hand link with a box type geometry, not a sphere. + + +The second point I want to add is about defining the ``rgt_hand`` and ``lft_hand`` move grous and their poses. The ``open`` state has the joint1 value set to 0.35, and the ``close`` has the joint1 set to 0.0. Note that the hand joint2 mimics the value of joint1, therefor there is no need to fix it in the hand move_group pose. The defined poses can be as follows. You can add more zero poses for the arms, if you want. + +.. image:: images/move_groups_poses.png + :width: 500pt + :align: center + +Name the package ``panda_multiple_arms_moveit_config`` and generate its files using the Setup Assistant. We have the multiple arms and their hands moveit configuration packages ready. + +Step 3: Write the ros_control configuration for the multiple arms +----------------------------------------------------------------- + +In this step, we will write ros_control configuration files and launch files to spawn those controllers. This step is very connected to the next step. + +The type of controller we need to interface Moveit with Gazebo simulated robot is ``Joint Trajectory Controller``. To write the controller configuration :: + + cd ~/ws_moveit + cd src/panda_multiple_arms + mkdir config + touch trajectory_controller.yaml + + +Open the ``trajectory_controller.yaml`` and copy the next multiple_arms controllers configuration to it :: + + multiple_arms: + rgt_panda_trajectory_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - rgt_panda_joint_1 + - rgt_panda_joint_2 + - rgt_panda_joint_3 + - rgt_panda_joint_4 + - rgt_panda_joint_5 + - rgt_panda_joint_6 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + rgt_panda_joint_1: {trajectory: 0.1, goal: 0.1} + rgt_panda_joint_2: {trajectory: 0.1, goal: 0.1} + rgt_panda_joint_3: {trajectory: 0.1, goal: 0.1} + rgt_panda_joint_4: {trajectory: 0.1, goal: 0.1} + rgt_panda_joint_5: {trajectory: 0.1, goal: 0.1} + rgt_panda_joint_6: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 + + lft_panda_trajectory_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - lft_panda_joint_1 + - lft_panda_joint_2 + - lft_panda_joint_3 + - lft_panda_joint_4 + - lft_panda_joint_5 + - lft_panda_joint_6 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + lft_panda_joint_1: {trajectory: 0.1, goal: 0.1} + lft_panda_joint_2: {trajectory: 0.1, goal: 0.1} + lft_panda_joint_3: {trajectory: 0.1, goal: 0.1} + lft_panda_joint_4: {trajectory: 0.1, goal: 0.1} + lft_panda_joint_5: {trajectory: 0.1, goal: 0.1} + lft_panda_joint_6: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 + +Create a launch file to load the previous controller configurations. Let the names be descriptive such as ``multiple_panda_arms_trajectory_controller.launch`` :: + + cd ~/ws_moveit + cd src/panda_multiple_arms + mkdir launch + touch multiple_panda_arms_trajectory_controller.launch + +Edit ``the multiple_panda_arms_trajectory_controller.launch`` and add the following to it :: + + + + + + + + + +Please be careful with the namespace (ns) and the controllers names when doing this step. The names must match the names in the trajectory_controller.yaml file. + +Next, we should modify the auto-generated ros_controllers.yaml in the path ``panda_multiple_arms_moveit_config/config/ros_controllers.yaml``. The file contents should be as follows :: + + controller_manager_ns: controller_manager + controller_list: + - name: multiple_arms/rgt_panda_trajectory_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - rgt_panda_joint_1 + - rgt_panda_joint_2 + - rgt_panda_joint_3 + - rgt_panda_joint_4 + - rgt_panda_joint_5 + - rgt_panda_joint_6 + + - name: multiple_arms/lft_panda_trajectory_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - lft_panda_joint_1 + - lft_panda_joint_2 + - lft_panda_joint_3 + - lft_panda_joint_4 + - lft_panda_joint_5 + - lft_panda_joint_6 + +Notice that the controller names correspond to the names in the previous ``trajectory_controller.yaml`` file. +For example, the ``multiple_arms`` is the namespace, and the ``rgt_panda_trajectory_controller`` is the controller name. + +In the same moveit config package, create two files ``panda_multiple_arms_moveit_controller_manager.launch.xml`` and ``moveit_planning_execution.launch``. +Make the first file load the ``ros_controllers.yaml`` as follows :: + + + + + + + + + + + +The second file should start the planning, execution, and visualization components of MoveIt as follows:: + + + + + + + + + + + + + +Step 4: Integrate the simulation in Gazebo with Moveit motion planning +---------------------------------------------------------------------- + +The controllers are now ready. We need to launch all the required files to start a simulated robot with the controllers and motion planning context. + + + +``` +Tutorial for multiple robot arms +While there are some ROS Answers posts and examples floating around, there is no definitive resource on how to set up multiple manipulators with MoveIt (and especially MoveIt2). The goal of this project is to write a tutorial that should become the reference. +Expected outcome: A ROS beginner can read the tutorial and set up a ros2_control / MoveIt pipeline without additional help. +Project size: medium (175 hours) +Difficulty: easy +Preferred skills: Technical Writing, ROS, MoveIt, Python, and YAML +Mentor: Andy Zelenak +``` \ No newline at end of file From 1dd4d464db11b20e83f9c1be99ad7e6fe26c6199 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Sat, 16 Apr 2022 04:25:19 +0900 Subject: [PATCH 05/63] update step one explanation --- .../multiple_robot_arms_tutorial.rst | 99 +++++++++++-------- 1 file changed, 56 insertions(+), 43 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 71712d38a..82680df09 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -1,54 +1,36 @@ Introduction ------------ -MoveIt provides capabilities of simulating and controlling multiple robot arms. This tutorial provides ROS beginners with the steps to model, control, and plan motions using MoveIt for their multiple robot arms without additional help. +In MoveIt, we can plan motions for multiple robot arms, but we need to pre-required steps to prepare robot models and configure ros controllers. This tutorial provides ROS beginners with the steps to model multiple arms, configure controllers, and plan motions using MoveIt. .. image:: images/multiple_arms_start.png - :width: 500pt + :width: 300pt :align: center -Requirement: can read the tutorial and set up a ros2_control / MoveIt pipeline ------------------------------------------------------------------------------- - Getting Started --------------- If you haven't already done so, make sure you've completed the steps in `Getting Started <../getting_started/getting_started.html>`_. -The steps of setting multiple arms environments are as follows: +The steps of setting multiple arms environments to use MoveIt motion planning are as follows: -1. Build the Xacro/URDF model of the muktiple arms. +1. Build the Xacro/URDF model of the multiple arms. -2. Prepare MoveIt config package using MoveIt setup assistant. +2. Prepare the MoveIt config package using MoveIt setup Assistant. 3. Write the ros_control configuration for the multiple arms. -4. Integrate the simulation in Gazebo with Rviz motion planning plugin/visualization. - -5. Plan arms motions with MoveIt Cpp interface. - -This tutorial explain every step in detail to help setup your multiple robot arms environment. - -Step 1: Build the Xacro/URDF model of the muktiple arms -------------------------------------------------------- +4. Integrate the simulation in Gazebo with MoveIt motion planning. -The tutorial uses Panda robot arm, but the same method applies to other types of robot arms. +5. Plan arms motions with MoveIt Move Group Interface. -Assuming that you have aleady downloaded the Panda MoveIt config package, to check the model you have, run the command: :: +This tutorial explains every step to help set up your multiple robot arms environment. - roslaunch panda_moveit_config demo.launch +1. Build the Xacro/URDF model of the multiple arms +-------------------------------------------------- -When using your robot arm, you do not need to build a single arm MoveIt config packages if you plan to use multiple arms. In this case, an alternative command to check your robot links and joints visually is: :: - - roslaunch urdf_tutorials display.launch model:=robot_arm.urdf - -If you have the xacro model, not the URDF, you can convert Xacro to URDF as follows then use the above command: :: - - rosrun xacro xacro.launch robot_file.xacro -o desired_urdf_name.urdf +The Panda robot arm is used in the following explanation, but the same applies to preparing other types of robot arms. - -The command takes the xacro file, and produces the urdf model with the `-o` option. - -To start building your multiple arms model, create a new package as follows: :: +To start building your multiple arms model, create a new ``panda_multiple_arms`` package as follows: :: cd ~/ws_moveit catkin create pkg panda_multiple_arms @@ -56,17 +38,15 @@ To start building your multiple arms model, create a new package as follows: :: mkdir robot_description touch panda_multiple_arms.xacro -To build your multiple robot arms robot description xacro file, you need to have each single arm's description file. In the following part, we will build a dual arm panda robot description file. +To prepare your multiple robot arms xacro file (model), you need to have the single arm's xacro file. In the following part, we will build a multiple arms panda robot description file consisting of two identical arms. -It is worth mentioning that the difference between xacro and URDF is that TODO1. This property makes it easier to include multiple robot arms models in the same file, with a different prefix. +.. + It is worth mentioning that the difference between xacro and URDF is that TODO1. This property makes it easier to include multiple robot arms models in the same file, with a different prefix. -The structure of your dual panda robot arm should be as follows: :: +Our multiple arms model has a ``rgt_panda`` and ``lft_panda`` arms. Its structure is as follows: :: - - - - + @@ -105,15 +85,15 @@ The structure of your dual panda robot arm should be as follows: :: Notes: -1. The ``franka_description`` package is already installed as a dependency of the ``panda_moveit_config`` package. When modeling your robot, make sure the robot_descriptionb package is available in your ROS workspace. +1. The ``franka_description`` package is already installed as a dependency of the ``panda_moveit_config`` package. When modeling your robot, make sure the robot_descriptionb package is available in your ROS workspace. -2. You need to have a careful look at your arm's xacro file to understand the xacro parameters to use. Here is an example from the ``panda_arm.xacro`` in the ``franka_description`` package: :: +2. We usually need to have a careful look at the arm's xacro file to understand the xacro parameters to use. Here is an example from the ``panda_arm.xacro`` in the ``franka_description`` package: :: -We can see the parameters and that some of them got default values and others did not. Search those parameters in the same file to understand the function of each. The ``arm_id`` sets a prefix name to the arm to be enable reusing the same model with different names. This is essential for our purpose of modeling multiple robots, and makes our job really simple. We can insert different arms with altering only the arm_id that changes the robot name. The ``connected_to`` parameter gives possibility to connect the robot base with a fixed joint to a given link. In our dual arm model, each robot is connected to the box shaped base. +We can search those parameters in the xacro macro file to understand the function of each. The ``arm_id`` sets a prefix to the arm name to be enable reusing the same model. This is essential for our purpose of modeling multiple arms or robots. The ``connected_to`` parameter gives possibility to connect the robot base with a fixed joint to a given link. In our multiple arms model, each robot is connected to the box shaped base. -At this point, it is recommended to check our xacro file is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and if needed you can visualize it. RUn the following commands to check the URDF has no problems. :: +At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and if needed you can visualize it (as described before). Run the following commands to check the URDF has no problems. cd ~ws_moveit catkin build @@ -123,9 +103,9 @@ At this point, it is recommended to check our xacro file is working as expected. check_urdf panda_multiple_arms.urdf -The ``check_urdf`` command shows the links tree and indicats if there are any errors: :: +The ``check_urdf`` shows the links tree and indicats if there are any errors: :: - robot name is: dual_panda_arms + robot name is: multiple_panda_arms ---------- Successfully Parsed XML --------------- root Link: base has 2 child(ren) child(1): lft_panda_link0 @@ -366,7 +346,40 @@ Step 4: Integrate the simulation in Gazebo with Moveit motion planning The controllers are now ready. We need to launch all the required files to start a simulated robot with the controllers and motion planning context. +To grasp the big picture, we need to prepare a ``panda_multiple_arms_bringup_moveit.launch`` file . This file loads The file loads the robot in a gazebo world, loads the two gazebo controllers, moveit_planning_execution launch file, and the robot state publisher. + +To spawn the panda arms in a gazebo empty world, we need to prepare a launch file in the ``panda_multiple_arms`` package. Let's call this file ``view_panda_multiple_arms_empty_world.launch``. Here are the steps to prepar this file. :: + + cd ~/ws_moveit + cd src/panda_multiple_arms/launch + touch view_panda_multiple_arms_empty_world.launch + +The ``view_panda_multiple_arms_empty_world.launch`` file launches an empty world file, loads the robot description, and spawns the robot in the empty world. Its contents are as follows:: + + + + + + + + + + + + + + + + + + + + + + [/move_group/fake_controller_joint_states] + + ``` Tutorial for multiple robot arms From 05553b33aad049ee18ef1c635b5abe86ae138e9f Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Sat, 16 Apr 2022 04:37:03 +0900 Subject: [PATCH 06/63] resize intro image --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 82680df09..40f1193d6 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -3,7 +3,7 @@ Introduction In MoveIt, we can plan motions for multiple robot arms, but we need to pre-required steps to prepare robot models and configure ros controllers. This tutorial provides ROS beginners with the steps to model multiple arms, configure controllers, and plan motions using MoveIt. .. image:: images/multiple_arms_start.png - :width: 300pt + :width: 600pt :align: center Getting Started From f954be95ac7cdd664e0ab7980eff5688c2806704 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Sat, 16 Apr 2022 10:34:41 +0900 Subject: [PATCH 07/63] update step 2 --- .../multiple_robot_arms_tutorial.rst | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 40f1193d6..d0be91647 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -161,45 +161,44 @@ If you are not familiar with MoveIt Setup Assistant, please refer to this tutori .. _tutorial: https://ros-planning.github.io/moveit_tutorials/doc/setup_assistant/setup_assistant_tutorial.html -We use the MoveIt Setup Assistant to configure our multiple robot arms for use with MoveIt. It generates necessary configuration files for using the Moveit pipeline. +MoveIt Setup Assistant is used to configure our multiple robot arms for using the MoveIt pipeline. - Start the MoveIt Setup Assistant: :: roslaunch moveit_setup_assistant setup_assistant.launch -Follow the MoveIt Setup Assistant tutorial_ to condifure the arms. Note that we will be making a separate move group for each arm. For our example, we wil call them ``rgt_arm`` and ``lft_arm``. +Follow the MoveIt Setup Assistant tutorial_ to configure the arms. Note that we will be making a separate move group for each arm. They are called ``rgt_arm`` and ``lft_arm``. .. _tutorial: https://ros-planning.github.io/moveit_tutorials/doc/setup_assistant/setup_assistant_tutorial.html -I will clarify two more steps over the previous tutorial to ensure your model is complete. +Two more points should be considered, over the Setup Assistant tutorial, to ensure the multiple arms model is correctly done. -When you generate the collision matrix, diable the collision between the pairs ``rgt_panda_link6`` & ``rgt_panda_link8``, and ``lft_panda_link6`` & ``lft_panda_link8``. The reason is that those pairs do not come into collision, but due to the collision geometry type, they come into collision. Have a look at the following figures for clear description. +1. When you generate the collision matrix, disable the collision between the pairs ``rgt_panda_link6`` & ``rgt_panda_link8``, and ``lft_panda_link6`` & ``lft_panda_link8``. The reason is that those pairs do not come into collision, but due to the collision geometry type, they collide. Have a look at the following figures for a clear description. -The visual meshes descriping the real robot do not collide. +The visual meshes describing the real robot do not collide. .. image:: images/panda_arm_visual1-2.png :width: 500pt :align: center -But the collision sphere geometries do come into collision. However, this shold be corrected considering the real robot. +The collision sphere geometries do come into collision. We should correct this behavior considering the real robot geometry. .. image:: images/panda_arm_collision1-2.png :width: 500pt :align: center -It is beyond the scope of this tutorial, but it is worth mentioning this is not the best representation of collision for panda_link8. I would suggest covering this hand link with a box type geometry, not a sphere. +It is beyond the scope of this tutorial, but covering this hand link with a box-type geometry would be better because of the link shape. - -The second point I want to add is about defining the ``rgt_hand`` and ``lft_hand`` move grous and their poses. The ``open`` state has the joint1 value set to 0.35, and the ``close`` has the joint1 set to 0.0. Note that the hand joint2 mimics the value of joint1, therefor there is no need to fix it in the hand move_group pose. The defined poses can be as follows. You can add more zero poses for the arms, if you want. +2. The other point I want to add is about defining the ``rgt_hand`` and ``lft_hand`` move groups and their pref-defined poses. Make the ``open`` pose with joint1 value set to 0.35, and the ``close`` has the joint1 set to 0.0. Note that the hand joint2 mimics the value of joint1. Therefore, there is no need to fix joint2 in the hand move_group poses. The defined poses for the arms and hand can be as follows. You can add other poses of interest for the arms, if needed. .. image:: images/move_groups_poses.png :width: 500pt :align: center -Name the package ``panda_multiple_arms_moveit_config`` and generate its files using the Setup Assistant. We have the multiple arms and their hands moveit configuration packages ready. +Name the Moveit config package ``panda_multiple_arms_moveit_config`` and generate the files using the Setup Assistant. Step 3: Write the ros_control configuration for the multiple arms ----------------------------------------------------------------- From c46fcef9eec4baca08c734b829712f886a5ffef9 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Sun, 17 Apr 2022 11:20:55 +0900 Subject: [PATCH 08/63] update step 3 --- .../multiple_robot_arms_tutorial.rst | 191 +++++++++--------- 1 file changed, 99 insertions(+), 92 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index d0be91647..80cbd5e44 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -203,9 +203,9 @@ Name the Moveit config package ``panda_multiple_arms_moveit_config`` and generat Step 3: Write the ros_control configuration for the multiple arms ----------------------------------------------------------------- -In this step, we will write ros_control configuration files and launch files to spawn those controllers. This step is very connected to the next step. +This step will write ros_control configuration files and roslaunch files to start them. -The type of controller we need to interface Moveit with Gazebo simulated robot is ``Joint Trajectory Controller``. To write the controller configuration :: +The type of controller we need to execute joint-space trajectories on a group of robot joints is ``JointTrajectoryController``. Create a controller configuration (yaml) file in the ``panda_multiple_arms`` package as follows:: cd ~/ws_moveit cd src/panda_multiple_arms @@ -213,102 +213,107 @@ The type of controller we need to interface Moveit with Gazebo simulated robot i touch trajectory_controller.yaml -Open the ``trajectory_controller.yaml`` and copy the next multiple_arms controllers configuration to it :: +Open the ``trajectory_controller.yaml`` and copy the next multiple_arms controller configuration to it :: - multiple_arms: + panda_multiple_arms: rgt_panda_trajectory_controller: - type: "position_controllers/JointTrajectoryController" + type: "effort_controllers/JointTrajectoryController" joints: - - rgt_panda_joint_1 - - rgt_panda_joint_2 - - rgt_panda_joint_3 - - rgt_panda_joint_4 - - rgt_panda_joint_5 - - rgt_panda_joint_6 + - rgt_panda_joint1 + - rgt_panda_joint2 + - rgt_panda_joint3 + - rgt_panda_joint4 + - rgt_panda_joint5 + - rgt_panda_joint6 constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - rgt_panda_joint_1: {trajectory: 0.1, goal: 0.1} - rgt_panda_joint_2: {trajectory: 0.1, goal: 0.1} - rgt_panda_joint_3: {trajectory: 0.1, goal: 0.1} - rgt_panda_joint_4: {trajectory: 0.1, goal: 0.1} - rgt_panda_joint_5: {trajectory: 0.1, goal: 0.1} - rgt_panda_joint_6: {trajectory: 0.1, goal: 0.1} + rgt_panda_joint1: {trajectory: 0.1, goal: 0.1} + rgt_panda_joint2: {trajectory: 0.1, goal: 0.1} + rgt_panda_joint3: {trajectory: 0.1, goal: 0.1} + rgt_panda_joint4: {trajectory: 0.1, goal: 0.1} + rgt_panda_joint5: {trajectory: 0.1, goal: 0.1} + rgt_panda_joint6: {trajectory: 0.1, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 lft_panda_trajectory_controller: - type: "position_controllers/JointTrajectoryController" + type: "effort_controllers/JointTrajectoryController" joints: - - lft_panda_joint_1 - - lft_panda_joint_2 - - lft_panda_joint_3 - - lft_panda_joint_4 - - lft_panda_joint_5 - - lft_panda_joint_6 + - lft_panda_joint1 + - lft_panda_joint2 + - lft_panda_joint3 + - lft_panda_joint4 + - lft_panda_joint5 + - lft_panda_joint6 constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - lft_panda_joint_1: {trajectory: 0.1, goal: 0.1} - lft_panda_joint_2: {trajectory: 0.1, goal: 0.1} - lft_panda_joint_3: {trajectory: 0.1, goal: 0.1} - lft_panda_joint_4: {trajectory: 0.1, goal: 0.1} - lft_panda_joint_5: {trajectory: 0.1, goal: 0.1} - lft_panda_joint_6: {trajectory: 0.1, goal: 0.1} + lft_panda_joint1: {trajectory: 0.1, goal: 0.1} + lft_panda_joint2: {trajectory: 0.1, goal: 0.1} + lft_panda_joint3: {trajectory: 0.1, goal: 0.1} + lft_panda_joint4: {trajectory: 0.1, goal: 0.1} + lft_panda_joint5: {trajectory: 0.1, goal: 0.1} + lft_panda_joint6: {trajectory: 0.1, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 -Create a launch file to load the previous controller configurations. Let the names be descriptive such as ``multiple_panda_arms_trajectory_controller.launch`` :: +The ``panda_multiple_arms`` is the controller's namespace. The ``rgt_panda_trajectory_controller`` and ``rgt_panda_trajectory_controller`` are the controllers names. Under each controller, we need to specify its type, joint groups, and needed constraints. For more about joint trajectory controllers, refer to their documentation_. + +.. _documentation: http://wiki.ros.org/joint_trajectory_controller + +Next, create a launch file to load the trajectory controller configurations. Let the name be descriptive such as ``multiple_panda_arms_trajectory_controller.launch`` :: cd ~/ws_moveit cd src/panda_multiple_arms mkdir launch touch multiple_panda_arms_trajectory_controller.launch -Edit ``the multiple_panda_arms_trajectory_controller.launch`` and add the following to it :: +Edit the ``multiple_panda_arms_trajectory_controller.launch`` and add the following to it:: - + -Please be careful with the namespace (ns) and the controllers names when doing this step. The names must match the names in the trajectory_controller.yaml file. +Please be careful with the namespace (ns) and the controller's names when doing this step. Those names must match the names in the trajectory_controller.yaml file. + +Next, we should modify the auto-generated ros_controllers.yaml in the moveit config package for interfacing the arm using MoveIt to Gazebo. We need a trajectory controller which has the FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ros controller (written above ``trajectory_controller.yaml``). -Next, we should modify the auto-generated ros_controllers.yaml in the path ``panda_multiple_arms_moveit_config/config/ros_controllers.yaml``. The file contents should be as follows :: +The ros_controllers.yaml is generated in the path ``panda_multiple_arms_moveit_config/config/ros_controllers.yaml``. The file contents should be as follows :: controller_manager_ns: controller_manager controller_list: - - name: multiple_arms/rgt_panda_trajectory_controller - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - rgt_panda_joint_1 - - rgt_panda_joint_2 - - rgt_panda_joint_3 - - rgt_panda_joint_4 - - rgt_panda_joint_5 - - rgt_panda_joint_6 - - - name: multiple_arms/lft_panda_trajectory_controller - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - lft_panda_joint_1 - - lft_panda_joint_2 - - lft_panda_joint_3 - - lft_panda_joint_4 - - lft_panda_joint_5 - - lft_panda_joint_6 + - name: panda_multiple_arms/rgt_panda_trajectory_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - rgt_panda_joint1 + - rgt_panda_joint2 + - rgt_panda_joint3 + - rgt_panda_joint4 + - rgt_panda_joint5 + - rgt_panda_joint6 + + - name: panda_multiple_arms/lft_panda_trajectory_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - lft_panda_joint1 + - lft_panda_joint2 + - lft_panda_joint3 + - lft_panda_joint4 + - lft_panda_joint5 + - lft_panda_joint6 -Notice that the controller names correspond to the names in the previous ``trajectory_controller.yaml`` file. -For example, the ``multiple_arms`` is the namespace, and the ``rgt_panda_trajectory_controller`` is the controller name. +Notice that the namespace and controller names correspond to the names in ``trajectory_controller.yaml`` file. In the same moveit config package, create two files ``panda_multiple_arms_moveit_controller_manager.launch.xml`` and ``moveit_planning_execution.launch``. Make the first file load the ``ros_controllers.yaml`` as follows :: @@ -324,7 +329,7 @@ Make the first file load the ``ros_controllers.yaml`` as follows :: -The second file should start the planning, execution, and visualization components of MoveIt as follows:: +The second file should start the planning, execution, and visualization components of MoveIt:: @@ -343,49 +348,51 @@ The second file should start the planning, execution, and visualization componen Step 4: Integrate the simulation in Gazebo with Moveit motion planning ---------------------------------------------------------------------- -The controllers are now ready. We need to launch all the required files to start a simulated robot with the controllers and motion planning context. +We need to launch all the required files to start a simulated robot with the controllers and moveit motion planning context. -To grasp the big picture, we need to prepare a ``panda_multiple_arms_bringup_moveit.launch`` file . This file loads The file loads the robot in a gazebo world, loads the two gazebo controllers, moveit_planning_execution launch file, and the robot state publisher. +To grasp the big picture, we need to prepare a ``panda_multiple_arms_bringup_moveit.launch`` file . This file loads the robot in a gazebo world, the ros controllers, moveit_planning_execution launch file, and the robot state publisher. To spawn the panda arms in a gazebo empty world, we need to prepare a launch file in the ``panda_multiple_arms`` package. Let's call this file ``view_panda_multiple_arms_empty_world.launch``. Here are the steps to prepar this file. :: cd ~/ws_moveit cd src/panda_multiple_arms/launch - touch view_panda_multiple_arms_empty_world.launch + touch panda_multiple_arms_empty_world.launch -The ``view_panda_multiple_arms_empty_world.launch`` file launches an empty world file, loads the robot description, and spawns the robot in the empty world. Its contents are as follows:: - - +The ``panda_multiple_arms_empty_world.launch`` file launches an empty world file, loads the robot description, and spawns the robot in the empty world. Its contents are as follows:: + + + + + + + + + + + - - - - + + + + - - + + - - + + - - + - - - - [/move_group/fake_controller_joint_states] - - +``Todo``: make the panda robot arm Gazebo-simulation ready. -``` -Tutorial for multiple robot arms -While there are some ROS Answers posts and examples floating around, there is no definitive resource on how to set up multiple manipulators with MoveIt (and especially MoveIt2). The goal of this project is to write a tutorial that should become the reference. -Expected outcome: A ROS beginner can read the tutorial and set up a ros2_control / MoveIt pipeline without additional help. -Project size: medium (175 hours) -Difficulty: easy -Preferred skills: Technical Writing, ROS, MoveIt, Python, and YAML -Mentor: Andy Zelenak -``` \ No newline at end of file +.. + Tutorial for multiple robot arms + While there are some ROS Answers posts and examples floating around, there is no definitive resource on how to set up multiple manipulators with MoveIt (and especially MoveIt2). The goal of this project is to write a tutorial that should become the reference. + Expected outcome: A ROS beginner can read the tutorial and set up a ros2_control / MoveIt pipeline without additional help. + Project size: medium (175 hours) + Difficulty: easy + Preferred skills: Technical Writing, ROS, MoveIt, Python, and YAML + Mentor: Andy Zelenak \ No newline at end of file From 749c30f1a1170b0316d196afb77523b16d881cd6 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Sun, 17 Apr 2022 12:53:08 +0900 Subject: [PATCH 09/63] fix a typo --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 80cbd5e44..3abe61b85 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -1,6 +1,6 @@ Introduction ------------ -In MoveIt, we can plan motions for multiple robot arms, but we need to pre-required steps to prepare robot models and configure ros controllers. This tutorial provides ROS beginners with the steps to model multiple arms, configure controllers, and plan motions using MoveIt. +In MoveIt, we can plan motions for multiple robot arms, but there are pre-required steps to prepare robot models and configure ros controllers. This tutorial provides ROS beginners with the steps to model multiple arms, configure controllers, and plan motions using MoveIt. .. image:: images/multiple_arms_start.png :width: 600pt From 323b19ef29ed894775e415cc1df34c1a36aacb29 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Thu, 2 Jun 2022 12:05:17 +0900 Subject: [PATCH 10/63] Include gazebo arg in arms xacro --- .../multiple_robot_arms_tutorial.rst | 73 ++++++++++--------- 1 file changed, 37 insertions(+), 36 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 3abe61b85..00b3258a7 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -46,42 +46,43 @@ To prepare your multiple robot arms xacro file (model), you need to have the sin Our multiple arms model has a ``rgt_panda`` and ``lft_panda`` arms. Its structure is as follows: :: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + > Notes: From 34fde58e4ca12a1f62ee9b1da05a0c015b193944 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Thu, 2 Jun 2022 21:02:35 +0900 Subject: [PATCH 11/63] Update after using gazebo-ready xacro --- .../multiple_robot_arms_tutorial.rst | 102 ++++++++++-------- 1 file changed, 56 insertions(+), 46 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 00b3258a7..e45b01f33 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -48,8 +48,8 @@ Our multiple arms model has a ``rgt_panda`` and ``lft_panda`` arms. Its structur - - + + @@ -90,9 +90,10 @@ Notes: 2. We usually need to have a careful look at the arm's xacro file to understand the xacro parameters to use. Here is an example from the ``panda_arm.xacro`` in the ``franka_description`` package: :: - + -We can search those parameters in the xacro macro file to understand the function of each. The ``arm_id`` sets a prefix to the arm name to be enable reusing the same model. This is essential for our purpose of modeling multiple arms or robots. The ``connected_to`` parameter gives possibility to connect the robot base with a fixed joint to a given link. In our multiple arms model, each robot is connected to the box shaped base. + +We can search those parameters in the xacro macro file to understand the function of each. The ``arm_id`` sets a prefix to the arm name to be enable reusing the same model. This is essential for our purpose of modeling multiple arms or robots. The ``connected_to`` parameter gives possibility to connect the robot base with a fixed joint to a given link. In our multiple arms model, each robot is connected to the box shaped base. The gazebo parameter decides whether to load the gazebo simulation required information (e.g links inertia and joints transmission) or not. At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and if needed you can visualize it (as described before). Run the following commands to check the URDF has no problems. @@ -106,35 +107,53 @@ At this point, it is recommended to check our xacro model is working as expected The ``check_urdf`` shows the links tree and indicats if there are any errors: :: - robot name is: multiple_panda_arms + robot name is: panda_multiple_arms ---------- Successfully Parsed XML --------------- root Link: base has 2 child(ren) - child(1): lft_panda_link0 - child(1): lft_panda_link1 - child(1): lft_panda_link2 - child(1): lft_panda_link3 - child(1): lft_panda_link4 - child(1): lft_panda_link5 - child(1): lft_panda_link6 - child(1): lft_panda_link7 - child(1): lft_panda_link8 - child(1): lft_panda_hand - child(1): lft_panda_leftfinger - child(2): lft_panda_rightfinger - child(3): lft_panda_hand_tcp - child(2): rgt_panda_link0 - child(1): rgt_panda_link1 - child(1): rgt_panda_link2 - child(1): rgt_panda_link3 - child(1): rgt_panda_link4 - child(1): rgt_panda_link5 - child(1): rgt_panda_link6 - child(1): rgt_panda_link7 - child(1): rgt_panda_link8 - child(1): rgt_panda_hand - child(1): rgt_panda_leftfinger - child(2): rgt_panda_rightfinger - child(3): rgt_panda_hand_tcp + child(1): lft_arm_link0 + child(1): lft_arm_link1 + child(1): lft_arm_link2 + child(1): lft_arm_link3 + child(1): lft_arm_link4 + child(1): lft_arm_link5 + child(1): lft_arm_link6 + child(1): lft_arm_link7 + child(1): lft_arm_link8 + child(1): lft_arm_hand + child(1): lft_arm_leftfinger + child(2): lft_arm_rightfinger + child(3): lft_arm_hand_sc + child(4): lft_arm_hand_tcp + child(2): lft_arm_link7_sc + child(2): lft_arm_link6_sc + child(2): lft_arm_link5_sc + child(2): lft_arm_link4_sc + child(2): lft_arm_link3_sc + child(2): lft_arm_link2_sc + child(2): lft_arm_link1_sc + child(2): lft_arm_link0_sc + child(2): rgt_arm_link0 + child(1): rgt_arm_link1 + child(1): rgt_arm_link2 + child(1): rgt_arm_link3 + child(1): rgt_arm_link4 + child(1): rgt_arm_link5 + child(1): rgt_arm_link6 + child(1): rgt_arm_link7 + child(1): rgt_arm_link8 + child(1): rgt_arm_hand + child(1): rgt_arm_leftfinger + child(2): rgt_arm_rightfinger + child(3): rgt_arm_hand_sc + child(4): rgt_arm_hand_tcp + child(2): rgt_arm_link7_sc + child(2): rgt_arm_link6_sc + child(2): rgt_arm_link5_sc + child(2): rgt_arm_link4_sc + child(2): rgt_arm_link3_sc + child(2): rgt_arm_link2_sc + child(2): rgt_arm_link1_sc + child(2): rgt_arm_link0_sc To visually check your multiple robot model, run the command: :: @@ -168,32 +187,23 @@ MoveIt Setup Assistant is used to configure our multiple robot arms for using th roslaunch moveit_setup_assistant setup_assistant.launch -Follow the MoveIt Setup Assistant tutorial_ to configure the arms. Note that we will be making a separate move group for each arm. They are called ``rgt_arm`` and ``lft_arm``. +Follow the MoveIt Setup Assistant tutorial_ to configure the arms. Note that we will be making a separate move group for each arm and hand. The groups are called ``rgt_arm``, ``lft_arm``, ``rgt_hand``, and ``lft_hand``. .. _tutorial: https://ros-planning.github.io/moveit_tutorials/doc/setup_assistant/setup_assistant_tutorial.html -Two more points should be considered, over the Setup Assistant tutorial, to ensure the multiple arms model is correctly done. +I want to consider two more point along with the the Setup Assistant tutorial -1. When you generate the collision matrix, disable the collision between the pairs ``rgt_panda_link6`` & ``rgt_panda_link8``, and ``lft_panda_link6`` & ``lft_panda_link8``. The reason is that those pairs do not come into collision, but due to the collision geometry type, they collide. Have a look at the following figures for a clear description. +1. Define a practical `ready` pose for both arms with joint values {0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785}. -The visual meshes describing the real robot do not collide. +The arms should look as follows at the `ready` pose. -.. image:: images/panda_arm_visual1-2.png +.. image:: images/rgt_lft_arms_ready_poses.png :width: 500pt :align: center -The collision sphere geometries do come into collision. We should correct this behavior considering the real robot geometry. - -.. image:: images/panda_arm_collision1-2.png - :width: 500pt - :align: center - - -It is beyond the scope of this tutorial, but covering this hand link with a box-type geometry would be better because of the link shape. - -2. The other point I want to add is about defining the ``rgt_hand`` and ``lft_hand`` move groups and their pref-defined poses. Make the ``open`` pose with joint1 value set to 0.35, and the ``close`` has the joint1 set to 0.0. Note that the hand joint2 mimics the value of joint1. Therefore, there is no need to fix joint2 in the hand move_group poses. The defined poses for the arms and hand can be as follows. You can add other poses of interest for the arms, if needed. +1. Define ``open`` and ``close`` poses for the ``rgt_hand`` and ``lft_hand`` move groups. The ``open`` pose with joint1 value set to 0.35, and the ``close`` has the joint1 set to 0.0. Note that the hand joint2 mimics the value of joint1. Therefore, there is no need to fix joint2 in the hand move_group poses. The defined poses for the arms and hand can be as follows. 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zvRYhvUlumNHc}HP+rkr9h;l>O)_Wm;X4nOvrX?ldJob>Oq|9k^w?;R{9yvKxndFd+ z4VWh^@_iwm5YBNm!62`K+ui5XagFADbaq53=J+)P2=45>!fsjQYdxYtbuXzE`F&M9 z%!7~3H+g!^`bV6#I;&-I3ktfrIu>p&MZ8T_llFOhvN0TL3JMAKsuOOERv6o~oZOM{ zITlv1zRf|p68!Nkw$;Olroa?R# Date: Thu, 2 Jun 2022 22:27:59 +0900 Subject: [PATCH 13/63] Update joints hw interface and controllers --- .../multiple_robot_arms_tutorial.rst | 97 +++++++++++++------ 1 file changed, 65 insertions(+), 32 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index e45b01f33..99b312a27 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -82,6 +82,39 @@ Our multiple arms model has a ``rgt_panda`` and ``lft_panda`` arms. Its structur + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + /panda_multiple_arms + + + > Notes: @@ -227,62 +260,62 @@ The type of controller we need to execute joint-space trajectories on a group of Open the ``trajectory_controller.yaml`` and copy the next multiple_arms controller configuration to it :: panda_multiple_arms: - rgt_panda_trajectory_controller: - type: "effort_controllers/JointTrajectoryController" + rgt_arm_trajectory_controller: + type: "position_controllers/JointTrajectoryController" joints: - - rgt_panda_joint1 - - rgt_panda_joint2 - - rgt_panda_joint3 - - rgt_panda_joint4 - - rgt_panda_joint5 - - rgt_panda_joint6 + - rgt_arm_joint1 + - rgt_arm_joint2 + - rgt_arm_joint3 + - rgt_arm_joint4 + - rgt_arm_joint5 + - rgt_arm_joint6 constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - rgt_panda_joint1: {trajectory: 0.1, goal: 0.1} - rgt_panda_joint2: {trajectory: 0.1, goal: 0.1} - rgt_panda_joint3: {trajectory: 0.1, goal: 0.1} - rgt_panda_joint4: {trajectory: 0.1, goal: 0.1} - rgt_panda_joint5: {trajectory: 0.1, goal: 0.1} - rgt_panda_joint6: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint1: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint2: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint3: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint4: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint5: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint6: {trajectory: 0.1, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 - lft_panda_trajectory_controller: - type: "effort_controllers/JointTrajectoryController" + lft_arm_trajectory_controller: + type: "position_controllers/JointTrajectoryController" joints: - - lft_panda_joint1 - - lft_panda_joint2 - - lft_panda_joint3 - - lft_panda_joint4 - - lft_panda_joint5 - - lft_panda_joint6 + - lft_arm_joint1 + - lft_arm_joint2 + - lft_arm_joint3 + - lft_arm_joint4 + - lft_arm_joint5 + - lft_arm_joint6 constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - lft_panda_joint1: {trajectory: 0.1, goal: 0.1} - lft_panda_joint2: {trajectory: 0.1, goal: 0.1} - lft_panda_joint3: {trajectory: 0.1, goal: 0.1} - lft_panda_joint4: {trajectory: 0.1, goal: 0.1} - lft_panda_joint5: {trajectory: 0.1, goal: 0.1} - lft_panda_joint6: {trajectory: 0.1, goal: 0.1} + lft_arm_joint1: {trajectory: 0.1, goal: 0.1} + lft_arm_joint2: {trajectory: 0.1, goal: 0.1} + lft_arm_joint3: {trajectory: 0.1, goal: 0.1} + lft_arm_joint4: {trajectory: 0.1, goal: 0.1} + lft_arm_joint5: {trajectory: 0.1, goal: 0.1} + lft_arm_joint6: {trajectory: 0.1, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 -The ``panda_multiple_arms`` is the controller's namespace. The ``rgt_panda_trajectory_controller`` and ``rgt_panda_trajectory_controller`` are the controllers names. Under each controller, we need to specify its type, joint groups, and needed constraints. For more about joint trajectory controllers, refer to their documentation_. +The ``panda_multiple_arms`` is the controller's namespace. The ``rgt_arm_trajectory_controller`` and ``lft_arm_trajectory_controller`` are the controllers names. Under each controller, we need to specify its type, joint groups, and needed constraints. For more about joint trajectory controllers, refer to their documentation_. .. _documentation: http://wiki.ros.org/joint_trajectory_controller -Next, create a launch file to load the trajectory controller configurations. Let the name be descriptive such as ``multiple_panda_arms_trajectory_controller.launch`` :: +Next, create a launch file to load the trajectory controller configurations. Let the name be descriptive such as ``panda_multiple_arms_trajectory_controller.launch`` :: cd ~/ws_moveit cd src/panda_multiple_arms mkdir launch - touch multiple_panda_arms_trajectory_controller.launch + touch panda_multiple_arms_trajectory_controller.launch -Edit the ``multiple_panda_arms_trajectory_controller.launch`` and add the following to it:: +Edit the ``panda_multiple_arms_trajectory_controller.launch`` and add the following to it:: From cf8d9660b0fe27449eb3309d74cbb29e4ab7b2da Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 10 Jun 2022 16:09:37 +0900 Subject: [PATCH 14/63] Add world link and base inertia --- .../multiple_robot_arms_tutorial.rst | 56 ++++++++++++------- 1 file changed, 35 insertions(+), 21 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 99b312a27..8fbd2b04d 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -51,37 +51,51 @@ Our multiple arms model has a ``rgt_panda`` and ``lft_panda`` arms. Its structur - - - + + + + + - - - - - - - + + + + + + + - - - - + + + + + + + + + + + + + + + + - - + + - - - + + + @@ -115,7 +129,7 @@ Our multiple arms model has a ``rgt_panda`` and ``lft_panda`` arms. Its structur - > + Notes: @@ -321,7 +335,7 @@ Edit the ``panda_multiple_arms_trajectory_controller.launch`` and add the follow - + From f05ee6f22a0812107770ee526102512657de135b Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 10 Jun 2022 16:12:45 +0900 Subject: [PATCH 15/63] Separate joint state and trajectory controllers --- .../multiple_robot_arms_tutorial.rst | 147 +++++++++++------- 1 file changed, 93 insertions(+), 54 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 8fbd2b04d..691ce368b 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -261,9 +261,46 @@ Name the Moveit config package ``panda_multiple_arms_moveit_config`` and generat Step 3: Write the ros_control configuration for the multiple arms ----------------------------------------------------------------- -This step will write ros_control configuration files and roslaunch files to start them. +This step creates ros_control configuration files and roslaunch files to start them. We need two controller types, the first is a *joint state controller* type, which publishes the state of all joints. The second is of the type *joint trajectory controller*, which executes joint-space trajectories on a group of robot joints. -The type of controller we need to execute joint-space trajectories on a group of robot joints is ``JointTrajectoryController``. Create a controller configuration (yaml) file in the ``panda_multiple_arms`` package as follows:: +Notice that in the following configuration files, the ``panda_multiple_arms`` is the controllers namespace. The controllers names are ``joint_state_controller``, ``rgt_arm_trajectory_controller``, and ``lft_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and needed constraints. For more about ros controllers, refer to their documentation_. Let's create the controllers configuration and their launch files in systematic steps and with descriptive names. + +.. _documentation: http://wiki.ros.org/ros_control + +- The joint state controller: + +1. Create the controller configuration file ``joint_state_controller.yaml`` in the ``panda_multiple_arms`` package as follows:: + + cd ~/ws_moveit + cd src/panda_multiple_arms + mkdir config + touch joint_state_controller.yaml + +2. Open the ``joint_state_controller.yaml`` and copy the controller configuration to it :: + + panda_multiple_arms: + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + +3. Create a launch file ``panda_multiple_arms_joint_state_controller.launch`` to load and spawn this controller :: + + + + + + + + + + + + + + +- The joint trajectory controller: + +1. Create the controller configuration file ``trajectory_controller.yaml`` in the ``panda_multiple_arms`` package as follows:: cd ~/ws_moveit cd src/panda_multiple_arms @@ -271,58 +308,60 @@ The type of controller we need to execute joint-space trajectories on a group of touch trajectory_controller.yaml -Open the ``trajectory_controller.yaml`` and copy the next multiple_arms controller configuration to it :: +2. Open the ``trajectory_controller.yaml`` and copy the controller configuration to it :: panda_multiple_arms: - rgt_arm_trajectory_controller: - type: "position_controllers/JointTrajectoryController" - joints: - - rgt_arm_joint1 - - rgt_arm_joint2 - - rgt_arm_joint3 - - rgt_arm_joint4 - - rgt_arm_joint5 - - rgt_arm_joint6 - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - rgt_arm_joint1: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint2: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint3: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint4: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint5: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint6: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 - - lft_arm_trajectory_controller: - type: "position_controllers/JointTrajectoryController" - joints: - - lft_arm_joint1 - - lft_arm_joint2 - - lft_arm_joint3 - - lft_arm_joint4 - - lft_arm_joint5 - - lft_arm_joint6 - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - lft_arm_joint1: {trajectory: 0.1, goal: 0.1} - lft_arm_joint2: {trajectory: 0.1, goal: 0.1} - lft_arm_joint3: {trajectory: 0.1, goal: 0.1} - lft_arm_joint4: {trajectory: 0.1, goal: 0.1} - lft_arm_joint5: {trajectory: 0.1, goal: 0.1} - lft_arm_joint6: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 - -The ``panda_multiple_arms`` is the controller's namespace. The ``rgt_arm_trajectory_controller`` and ``lft_arm_trajectory_controller`` are the controllers names. Under each controller, we need to specify its type, joint groups, and needed constraints. For more about joint trajectory controllers, refer to their documentation_. - -.. _documentation: http://wiki.ros.org/joint_trajectory_controller - -Next, create a launch file to load the trajectory controller configurations. Let the name be descriptive such as ``panda_multiple_arms_trajectory_controller.launch`` :: + rgt_arm_trajectory_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - rgt_arm_joint1 + - rgt_arm_joint2 + - rgt_arm_joint3 + - rgt_arm_joint4 + - rgt_arm_joint5 + - rgt_arm_joint6 + - rgt_arm_joint7 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + rgt_arm_joint1: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint2: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint3: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint4: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint5: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint6: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint7: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 + + lft_arm_trajectory_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - lft_arm_joint1 + - lft_arm_joint2 + - lft_arm_joint3 + - lft_arm_joint4 + - lft_arm_joint5 + - lft_arm_joint6 + - lft_arm_joint7 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + lft_arm_joint1: {trajectory: 0.1, goal: 0.1} + lft_arm_joint2: {trajectory: 0.1, goal: 0.1} + lft_arm_joint3: {trajectory: 0.1, goal: 0.1} + lft_arm_joint4: {trajectory: 0.1, goal: 0.1} + lft_arm_joint5: {trajectory: 0.1, goal: 0.1} + lft_arm_joint6: {trajectory: 0.1, goal: 0.1} + lft_arm_joint7: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 + + + +3. Last step is to create a launch file to load the trajectory controller configurations. Name it ``panda_multiple_arms_trajectory_controller.launch`` :: cd ~/ws_moveit cd src/panda_multiple_arms @@ -331,11 +370,11 @@ Next, create a launch file to load the trajectory controller configurations. Let Edit the ``panda_multiple_arms_trajectory_controller.launch`` and add the following to it:: + - - + From 3efd62f254b39f14aa8c2b48e16a57b2896e1d7c Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Tue, 21 Jun 2022 17:44:05 +0900 Subject: [PATCH 16/63] update step three --- .../multiple_robot_arms_tutorial.rst | 28 +++++++++---------- 1 file changed, 13 insertions(+), 15 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 691ce368b..5a4bd4138 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -17,7 +17,7 @@ The steps of setting multiple arms environments to use MoveIt motion planning ar 2. Prepare the MoveIt config package using MoveIt setup Assistant. -3. Write the ros_control configuration for the multiple arms. +3. Write the ros controllers configuration and launch files for the multiple arms. 4. Integrate the simulation in Gazebo with MoveIt motion planning. @@ -145,10 +145,15 @@ We can search those parameters in the xacro macro file to understand the functio At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and if needed you can visualize it (as described before). Run the following commands to check the URDF has no problems. cd ~ws_moveit + catkin build + source devel/setup.bash + roscd dual_panda_arms/robot_description + rosrun xacro xacro panda_multiple_arms.xacro -o panda_multiple_arms.urdf + check_urdf panda_multiple_arms.urdf @@ -258,8 +263,8 @@ The arms should look as follows at the `ready` pose. Name the Moveit config package ``panda_multiple_arms_moveit_config`` and generate the files using the Setup Assistant. -Step 3: Write the ros_control configuration for the multiple arms ------------------------------------------------------------------ +Step 3: Write the ros controllers configuration and launch files for the multiple arms +-------------------------------------------------------------------------------------- This step creates ros_control configuration files and roslaunch files to start them. We need two controller types, the first is a *joint state controller* type, which publishes the state of all joints. The second is of the type *joint trajectory controller*, which executes joint-space trajectories on a group of robot joints. @@ -267,7 +272,7 @@ Notice that in the following configuration files, the ``panda_multiple_arms`` is .. _documentation: http://wiki.ros.org/ros_control -- The joint state controller: +- The joint state controller: 1. Create the controller configuration file ``joint_state_controller.yaml`` in the ``panda_multiple_arms`` package as follows:: @@ -361,14 +366,7 @@ Notice that in the following configuration files, the ``panda_multiple_arms`` is -3. Last step is to create a launch file to load the trajectory controller configurations. Name it ``panda_multiple_arms_trajectory_controller.launch`` :: - - cd ~/ws_moveit - cd src/panda_multiple_arms - mkdir launch - touch panda_multiple_arms_trajectory_controller.launch - -Edit the ``panda_multiple_arms_trajectory_controller.launch`` and add the following to it:: +3. Create the launch file ``panda_multiple_arms_trajectory_controller.launch`` to load the joint trajectory controller configurations and spawn it. :: @@ -378,11 +376,11 @@ Edit the ``panda_multiple_arms_trajectory_controller.launch`` and add the follow -Please be careful with the namespace (ns) and the controller's names when doing this step. Those names must match the names in the trajectory_controller.yaml file. +Please be careful with the namespace (ns) and the controllers names when doing this step. Those names must match the names in the trajectory_controller.yaml file. -Next, we should modify the auto-generated ros_controllers.yaml in the moveit config package for interfacing the arm using MoveIt to Gazebo. We need a trajectory controller which has the FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ros controller (written above ``trajectory_controller.yaml``). +The remaining part of this step presents guidance how to modify the auto-generated ros_controllers.yaml in the moveit config package for interfacing the arm using MoveIt to Gazebo. We need a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ros controller (written above ``trajectory_controller.yaml``). -The ros_controllers.yaml is generated in the path ``panda_multiple_arms_moveit_config/config/ros_controllers.yaml``. The file contents should be as follows :: +The ros_controllers.yaml is auto-generated in the path ``panda_multiple_arms_moveit_config/config/ros_controllers.yaml``. The file contents should be modified as follows :: controller_manager_ns: controller_manager controller_list: From 712f18380c3366257713d6f649700a4ce9b2c204 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Tue, 21 Jun 2022 17:44:43 +0900 Subject: [PATCH 17/63] embed video --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 5a4bd4138..fbc545759 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -6,6 +6,11 @@ In MoveIt, we can plan motions for multiple robot arms, but there are pre-requir :width: 600pt :align: center +.. raw:: html + + + + Getting Started --------------- If you haven't already done so, make sure you've completed the steps in `Getting Started <../getting_started/getting_started.html>`_. From 64b10ead4bfeec1d92a86889d91d272c6b7d9890 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Tue, 21 Jun 2022 17:55:17 +0900 Subject: [PATCH 18/63] Remove emeding and add a YouTube video link --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index fbc545759..0dfa91045 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -6,10 +6,7 @@ In MoveIt, we can plan motions for multiple robot arms, but there are pre-requir :width: 600pt :align: center -.. raw:: html - - - +Watch this `Quick YouTube video `_ of the multiple arms being controlled in Gazebo from Rviz. Getting Started --------------- From 5944ba02875a4b31f10c801943bb04c1d0dbc646 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 24 Jun 2022 15:50:27 +0900 Subject: [PATCH 19/63] Remove lengthy xacro file and add a link to it --- .../multiple_robot_arms_tutorial.rst | 89 +------------------ 1 file changed, 3 insertions(+), 86 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 0dfa91045..b188a18d5 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -45,93 +45,10 @@ To prepare your multiple robot arms xacro file (model), you need to have the sin .. It is worth mentioning that the difference between xacro and URDF is that TODO1. This property makes it easier to include multiple robot arms models in the same file, with a different prefix. -Our multiple arms model has a ``rgt_panda`` and ``lft_panda`` arms. Its structure is as follows: :: +Our multiple arms model has ``rgt_arm`` and ``lft_arm`` models. Each arm is equipped with a gripper. The xacro files can get lengthy. Here is a link to the multiple_arms_ xacro file. + +.. _multiple_arms: https://github.com/Robotawi/panda_arms_ws/blob/master/src/panda_multiple_arms/robot_description/panda_multiple_arms.xacro - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /panda_multiple_arms - - - - Notes: From 8542969e704a8e89a26fca6891f4df6ab1bc4c46 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 24 Jun 2022 19:38:12 +0900 Subject: [PATCH 20/63] Explain xacro loading practice --- .../multiple_robot_arms_tutorial.rst | 21 ++++++++++++++----- 1 file changed, 16 insertions(+), 5 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index b188a18d5..52a8633a0 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -45,21 +45,32 @@ To prepare your multiple robot arms xacro file (model), you need to have the sin .. It is worth mentioning that the difference between xacro and URDF is that TODO1. This property makes it easier to include multiple robot arms models in the same file, with a different prefix. -Our multiple arms model has ``rgt_arm`` and ``lft_arm`` models. Each arm is equipped with a gripper. The xacro files can get lengthy. Here is a link to the multiple_arms_ xacro file. +Our multiple arms model has ``rgt_arm`` and ``lft_arm`` models. Each arm is equipped with a gripper. The xacro files can get lengthy. Here is a link to the multiple_arms_ xacro file. .. _multiple_arms: https://github.com/Robotawi/panda_arms_ws/blob/master/src/panda_multiple_arms/robot_description/panda_multiple_arms.xacro Notes: -1. The ``franka_description`` package is already installed as a dependency of the ``panda_moveit_config`` package. When modeling your robot, make sure the robot_descriptionb package is available in your ROS workspace. +1. Two xacro arguments ``rgt_arm`` and ``lft_arm`` are defined as prefixes to differentiate the arms and hands names. + +2. The arms and hands models are loaded from the ``franka_description`` package, which is expected to be installed as a dependency. Similarly, when modeling your robots, make sure their robot_description packages are available in your ROS workspace. -2. We usually need to have a careful look at the arm's xacro file to understand the xacro parameters to use. Here is an example from the ``panda_arm.xacro`` in the ``franka_description`` package: :: +3. We usually need to have a careful look at the robot's xacro file to understand the xacro parameters to use. Here is an example from the ``panda_arm.xacro`` in the ``franka_description`` package. :: - + + + +We can search those parameters in the xacro macro to understand the function of each. The ``arm_id`` sets a prefix to the arm name to be enable reusing the same model. This is essential for our purpose of modeling multiple arms or robots. The ``connected_to`` parameter gives possibility to connect the robot base with a fixed joint to a given link. In our multiple arms model, each robot is connected to the box shaped base. The gazebo parameter decides whether to load the gazebo simulation required information (e.g links inertia and joints transmission) or not. + +After knowing the xacro macro for the arm, and understanding the input parameters, we can use it as follows to load the arms. :: + + + + -We can search those parameters in the xacro macro file to understand the function of each. The ``arm_id`` sets a prefix to the arm name to be enable reusing the same model. This is essential for our purpose of modeling multiple arms or robots. The ``connected_to`` parameter gives possibility to connect the robot base with a fixed joint to a given link. In our multiple arms model, each robot is connected to the box shaped base. The gazebo parameter decides whether to load the gazebo simulation required information (e.g links inertia and joints transmission) or not. +The same applies to loading the grippers/hands models, and other robots that are defined with xacro macros. At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and if needed you can visualize it (as described before). Run the following commands to check the URDF has no problems. From 2331f3c5adc2a7aec1423ec60eb53f1cd6c74e27 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 24 Jun 2022 19:40:31 +0900 Subject: [PATCH 21/63] Format steps to test xacro --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 52a8633a0..f559e6b36 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -72,18 +72,13 @@ After knowing the xacro macro for the arm, and understanding the input parameter The same applies to loading the grippers/hands models, and other robots that are defined with xacro macros. -At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and if needed you can visualize it (as described before). Run the following commands to check the URDF has no problems. - +At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and if needed you can visualize it (as described before). Run the following commands to check the URDF has no problems. :: + cd ~ws_moveit - catkin build - source devel/setup.bash - roscd dual_panda_arms/robot_description - rosrun xacro xacro panda_multiple_arms.xacro -o panda_multiple_arms.urdf - check_urdf panda_multiple_arms.urdf From c200cba0f4791bd4d3dcffa1940123512758e73e Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 24 Jun 2022 19:43:21 +0900 Subject: [PATCH 22/63] Update check_urdf output --- .../multiple_robot_arms_tutorial.rst | 92 ++++++++++--------- 1 file changed, 47 insertions(+), 45 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index f559e6b36..192d62924 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -86,51 +86,53 @@ The ``check_urdf`` shows the links tree and indicats if there are any errors: :: robot name is: panda_multiple_arms ---------- Successfully Parsed XML --------------- - root Link: base has 2 child(ren) - child(1): lft_arm_link0 - child(1): lft_arm_link1 - child(1): lft_arm_link2 - child(1): lft_arm_link3 - child(1): lft_arm_link4 - child(1): lft_arm_link5 - child(1): lft_arm_link6 - child(1): lft_arm_link7 - child(1): lft_arm_link8 - child(1): lft_arm_hand - child(1): lft_arm_leftfinger - child(2): lft_arm_rightfinger - child(3): lft_arm_hand_sc - child(4): lft_arm_hand_tcp - child(2): lft_arm_link7_sc - child(2): lft_arm_link6_sc - child(2): lft_arm_link5_sc - child(2): lft_arm_link4_sc - child(2): lft_arm_link3_sc - child(2): lft_arm_link2_sc - child(2): lft_arm_link1_sc - child(2): lft_arm_link0_sc - child(2): rgt_arm_link0 - child(1): rgt_arm_link1 - child(1): rgt_arm_link2 - child(1): rgt_arm_link3 - child(1): rgt_arm_link4 - child(1): rgt_arm_link5 - child(1): rgt_arm_link6 - child(1): rgt_arm_link7 - child(1): rgt_arm_link8 - child(1): rgt_arm_hand - child(1): rgt_arm_leftfinger - child(2): rgt_arm_rightfinger - child(3): rgt_arm_hand_sc - child(4): rgt_arm_hand_tcp - child(2): rgt_arm_link7_sc - child(2): rgt_arm_link6_sc - child(2): rgt_arm_link5_sc - child(2): rgt_arm_link4_sc - child(2): rgt_arm_link3_sc - child(2): rgt_arm_link2_sc - child(2): rgt_arm_link1_sc - child(2): rgt_arm_link0_sc + root Link: world has 1 child(ren) + child(1): base + child(1): lft_arm_link0 + child(1): lft_arm_link1 + child(1): lft_arm_link2 + child(1): lft_arm_link3 + child(1): lft_arm_link4 + child(1): lft_arm_link5 + child(1): lft_arm_link6 + child(1): lft_arm_link7 + child(1): lft_arm_link8 + child(1): lft_arm_hand + child(1): lft_arm_leftfinger + child(2): lft_arm_rightfinger + child(3): lft_arm_hand_sc + child(4): lft_arm_hand_tcp + child(2): lft_arm_link7_sc + child(2): lft_arm_link6_sc + child(2): lft_arm_link5_sc + child(2): lft_arm_link4_sc + child(2): lft_arm_link3_sc + child(2): lft_arm_link2_sc + child(2): lft_arm_link1_sc + child(2): lft_arm_link0_sc + child(2): rgt_arm_link0 + child(1): rgt_arm_link1 + child(1): rgt_arm_link2 + child(1): rgt_arm_link3 + child(1): rgt_arm_link4 + child(1): rgt_arm_link5 + child(1): rgt_arm_link6 + child(1): rgt_arm_link7 + child(1): rgt_arm_link8 + child(1): rgt_arm_hand + child(1): rgt_arm_leftfinger + child(2): rgt_arm_rightfinger + child(3): rgt_arm_hand_sc + child(4): rgt_arm_hand_tcp + child(2): rgt_arm_link7_sc + child(2): rgt_arm_link6_sc + child(2): rgt_arm_link5_sc + child(2): rgt_arm_link4_sc + child(2): rgt_arm_link3_sc + child(2): rgt_arm_link2_sc + child(2): rgt_arm_link1_sc + child(2): rgt_arm_link0_sc + To visually check your multiple robot model, run the command: :: From 65e2456dc9c78f6f25f6a7cd76c2f6f43ddb15da Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 24 Jun 2022 21:49:09 +0900 Subject: [PATCH 23/63] Configure ros controllers and moveit controllers --- .../multiple_robot_arms_tutorial.rst | 315 ++++++++++++------ 1 file changed, 206 insertions(+), 109 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 192d62924..6cfba07b0 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -182,7 +182,7 @@ The arms should look as follows at the `ready` pose. :align: center -1. Define ``open`` and ``close`` poses for the ``rgt_hand`` and ``lft_hand`` move groups. The ``open`` pose with joint1 value set to 0.35, and the ``close`` has the joint1 set to 0.0. Note that the hand joint2 mimics the value of joint1. Therefore, there is no need to fix joint2 in the hand move_group poses. The defined poses for the arms and hand can be as follows. You can add other poses of interest for the arms, if needed. +1. Define ``open`` and ``close`` poses for the ``rgt_hand`` and ``lft_hand`` move groups. The ``open`` pose with joint1 value set to 0.35, and the ``close`` has the joint1 set to 0.0. Notice that the hand joint2 mimics the value of joint1. Therefore, there is no need to fix joint2 in the hand move_group poses. The defined poses for the arms and hand can be as follows. You can add other poses of interest for the arms, if needed. .. image:: images/move_groups_poses.png :width: 500pt @@ -193,15 +193,15 @@ Name the Moveit config package ``panda_multiple_arms_moveit_config`` and generat Step 3: Write the ros controllers configuration and launch files for the multiple arms -------------------------------------------------------------------------------------- -This step creates ros_control configuration files and roslaunch files to start them. We need two controller types, the first is a *joint state controller* type, which publishes the state of all joints. The second is of the type *joint trajectory controller*, which executes joint-space trajectories on a group of robot joints. +This step creates ros_control configuration files and roslaunch files to start them. We need two controller types, the first is a *joint state controller*, which publishes the state of all joints. The second is *joint trajectory controller* type, which executes joint-space trajectories on a group of robot joints. -Notice that in the following configuration files, the ``panda_multiple_arms`` is the controllers namespace. The controllers names are ``joint_state_controller``, ``rgt_arm_trajectory_controller``, and ``lft_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and needed constraints. For more about ros controllers, refer to their documentation_. Let's create the controllers configuration and their launch files in systematic steps and with descriptive names. +In the following configuration files, the controllers names are ``joint_state_controller``, ``rgt_arm_trajectory_controller``, and ``lft_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and constraints. For more about ros controllers, refer to their documentation_. Let's create the controllers configuration and their launch file in systematic steps and with descriptive names. Some comments are added after the steps not to break the flow. .. _documentation: http://wiki.ros.org/ros_control - The joint state controller: -1. Create the controller configuration file ``joint_state_controller.yaml`` in the ``panda_multiple_arms`` package as follows:: +1. Create the controller configuration files ``joint_state_controller.yaml`` inside the ``panda_multiple_arms/config`` package as follows:: cd ~/ws_moveit cd src/panda_multiple_arms @@ -215,24 +215,9 @@ Notice that in the following configuration files, the ``panda_multiple_arms`` is type: joint_state_controller/JointStateController publish_rate: 50 -3. Create a launch file ``panda_multiple_arms_joint_state_controller.launch`` to load and spawn this controller :: - - - - - - - - - - - - - - - The joint trajectory controller: -1. Create the controller configuration file ``trajectory_controller.yaml`` in the ``panda_multiple_arms`` package as follows:: +3. Create the controller configuration file ``trajectory_controller.yaml`` in the ``panda_multiple_arms/config`` package as follows:: cd ~/ws_moveit cd src/panda_multiple_arms @@ -240,12 +225,11 @@ Notice that in the following configuration files, the ``panda_multiple_arms`` is touch trajectory_controller.yaml -2. Open the ``trajectory_controller.yaml`` and copy the controller configuration to it :: +4. Open the ``trajectory_controller.yaml`` and copy the controller configuration to it :: - panda_multiple_arms: rgt_arm_trajectory_controller: - type: "position_controllers/JointTrajectoryController" - joints: + type: "position_controllers/JointTrajectoryController" + joints: - rgt_arm_joint1 - rgt_arm_joint2 - rgt_arm_joint3 @@ -253,23 +237,23 @@ Notice that in the following configuration files, the ``panda_multiple_arms`` is - rgt_arm_joint5 - rgt_arm_joint6 - rgt_arm_joint7 - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - rgt_arm_joint1: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint2: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint3: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint4: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint5: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint6: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint7: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + rgt_arm_joint1: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint2: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint3: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint4: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint5: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint6: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint7: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 lft_arm_trajectory_controller: - type: "position_controllers/JointTrajectoryController" - joints: + type: "position_controllers/JointTrajectoryController" + joints: - lft_arm_joint1 - lft_arm_joint2 - lft_arm_joint3 @@ -277,96 +261,209 @@ Notice that in the following configuration files, the ``panda_multiple_arms`` is - lft_arm_joint5 - lft_arm_joint6 - lft_arm_joint7 - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - lft_arm_joint1: {trajectory: 0.1, goal: 0.1} - lft_arm_joint2: {trajectory: 0.1, goal: 0.1} - lft_arm_joint3: {trajectory: 0.1, goal: 0.1} - lft_arm_joint4: {trajectory: 0.1, goal: 0.1} - lft_arm_joint5: {trajectory: 0.1, goal: 0.1} - lft_arm_joint6: {trajectory: 0.1, goal: 0.1} - lft_arm_joint7: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 - - - -3. Create the launch file ``panda_multiple_arms_trajectory_controller.launch`` to load the joint trajectory controller configurations and spawn it. :: + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + lft_arm_joint1: {trajectory: 0.1, goal: 0.1} + lft_arm_joint2: {trajectory: 0.1, goal: 0.1} + lft_arm_joint3: {trajectory: 0.1, goal: 0.1} + lft_arm_joint4: {trajectory: 0.1, goal: 0.1} + lft_arm_joint5: {trajectory: 0.1, goal: 0.1} + lft_arm_joint6: {trajectory: 0.1, goal: 0.1} + lft_arm_joint7: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 + + #notice that the grippers joint2 mimics joint1 + #this is why it is not listed under the hand controllers + rgt_hand_controller: + type: "effort_controllers/JointTrajectoryController" + joints: + - rgt_arm_finger_joint1 + gains: + rgt_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} + + lft_hand_controller: + type: "effort_controllers/JointTrajectoryController" + joints: + - lft_arm_finger_joint1 + gains: + lft_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} + + + +5. Create the launch ``control_utils.launch`` file to load the controllers and spawn them. :: - - + + + + + + + + + + + + + -Please be careful with the namespace (ns) and the controllers names when doing this step. Those names must match the names in the trajectory_controller.yaml file. +The joint state controller publishes the robot joint values ``/joint_states`` and the robot state publisher uses them to calculate forward kinematics and publish the poses/transforms of the robot links. The joint state controller enables executing joint-space trajectories on a group of joints. -The remaining part of this step presents guidance how to modify the auto-generated ros_controllers.yaml in the moveit config package for interfacing the arm using MoveIt to Gazebo. We need a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ros controller (written above ``trajectory_controller.yaml``). +.. + Please be careful with the namespace (ns) and the controllers names when doing this step. Those names must match the names in the trajectory_controller.yaml file. -The ros_controllers.yaml is auto-generated in the path ``panda_multiple_arms_moveit_config/config/ros_controllers.yaml``. The file contents should be modified as follows :: +The remaining part of this step presents guidance how to modify the auto-generated control-related files in the moveit config package for interfacing the arm using MoveIt to Gazebo. Also in a systematic way, we need to modify two files. ``ros_controllers.yaml``, and ``simple_moveit_controllers.yaml`` - controller_manager_ns: controller_manager - controller_list: - - name: panda_multiple_arms/rgt_panda_trajectory_controller - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - rgt_panda_joint1 - - rgt_panda_joint2 - - rgt_panda_joint3 - - rgt_panda_joint4 - - rgt_panda_joint5 - - rgt_panda_joint6 - - - name: panda_multiple_arms/lft_panda_trajectory_controller - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - lft_panda_joint1 - - lft_panda_joint2 - - lft_panda_joint3 - - lft_panda_joint4 - - lft_panda_joint5 - - lft_panda_joint6 - -Notice that the namespace and controller names correspond to the names in ``trajectory_controller.yaml`` file. +- The ros_controllers.yaml -In the same moveit config package, create two files ``panda_multiple_arms_moveit_controller_manager.launch.xml`` and ``moveit_planning_execution.launch``. -Make the first file load the ``ros_controllers.yaml`` as follows :: + The ``ros_controllers.yaml`` file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. According to the MoveIt Setup Assistant authors, this file is meant for the ros control contfiguration (this means its content both ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``). Just copy the contents of the two files into this file. The file should look as follows :: - - - - - + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 - - - + rgt_arm_trajectory_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - rgt_arm_joint1 + - rgt_arm_joint2 + - rgt_arm_joint3 + - rgt_arm_joint4 + - rgt_arm_joint5 + - rgt_arm_joint6 + - rgt_arm_joint7 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + rgt_arm_joint1: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint2: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint3: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint4: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint5: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint6: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint7: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 + + lft_arm_trajectory_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - lft_arm_joint1 + - lft_arm_joint2 + - lft_arm_joint3 + - lft_arm_joint4 + - lft_arm_joint5 + - lft_arm_joint6 + - lft_arm_joint7 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + lft_arm_joint1: {trajectory: 0.1, goal: 0.1} + lft_arm_joint2: {trajectory: 0.1, goal: 0.1} + lft_arm_joint3: {trajectory: 0.1, goal: 0.1} + lft_arm_joint4: {trajectory: 0.1, goal: 0.1} + lft_arm_joint5: {trajectory: 0.1, goal: 0.1} + lft_arm_joint6: {trajectory: 0.1, goal: 0.1} + lft_arm_joint7: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 + + #notice that the grippers joint2 mimics joint1 + #this is why it is not listed under the hand controllers + rgt_hand_controller: + type: "effort_controllers/JointTrajectoryController" + joints: + - rgt_arm_finger_joint1 + gains: + rgt_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} + + lft_hand_controller: + type: "effort_controllers/JointTrajectoryController" + joints: + - lft_arm_finger_joint1 + gains: + lft_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} + +.. + Notice that the namespace and controller names correspond to the names in ``trajectory_controller.yaml`` file. +- The simple_moveit_controllers.yaml -The second file should start the planning, execution, and visualization components of MoveIt:: + This file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. Moveit requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ros controller (written above). + + This is the file that configures the controllers to be used by MoveIt controller manager to operate the robot. The controllers names should correspond to the ros controllers in the previous ros_controllers.yaml, which is same as the trajectory_control.yaml. + + +Modift the file contents to be as follows. :: + + controller_list: + - name: rgt_arm_trajectory_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: True + joints: + - rgt_arm_joint1 + - rgt_arm_joint2 + - rgt_arm_joint3 + - rgt_arm_joint4 + - rgt_arm_joint5 + - rgt_arm_joint6 + - rgt_arm_joint7 + - name: lft_arm_trajectory_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: True + joints: + - lft_arm_joint1 + - lft_arm_joint2 + - lft_arm_joint3 + - lft_arm_joint4 + - lft_arm_joint5 + - lft_arm_joint6 + - lft_arm_joint7 + + #notice that the grippers joint2 mimics joint1 + #this is why it is not listed under the hand controllers + + - name: rgt_hand_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - rgt_arm_finger_joint1 + + - name: lft_hand_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - lft_arm_finger_joint1 + +The last step in the setup is to let the ``ros_controllers.launch`` spawn the ros controllers configured in the ros_controller.yaml file. This is simply done by adding the controller names as arguments in the spawner node as shown below. :: - - - - - - - + + + + + + + + + Step 4: Integrate the simulation in Gazebo with Moveit motion planning ---------------------------------------------------------------------- From b33024e4781a90f55f295407e5965300e6b1bf63 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 24 Jun 2022 21:52:13 +0900 Subject: [PATCH 24/63] Update the video link and description --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 6cfba07b0..b1be79f67 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -6,7 +6,7 @@ In MoveIt, we can plan motions for multiple robot arms, but there are pre-requir :width: 600pt :align: center -Watch this `Quick YouTube video `_ of the multiple arms being controlled in Gazebo from Rviz. +Watch this `Quick YouTube video `_ of the multiple arms being controlled in Gazebo with Moveit from Rviz. Getting Started --------------- From ea255b6116742f743795c9a7e0e0c56c0fca2f6c Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 24 Jun 2022 22:32:02 +0900 Subject: [PATCH 25/63] Explain the integration components --- .../multiple_robot_arms_tutorial.rst | 61 ++++++++++++++----- 1 file changed, 47 insertions(+), 14 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index b1be79f67..cd0e7f39c 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -467,11 +467,11 @@ The last step in the setup is to let the ``ros_controllers.launch`` spawn the ro Step 4: Integrate the simulation in Gazebo with Moveit motion planning ---------------------------------------------------------------------- -We need to launch all the required files to start a simulated robot with the controllers and moveit motion planning context. +We need to prepare the required components to start a simulated robot in Gazebo, load the ros controllers, and moveit motion plannig. We have already prepared the ``control_utils.launch`` file to load the ros controllers, and the required moveit launch file is the ``move_group.launch`` which is auto generated. Then, our tasks here are to start a simulated robot in gazebo world, and prepare a launch file that launches the above mentioned three components. -To grasp the big picture, we need to prepare a ``panda_multiple_arms_bringup_moveit.launch`` file . This file loads the robot in a gazebo world, the ros controllers, moveit_planning_execution launch file, and the robot state publisher. +1. Start the simulated a robot in an empty Gazebo world -To spawn the panda arms in a gazebo empty world, we need to prepare a launch file in the ``panda_multiple_arms`` package. Let's call this file ``view_panda_multiple_arms_empty_world.launch``. Here are the steps to prepar this file. :: +To spawn the panda multiple arms model in a gazebo, we need to prepare a launch file in the ``panda_multiple_arms`` package. Let's call it ``view_panda_multiple_arms_empty_world.launch``. Here are the steps to prepar this file. :: cd ~/ws_moveit cd src/panda_multiple_arms/launch @@ -479,33 +479,66 @@ To spawn the panda arms in a gazebo empty world, we need to prepare a launch fil The ``panda_multiple_arms_empty_world.launch`` file launches an empty world file, loads the robot description, and spawns the robot in the empty world. Its contents are as follows:: - + + - - - - - - - + + + - - +2. Prepare a ``bringup_moveit.launch`` file to start the three components. Create the file in the ``panda_multiple_arms/launch`` directory as follows then copy the contents into it. :: + + cd ~/ws_moveit + cd src/panda_multiple_arms/launch + touch bringup_moveit.launch + +The ``bringup_moveit.launch`` contents are as follows. :: + + + + + + + + + + + + + + + + + + + + + + + + + -``Todo``: make the panda robot arm Gazebo-simulation ready. + +To run the Moveit Gazebo integration, run the ``bringup_moveit.launch``. :: + + roslaunch panda_multiple_arms bringup_moveit.launch + +If all steps are done, this should bringup all the required components for the integration. Then, we are able to control the simulated robot in rviz and execute the motions in Gazebo as shown in `this video `_. As shown in the video, we can interact with the arms and hands in Rviz with their move groups, and execute arms motions and hands open and close commands in Gazebo. + .. Tutorial for multiple robot arms From d9c161c1f423468c1b9c3858410b417fa07a4057 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 24 Jun 2022 22:32:45 +0900 Subject: [PATCH 26/63] Start step five to plan motions for arms/hands --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index cd0e7f39c..91f973122 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -539,6 +539,11 @@ To run the Moveit Gazebo integration, run the ``bringup_moveit.launch``. :: If all steps are done, this should bringup all the required components for the integration. Then, we are able to control the simulated robot in rviz and execute the motions in Gazebo as shown in `this video `_. As shown in the video, we can interact with the arms and hands in Rviz with their move groups, and execute arms motions and hands open and close commands in Gazebo. +Step 5: Plan arms motions with MoveIt Move Group Interface. +----------------------------------------------------------- + +After ensuring our integration is correct, the most interesting part is to plan robot motion with the Moveit API and see our robots moving in Gazebo. This step shows how to write code for planning simple motions for the arms and hands. + .. Tutorial for multiple robot arms From 6464346dbe20f8cd46ab20499b3b4b6c8859dba4 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 1 Jul 2022 18:24:26 +0900 Subject: [PATCH 27/63] Add the motion planning step --- .../multiple_robot_arms_tutorial.rst | 69 ++++++++++++++++++- 1 file changed, 68 insertions(+), 1 deletion(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 91f973122..405840fab 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -542,7 +542,74 @@ If all steps are done, this should bringup all the required components for the i Step 5: Plan arms motions with MoveIt Move Group Interface. ----------------------------------------------------------- -After ensuring our integration is correct, the most interesting part is to plan robot motion with the Moveit API and see our robots moving in Gazebo. This step shows how to write code for planning simple motions for the arms and hands. +After ensuring our integration is correct, the most interesting part is to plan robot motion with the Moveit API and see our robots moving in Gazebo. This step shows how to prepare the dependenies and write code for planning simple motions for the arms and hands. + +We need to include some dependenies in the robot's package ``CMakeLists.txt`` file. They are packages to enable using moveit group interface and utility package to describe the arms target poses. Here is a link to a `minimal CMakeLists.txt `_ file used in this step. + +For the motion planning, please refer to Move Group Interface `tutorial `_ for more details about MoveIt's move group C++ interface. We are using a separate move group for every arm and every hand. + +This is a link to the code for planning simple motions. It does the following. + +1. Set the move groups names for arms and hands (considering same naming in step 2).:: + + static const std::string rgt_arm_group = "rgt_arm"; + static const std::string rgt_hand_group = "rgt_hand"; + + static const std::string lft_arm_group = "lft_arm"; + static const std::string lft_hand_group = "lft_hand"; + + +2. Declar MoveGroupInterface objects for every arm and hand.:: + + moveit::planning_interface::MoveGroupInterface rgt_arm_move_group_interface(rgt_arm_group); + moveit::planning_interface::MoveGroupInterface rgt_hand_move_group_interface(rgt_hand_group); + + moveit::planning_interface::MoveGroupInterface lft_arm_move_group_interface(lft_arm_group); + moveit::planning_interface::MoveGroupInterface lft_hand_move_group_interface(lft_hand_group); + +3. Set the arms goal poses to the pre-defined ``ready`` pose.:: + + rgt_arm_move_group_interface.setNamedTarget("ready"); + lft_arm_move_group_interface.setNamedTarget("ready"); + +4. Plan the arms motions, and if successful move arms and open grippers.:: + + bool rgt_success = (rgt_arm_move_group_interface.plan(rgt_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); + bool lft_success = (lft_arm_move_group_interface.plan(lft_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); + + if (rgt_success) + { + rgt_arm_move_group_interface.execute(rgt_arm_plan); + + rgt_hand_move_group_interface.setNamedTarget("open"); + rgt_hand_move_group_interface.move(); + } + + if (lft_success) + { + lft_arm_move_group_interface.execute(lft_arm_plan); + + lft_hand_move_group_interface.setNamedTarget("open"); + lft_hand_move_group_interface.move(); + } + +5. In the last step, the arms are tasked to move arbitary motion with respect to the current pose. The right arm move 0.10 meter up, and the left arm move 0.10 forward. The motion is done with respect to the current poses of the robots. Here is the example of moving the right arm up. :: + + geometry_msgs::PoseStamped current_rgt_arm_pose = rgt_arm_move_group_interface.getCurrentPose(); + geometry_msgs::PoseStamped target_rgt_arm_pose = current_rgt_arm_pose; + + target_rgt_arm_pose.pose.position.z += 0.10; + + rgt_arm_move_group_interface.setPoseTarget(target_rgt_arm_pose); + rgt_success = (rgt_arm_move_group_interface.plan(rgt_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); + + if (rgt_success) + { + rgt_arm_move_group_interface.execute(rgt_arm_plan); + } + + +This `YouTube video `_ shows the previous motion of arms and hands using MoveIt move group interface. You may think the arms should move in straight lines between current and target poses. This is can be accomplished using the MoveIt Cartesian Planners, which is also explained in the Move Group Interface tutorial, and you are encouraged to try. .. From 2359e707ebbe4ddbcc4ad8c445e09f880c50d906 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 1 Jul 2022 19:48:00 +0900 Subject: [PATCH 28/63] Fix typos --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 405840fab..342fe46a4 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -153,8 +153,8 @@ If the model is correctly prepared, it should show up as follows. This concludes the step of building the model and verifying it. -Step 2: Prepare MoveIt config package using MoveIt Setup Assistant -------------------------------------------------------------------- +Step 2: Prepare the MoveIt config package using MoveIt Setup Assistant +---------------------------------------------------------------------- If you are not familiar with MoveIt Setup Assistant, please refer to this tutorial_. @@ -193,7 +193,7 @@ Name the Moveit config package ``panda_multiple_arms_moveit_config`` and generat Step 3: Write the ros controllers configuration and launch files for the multiple arms -------------------------------------------------------------------------------------- -This step creates ros_control configuration files and roslaunch files to start them. We need two controller types, the first is a *joint state controller*, which publishes the state of all joints. The second is *joint trajectory controller* type, which executes joint-space trajectories on a group of robot joints. +This step creates ros_control configuration files and roslaunch files to start them. We need two controller types. The first is a *joint state controller*, which publishes the state of all joints. The second is *joint trajectory controller* type, which executes joint-space trajectories on a group of robot joints. In the following configuration files, the controllers names are ``joint_state_controller``, ``rgt_arm_trajectory_controller``, and ``lft_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and constraints. For more about ros controllers, refer to their documentation_. Let's create the controllers configuration and their launch file in systematic steps and with descriptive names. Some comments are added after the steps not to break the flow. @@ -323,7 +323,7 @@ The remaining part of this step presents guidance how to modify the auto-generat - The ros_controllers.yaml - The ``ros_controllers.yaml`` file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. According to the MoveIt Setup Assistant authors, this file is meant for the ros control contfiguration (this means its content both ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``). Just copy the contents of the two files into this file. The file should look as follows :: + The ``ros_controllers.yaml`` file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. According to the MoveIt Setup Assistant authors, this file is meant for the ros control configuration (this means its content should exactly match the content of ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``). Then, just copy the two files contents into this file. The file should look as follows :: joint_state_controller: type: joint_state_controller/JointStateController From eb7c7e11cda898ba880077422edb054d1bdf86b5 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 1 Jul 2022 19:49:14 +0900 Subject: [PATCH 29/63] Minimal fixes for the content --- .../multiple_robot_arms_tutorial.rst | 43 +++++++++---------- 1 file changed, 20 insertions(+), 23 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 342fe46a4..55693ae96 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -156,9 +156,7 @@ This concludes the step of building the model and verifying it. Step 2: Prepare the MoveIt config package using MoveIt Setup Assistant ---------------------------------------------------------------------- -If you are not familiar with MoveIt Setup Assistant, please refer to this tutorial_. - -.. _tutorial: https://ros-planning.github.io/moveit_tutorials/doc/setup_assistant/setup_assistant_tutorial.html +If you are not familiar with MoveIt Setup Assistant, please refer to this `tutorial `_. MoveIt Setup Assistant is used to configure our multiple robot arms for using the MoveIt pipeline. @@ -166,9 +164,7 @@ MoveIt Setup Assistant is used to configure our multiple robot arms for using th roslaunch moveit_setup_assistant setup_assistant.launch -Follow the MoveIt Setup Assistant tutorial_ to configure the arms. Note that we will be making a separate move group for each arm and hand. The groups are called ``rgt_arm``, ``lft_arm``, ``rgt_hand``, and ``lft_hand``. - -.. _tutorial: https://ros-planning.github.io/moveit_tutorials/doc/setup_assistant/setup_assistant_tutorial.html +Follow the MoveIt Setup Assistant tutorial to configure the arms. Note that we will be making a separate move group for each arm and hand. The groups are called ``rgt_arm``, ``lft_arm``, ``rgt_hand``, and ``lft_hand``. I want to consider two more point along with the the Setup Assistant tutorial @@ -193,7 +189,7 @@ Name the Moveit config package ``panda_multiple_arms_moveit_config`` and generat Step 3: Write the ros controllers configuration and launch files for the multiple arms -------------------------------------------------------------------------------------- -This step creates ros_control configuration files and roslaunch files to start them. We need two controller types. The first is a *joint state controller*, which publishes the state of all joints. The second is *joint trajectory controller* type, which executes joint-space trajectories on a group of robot joints. +This step creates ``ros_control`` configuration files and ``roslaunch`` files to start them. We need two controller types. The first is a *joint state controller*, which publishes the state of all joints. The second is *joint trajectory controller* type, which executes joint-space trajectories on a group of robot joints. In the following configuration files, the controllers names are ``joint_state_controller``, ``rgt_arm_trajectory_controller``, and ``lft_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and constraints. For more about ros controllers, refer to their documentation_. Let's create the controllers configuration and their launch file in systematic steps and with descriptive names. Some comments are added after the steps not to break the flow. @@ -293,7 +289,7 @@ In the following configuration files, the controllers names are ``joint_state_co -5. Create the launch ``control_utils.launch`` file to load the controllers and spawn them. :: +5. Create the launch ``control_utils.launch`` file to start the robot state publisher, load the controllers, and spawn them. :: @@ -314,12 +310,12 @@ In the following configuration files, the controllers names are ``joint_state_co -The joint state controller publishes the robot joint values ``/joint_states`` and the robot state publisher uses them to calculate forward kinematics and publish the poses/transforms of the robot links. The joint state controller enables executing joint-space trajectories on a group of joints. +The joint state controller publishes the robot joint values on the ``/joint_states`` topic, and the robot state publisher uses them to calculate forward kinematics and publish the poses/transforms of the robot links. The joint trajectory controller enables executing joint-space trajectories on a group of joints. .. Please be careful with the namespace (ns) and the controllers names when doing this step. Those names must match the names in the trajectory_controller.yaml file. -The remaining part of this step presents guidance how to modify the auto-generated control-related files in the moveit config package for interfacing the arm using MoveIt to Gazebo. Also in a systematic way, we need to modify two files. ``ros_controllers.yaml``, and ``simple_moveit_controllers.yaml`` +The remaining part of this step presents guidance how to modify the auto-generated control-related files in the moveit config package for interfacing the arm using MoveIt to Gazebo. Also in a systematic way, we need to modify two files, ``ros_controllers.yaml``, and ``simple_moveit_controllers.yaml`` - The ros_controllers.yaml @@ -399,10 +395,10 @@ The remaining part of this step presents guidance how to modify the auto-generat This file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. Moveit requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ros controller (written above). - This is the file that configures the controllers to be used by MoveIt controller manager to operate the robot. The controllers names should correspond to the ros controllers in the previous ros_controllers.yaml, which is same as the trajectory_control.yaml. + This is the file that configures the controllers to be used by MoveIt controller manager to operate the robot. The controllers names should correspond to the ros controllers in the previous ``ros_controllers.yaml``, which is same as the ``trajectory_control.yaml``. -Modift the file contents to be as follows. :: +Modify the file contents to be as follows. :: controller_list: - name: rgt_arm_trajectory_controller @@ -447,7 +443,7 @@ Modift the file contents to be as follows. :: joints: - lft_arm_finger_joint1 -The last step in the setup is to let the ``ros_controllers.launch`` spawn the ros controllers configured in the ros_controller.yaml file. This is simply done by adding the controller names as arguments in the spawner node as shown below. :: +The last step is to let the ``ros_controllers.launch`` spawn the ros controllers configured in the ``ros_controller.yaml`` file. This is simply done by adding the controller names as arguments in the spawner node as shown below. :: @@ -467,7 +463,7 @@ The last step in the setup is to let the ``ros_controllers.launch`` spawn the ro Step 4: Integrate the simulation in Gazebo with Moveit motion planning ---------------------------------------------------------------------- -We need to prepare the required components to start a simulated robot in Gazebo, load the ros controllers, and moveit motion plannig. We have already prepared the ``control_utils.launch`` file to load the ros controllers, and the required moveit launch file is the ``move_group.launch`` which is auto generated. Then, our tasks here are to start a simulated robot in gazebo world, and prepare a launch file that launches the above mentioned three components. +We need to prepare a launch file to start three required components for the integration to work. Those components are the simulated robot in Gazebo, ros controllers, and moveit motion plannig executable. We have already prepared the ``control_utils.launch`` file to load the ros controllers, and the required moveit motion planning file ``move_group.launch`` is auto generated. Then, our tasks here are to start the simulated robot in gazebo world, and prepare a launch file that launches the above mentioned three components. 1. Start the simulated a robot in an empty Gazebo world @@ -522,7 +518,7 @@ The ``bringup_moveit.launch`` contents are as follows. :: - + @@ -537,18 +533,19 @@ To run the Moveit Gazebo integration, run the ``bringup_moveit.launch``. :: roslaunch panda_multiple_arms bringup_moveit.launch -If all steps are done, this should bringup all the required components for the integration. Then, we are able to control the simulated robot in rviz and execute the motions in Gazebo as shown in `this video `_. As shown in the video, we can interact with the arms and hands in Rviz with their move groups, and execute arms motions and hands open and close commands in Gazebo. +If all steps are done, this should bringup all the required components for the integration. Then, we can plan motions for the arms and hands using MoveIt's rviz plugin and execute those motions on the simulated robots in Gazebo as shown in `this video `_. + -Step 5: Plan arms motions with MoveIt Move Group Interface. +Step 5: Plan arms motions with MoveIt Move Group Interface. ----------------------------------------------------------- After ensuring our integration is correct, the most interesting part is to plan robot motion with the Moveit API and see our robots moving in Gazebo. This step shows how to prepare the dependenies and write code for planning simple motions for the arms and hands. -We need to include some dependenies in the robot's package ``CMakeLists.txt`` file. They are packages to enable using moveit group interface and utility package to describe the arms target poses. Here is a link to a `minimal CMakeLists.txt `_ file used in this step. +We need to include some dependenies in the robot's package ``CMakeLists.txt`` file. They are packages to enable using moveit group interface and utility package to describe the arms target poses. Here is a link to a `minimal CMakeLists.txt `_ file used in this step. For the motion planning, please refer to Move Group Interface `tutorial `_ for more details about MoveIt's move group C++ interface. We are using a separate move group for every arm and every hand. -This is a link to the code for planning simple motions. It does the following. +This is the `file `_ used for planning the simple motions. The code in this file does the following. 1. Set the move groups names for arms and hands (considering same naming in step 2).:: @@ -559,7 +556,7 @@ This is a link to the code for planning simple motions. It does the following. static const std::string lft_hand_group = "lft_hand"; -2. Declar MoveGroupInterface objects for every arm and hand.:: +2. Declare MoveGroupInterface objects for every arm and hand.:: moveit::planning_interface::MoveGroupInterface rgt_arm_move_group_interface(rgt_arm_group); moveit::planning_interface::MoveGroupInterface rgt_hand_move_group_interface(rgt_hand_group); @@ -572,7 +569,7 @@ This is a link to the code for planning simple motions. It does the following. rgt_arm_move_group_interface.setNamedTarget("ready"); lft_arm_move_group_interface.setNamedTarget("ready"); -4. Plan the arms motions, and if successful move arms and open grippers.:: +4. Plan the arms motions, and if the planning is successful move arms and open grippers.:: bool rgt_success = (rgt_arm_move_group_interface.plan(rgt_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); bool lft_success = (lft_arm_move_group_interface.plan(lft_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); @@ -593,7 +590,7 @@ This is a link to the code for planning simple motions. It does the following. lft_hand_move_group_interface.move(); } -5. In the last step, the arms are tasked to move arbitary motion with respect to the current pose. The right arm move 0.10 meter up, and the left arm move 0.10 forward. The motion is done with respect to the current poses of the robots. Here is the example of moving the right arm up. :: +5. In the last step, the arms are tasked to move arbitary motion with respect to theie current poses. The right arm moves 0.10 meter up, and the left arm moves 0.10 forward. Here is the code for moving the right arm up. :: geometry_msgs::PoseStamped current_rgt_arm_pose = rgt_arm_move_group_interface.getCurrentPose(); geometry_msgs::PoseStamped target_rgt_arm_pose = current_rgt_arm_pose; @@ -609,7 +606,7 @@ This is a link to the code for planning simple motions. It does the following. } -This `YouTube video `_ shows the previous motion of arms and hands using MoveIt move group interface. You may think the arms should move in straight lines between current and target poses. This is can be accomplished using the MoveIt Cartesian Planners, which is also explained in the Move Group Interface tutorial, and you are encouraged to try. +This `short YouTube video `_ shows the described arms and hands motions using MoveIt move group interface. You may think the arms should move in straight lines between current and target poses. This is can be accomplished using the MoveIt Cartesian Planners, which is also explained in the Move Group Interface `tutorials `_, and you are strongly encouraged to implement it. .. From 4b43d23f1d11ece4bc4cf614acbac2a23314bf6a Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 1 Jul 2022 21:21:16 +0900 Subject: [PATCH 30/63] Fix plugin name --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 55693ae96..90df7cc3a 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -6,7 +6,7 @@ In MoveIt, we can plan motions for multiple robot arms, but there are pre-requir :width: 600pt :align: center -Watch this `Quick YouTube video `_ of the multiple arms being controlled in Gazebo with Moveit from Rviz. +Watch this `Quick YouTube video `_ of the multiple arms being controlled in Gazebo with the MoveIt Rviz plugin. Getting Started --------------- From c28f147178a464df10ccf43aba27364285baea36 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Wed, 2 Nov 2022 17:36:55 +0900 Subject: [PATCH 31/63] Fix language errors --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 90df7cc3a..3999563f2 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -54,14 +54,14 @@ Notes: 1. Two xacro arguments ``rgt_arm`` and ``lft_arm`` are defined as prefixes to differentiate the arms and hands names. -2. The arms and hands models are loaded from the ``franka_description`` package, which is expected to be installed as a dependency. Similarly, when modeling your robots, make sure their robot_description packages are available in your ROS workspace. +2. The arms and hands models are loaded from the ``franka_description`` package, which is installed as a dependency of the ``panda_moveit_config`` package. When modeling your robot, make sure the robot_description package is available in your ROS workspace. 3. We usually need to have a careful look at the robot's xacro file to understand the xacro parameters to use. Here is an example from the ``panda_arm.xacro`` in the ``franka_description`` package. :: -We can search those parameters in the xacro macro to understand the function of each. The ``arm_id`` sets a prefix to the arm name to be enable reusing the same model. This is essential for our purpose of modeling multiple arms or robots. The ``connected_to`` parameter gives possibility to connect the robot base with a fixed joint to a given link. In our multiple arms model, each robot is connected to the box shaped base. The gazebo parameter decides whether to load the gazebo simulation required information (e.g links inertia and joints transmission) or not. +We can search those parameters in the xacro macro to understand the function of each. The ``arm_id`` sets a prefix to the arm name to enable reusing the same model. This is essential for our purpose of modeling multiple robots. The ``connected_to`` parameter allows the robot base to be attached to a given link. In our multiple arms model, each robot is connected to the box shaped base. The gazebo parameter determines whether to load the gazebo simulation required information (e.g links inertias and joints transmissions) or not. After knowing the xacro macro for the arm, and understanding the input parameters, we can use it as follows to load the arms. :: @@ -72,7 +72,7 @@ After knowing the xacro macro for the arm, and understanding the input parameter The same applies to loading the grippers/hands models, and other robots that are defined with xacro macros. -At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and if needed you can visualize it (as described before). Run the following commands to check the URDF has no problems. :: +At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and visualize it (as described before). Run the following commands to check the URDF has no problems. :: cd ~ws_moveit catkin build From 40388544138dc8431963a8219f60a606606312fa Mon Sep 17 00:00:00 2001 From: Robotawi Date: Wed, 2 Nov 2022 17:55:22 +0900 Subject: [PATCH 32/63] Fix faulty files paths --- .../multiple_robot_arms_tutorial.rst | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 3999563f2..e50d8bc91 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -34,7 +34,7 @@ The Panda robot arm is used in the following explanation, but the same applies t To start building your multiple arms model, create a new ``panda_multiple_arms`` package as follows: :: - cd ~/ws_moveit + cd ~/ws_moveit/src catkin create pkg panda_multiple_arms cd panda_multiple_arms mkdir robot_description @@ -74,10 +74,10 @@ The same applies to loading the grippers/hands models, and other robots that are At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and visualize it (as described before). Run the following commands to check the URDF has no problems. :: - cd ~ws_moveit + cd ~/ws_moveit catkin build source devel/setup.bash - roscd dual_panda_arms/robot_description + roscd panda_multiple_arms/robot_description rosrun xacro xacro panda_multiple_arms.xacro -o panda_multiple_arms.urdf check_urdf panda_multiple_arms.urdf @@ -201,7 +201,7 @@ In the following configuration files, the controllers names are ``joint_state_co cd ~/ws_moveit cd src/panda_multiple_arms - mkdir config + mkdir config && cd config touch joint_state_controller.yaml 2. Open the ``joint_state_controller.yaml`` and copy the controller configuration to it :: @@ -216,9 +216,8 @@ In the following configuration files, the controllers names are ``joint_state_co 3. Create the controller configuration file ``trajectory_controller.yaml`` in the ``panda_multiple_arms/config`` package as follows:: cd ~/ws_moveit - cd src/panda_multiple_arms - mkdir config - touch trajectory_controller.yaml + cd src/panda_multiple_arms/config + touch trajectory_controller.yaml 4. Open the ``trajectory_controller.yaml`` and copy the controller configuration to it :: From 159c74e1c9953286f6090b2d59644116a6b8e42e Mon Sep 17 00:00:00 2001 From: Robotawi Date: Wed, 2 Nov 2022 18:11:06 +0900 Subject: [PATCH 33/63] Correct file names --- .../multiple_robot_arms_tutorial.rst | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index e50d8bc91..66a8d1558 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -206,7 +206,6 @@ In the following configuration files, the controllers names are ``joint_state_co 2. Open the ``joint_state_controller.yaml`` and copy the controller configuration to it :: - panda_multiple_arms: joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 @@ -319,7 +318,7 @@ The remaining part of this step presents guidance how to modify the auto-generat - The ros_controllers.yaml The ``ros_controllers.yaml`` file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. According to the MoveIt Setup Assistant authors, this file is meant for the ros control configuration (this means its content should exactly match the content of ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``). Then, just copy the two files contents into this file. The file should look as follows :: - + joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 @@ -466,7 +465,7 @@ We need to prepare a launch file to start three required components for the inte 1. Start the simulated a robot in an empty Gazebo world -To spawn the panda multiple arms model in a gazebo, we need to prepare a launch file in the ``panda_multiple_arms`` package. Let's call it ``view_panda_multiple_arms_empty_world.launch``. Here are the steps to prepar this file. :: +To spawn the panda multiple arms model in a gazebo, we need to prepare a launch file in the ``panda_multiple_arms`` package. Let's call it ``panda_multiple_arms_empty_world.launch``. Here are the steps to prepar this file. :: cd ~/ws_moveit cd src/panda_multiple_arms/launch @@ -474,7 +473,7 @@ To spawn the panda multiple arms model in a gazebo, we need to prepare a launch The ``panda_multiple_arms_empty_world.launch`` file launches an empty world file, loads the robot description, and spawns the robot in the empty world. Its contents are as follows:: - + @@ -515,10 +514,10 @@ The ``bringup_moveit.launch`` contents are as follows. :: - + - + From 8f41d3698fb8502a4d7ef00d1cdec85f70e95fbf Mon Sep 17 00:00:00 2001 From: Robotawi Date: Wed, 2 Nov 2022 18:12:27 +0900 Subject: [PATCH 34/63] Remove unneeded comments --- .../multiple_robot_arms_tutorial.rst | 14 +------------- 1 file changed, 1 insertion(+), 13 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 66a8d1558..0b7e87781 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -42,8 +42,6 @@ To start building your multiple arms model, create a new ``panda_multiple_arms`` To prepare your multiple robot arms xacro file (model), you need to have the single arm's xacro file. In the following part, we will build a multiple arms panda robot description file consisting of two identical arms. -.. - It is worth mentioning that the difference between xacro and URDF is that TODO1. This property makes it easier to include multiple robot arms models in the same file, with a different prefix. Our multiple arms model has ``rgt_arm`` and ``lft_arm`` models. Each arm is equipped with a gripper. The xacro files can get lengthy. Here is a link to the multiple_arms_ xacro file. @@ -604,14 +602,4 @@ This is the `file `_ shows the described arms and hands motions using MoveIt move group interface. You may think the arms should move in straight lines between current and target poses. This is can be accomplished using the MoveIt Cartesian Planners, which is also explained in the Move Group Interface `tutorials `_, and you are strongly encouraged to implement it. - - -.. - Tutorial for multiple robot arms - While there are some ROS Answers posts and examples floating around, there is no definitive resource on how to set up multiple manipulators with MoveIt (and especially MoveIt2). The goal of this project is to write a tutorial that should become the reference. - Expected outcome: A ROS beginner can read the tutorial and set up a ros2_control / MoveIt pipeline without additional help. - Project size: medium (175 hours) - Difficulty: easy - Preferred skills: Technical Writing, ROS, MoveIt, Python, and YAML - Mentor: Andy Zelenak \ No newline at end of file +This `short YouTube video `_ shows the described arms and hands motions using MoveIt move group interface. You may think the arms should move in straight lines between current and target poses. This is can be accomplished using the MoveIt Cartesian Planners, which is also explained in the Move Group Interface `tutorials `_, and you are strongly encouraged to implement it. \ No newline at end of file From 6fabe91790db29c94dc13e82305c0bf21516e29f Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 15:30:07 +0900 Subject: [PATCH 35/63] Correct controllers config files format --- .../multiple_robot_arms_tutorial.rst | 238 +++++++++--------- 1 file changed, 116 insertions(+), 122 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 0b7e87781..92509732c 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -195,7 +195,7 @@ In the following configuration files, the controllers names are ``joint_state_co - The joint state controller: -1. Create the controller configuration files ``joint_state_controller.yaml`` inside the ``panda_multiple_arms/config`` package as follows:: +1. Create the ``joint_state_controller.yaml`` configuration file inside the ``panda_multiple_arms/config`` directory as follows:: cd ~/ws_moveit cd src/panda_multiple_arms @@ -210,7 +210,7 @@ In the following configuration files, the controllers names are ``joint_state_co - The joint trajectory controller: -3. Create the controller configuration file ``trajectory_controller.yaml`` in the ``panda_multiple_arms/config`` package as follows:: +3. Create the ``trajectory_controller.yaml`` configuration file in the same directory ``panda_multiple_arms/config`` :: cd ~/ws_moveit cd src/panda_multiple_arms/config @@ -220,72 +220,71 @@ In the following configuration files, the controllers names are ``joint_state_co 4. Open the ``trajectory_controller.yaml`` and copy the controller configuration to it :: rgt_arm_trajectory_controller: - type: "position_controllers/JointTrajectoryController" - joints: - - rgt_arm_joint1 - - rgt_arm_joint2 - - rgt_arm_joint3 - - rgt_arm_joint4 - - rgt_arm_joint5 - - rgt_arm_joint6 - - rgt_arm_joint7 - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - rgt_arm_joint1: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint2: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint3: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint4: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint5: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint6: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint7: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 + type: "position_controllers/JointTrajectoryController" + joints: + - rgt_arm_joint1 + - rgt_arm_joint2 + - rgt_arm_joint3 + - rgt_arm_joint4 + - rgt_arm_joint5 + - rgt_arm_joint6 + - rgt_arm_joint7 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + rgt_arm_joint1: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint2: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint3: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint4: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint5: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint6: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint7: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 lft_arm_trajectory_controller: - type: "position_controllers/JointTrajectoryController" - joints: - - lft_arm_joint1 - - lft_arm_joint2 - - lft_arm_joint3 - - lft_arm_joint4 - - lft_arm_joint5 - - lft_arm_joint6 - - lft_arm_joint7 - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - lft_arm_joint1: {trajectory: 0.1, goal: 0.1} - lft_arm_joint2: {trajectory: 0.1, goal: 0.1} - lft_arm_joint3: {trajectory: 0.1, goal: 0.1} - lft_arm_joint4: {trajectory: 0.1, goal: 0.1} - lft_arm_joint5: {trajectory: 0.1, goal: 0.1} - lft_arm_joint6: {trajectory: 0.1, goal: 0.1} - lft_arm_joint7: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 + type: "position_controllers/JointTrajectoryController" + joints: + - lft_arm_joint1 + - lft_arm_joint2 + - lft_arm_joint3 + - lft_arm_joint4 + - lft_arm_joint5 + - lft_arm_joint6 + - lft_arm_joint7 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + lft_arm_joint1: {trajectory: 0.1, goal: 0.1} + lft_arm_joint2: {trajectory: 0.1, goal: 0.1} + lft_arm_joint3: {trajectory: 0.1, goal: 0.1} + lft_arm_joint4: {trajectory: 0.1, goal: 0.1} + lft_arm_joint5: {trajectory: 0.1, goal: 0.1} + lft_arm_joint6: {trajectory: 0.1, goal: 0.1} + lft_arm_joint7: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 #notice that the grippers joint2 mimics joint1 #this is why it is not listed under the hand controllers rgt_hand_controller: - type: "effort_controllers/JointTrajectoryController" - joints: - - rgt_arm_finger_joint1 - gains: - rgt_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} + type: "effort_controllers/JointTrajectoryController" + joints: + - rgt_arm_finger_joint1 + gains: + rgt_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} lft_hand_controller: - type: "effort_controllers/JointTrajectoryController" - joints: - - lft_arm_finger_joint1 - gains: - lft_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} + type: "effort_controllers/JointTrajectoryController" + joints: + - lft_arm_finger_joint1 + gains: + lft_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} - -5. Create the launch ``control_utils.launch`` file to start the robot state publisher, load the controllers, and spawn them. :: +5. Create the ``control_utils.launch`` file inside the ``panda_multiple_arms/launch`` directory to start the robot state publisher, and the controllers. :: @@ -308,90 +307,85 @@ In the following configuration files, the controllers names are ``joint_state_co The joint state controller publishes the robot joint values on the ``/joint_states`` topic, and the robot state publisher uses them to calculate forward kinematics and publish the poses/transforms of the robot links. The joint trajectory controller enables executing joint-space trajectories on a group of joints. -.. - Please be careful with the namespace (ns) and the controllers names when doing this step. Those names must match the names in the trajectory_controller.yaml file. - -The remaining part of this step presents guidance how to modify the auto-generated control-related files in the moveit config package for interfacing the arm using MoveIt to Gazebo. Also in a systematic way, we need to modify two files, ``ros_controllers.yaml``, and ``simple_moveit_controllers.yaml`` +The remaining part of this step explains how to modify the auto-generated controller files in the moveit config package to execute MoveIt-generated trajectories on Gazebo-simulated robots. Also in a systematic way, we need to modify two files, ``ros_controllers.yaml``, and ``simple_moveit_controllers.yaml`` - The ros_controllers.yaml - The ``ros_controllers.yaml`` file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. According to the MoveIt Setup Assistant authors, this file is meant for the ros control configuration (this means its content should exactly match the content of ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``). Then, just copy the two files contents into this file. The file should look as follows :: + The ``ros_controllers.yaml`` file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. This file is for the ROS control configuration, which means its content should be the same as the content of both ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``. Copy the two files contents into this file, and it should be as follows :: joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 + type: joint_state_controller/JointStateController + publish_rate: 50 rgt_arm_trajectory_controller: - type: "position_controllers/JointTrajectoryController" - joints: - - rgt_arm_joint1 - - rgt_arm_joint2 - - rgt_arm_joint3 - - rgt_arm_joint4 - - rgt_arm_joint5 - - rgt_arm_joint6 - - rgt_arm_joint7 - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - rgt_arm_joint1: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint2: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint3: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint4: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint5: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint6: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint7: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 + type: "position_controllers/JointTrajectoryController" + joints: + - rgt_arm_joint1 + - rgt_arm_joint2 + - rgt_arm_joint3 + - rgt_arm_joint4 + - rgt_arm_joint5 + - rgt_arm_joint6 + - rgt_arm_joint7 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + rgt_arm_joint1: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint2: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint3: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint4: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint5: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint6: {trajectory: 0.1, goal: 0.1} + rgt_arm_joint7: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 lft_arm_trajectory_controller: - type: "position_controllers/JointTrajectoryController" - joints: - - lft_arm_joint1 - - lft_arm_joint2 - - lft_arm_joint3 - - lft_arm_joint4 - - lft_arm_joint5 - - lft_arm_joint6 - - lft_arm_joint7 - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - lft_arm_joint1: {trajectory: 0.1, goal: 0.1} - lft_arm_joint2: {trajectory: 0.1, goal: 0.1} - lft_arm_joint3: {trajectory: 0.1, goal: 0.1} - lft_arm_joint4: {trajectory: 0.1, goal: 0.1} - lft_arm_joint5: {trajectory: 0.1, goal: 0.1} - lft_arm_joint6: {trajectory: 0.1, goal: 0.1} - lft_arm_joint7: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 + type: "position_controllers/JointTrajectoryController" + joints: + - lft_arm_joint1 + - lft_arm_joint2 + - lft_arm_joint3 + - lft_arm_joint4 + - lft_arm_joint5 + - lft_arm_joint6 + - lft_arm_joint7 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + lft_arm_joint1: {trajectory: 0.1, goal: 0.1} + lft_arm_joint2: {trajectory: 0.1, goal: 0.1} + lft_arm_joint3: {trajectory: 0.1, goal: 0.1} + lft_arm_joint4: {trajectory: 0.1, goal: 0.1} + lft_arm_joint5: {trajectory: 0.1, goal: 0.1} + lft_arm_joint6: {trajectory: 0.1, goal: 0.1} + lft_arm_joint7: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 #notice that the grippers joint2 mimics joint1 #this is why it is not listed under the hand controllers rgt_hand_controller: - type: "effort_controllers/JointTrajectoryController" - joints: - - rgt_arm_finger_joint1 - gains: - rgt_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} + type: "effort_controllers/JointTrajectoryController" + joints: + - rgt_arm_finger_joint1 + gains: + rgt_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} lft_hand_controller: - type: "effort_controllers/JointTrajectoryController" - joints: - - lft_arm_finger_joint1 - gains: - lft_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} + type: "effort_controllers/JointTrajectoryController" + joints: + - lft_arm_finger_joint1 + gains: + lft_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} -.. - Notice that the namespace and controller names correspond to the names in ``trajectory_controller.yaml`` file. - The simple_moveit_controllers.yaml This file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. Moveit requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ros controller (written above). - This is the file that configures the controllers to be used by MoveIt controller manager to operate the robot. The controllers names should correspond to the ros controllers in the previous ``ros_controllers.yaml``, which is same as the ``trajectory_control.yaml``. + This file configures the controllers to be used by MoveIt controller manager to execute planned trajectories. The controllers names should match to the ros controllers in the previous ``ros_controllers.yaml``, which is same as the ``trajectory_control.yaml``. Modify the file contents to be as follows. :: From 2f531660db4a284a85c2322545cd97c03c43329b Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 17:02:12 +0900 Subject: [PATCH 36/63] Explicitly instruct to copy xacro file content --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 92509732c..4c1bb8735 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -43,7 +43,7 @@ To start building your multiple arms model, create a new ``panda_multiple_arms`` To prepare your multiple robot arms xacro file (model), you need to have the single arm's xacro file. In the following part, we will build a multiple arms panda robot description file consisting of two identical arms. -Our multiple arms model has ``rgt_arm`` and ``lft_arm`` models. Each arm is equipped with a gripper. The xacro files can get lengthy. Here is a link to the multiple_arms_ xacro file. +Our multiple arms model has ``rgt_arm`` and ``lft_arm`` models. Each arm is equipped with a gripper. Here is a link to the panda_multiple_arms_ xacro file. Please copy its XML code to your ``panda_multiple_arms.xacro`` file. .. _multiple_arms: https://github.com/Robotawi/panda_arms_ws/blob/master/src/panda_multiple_arms/robot_description/panda_multiple_arms.xacro From 72376d9db8f877d36987fabb750290e5da53179a Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 19:18:40 +0900 Subject: [PATCH 37/63] Revise step 1 --- .../multiple_robot_arms_tutorial.rst | 24 +++++++++---------- 1 file changed, 11 insertions(+), 13 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 4c1bb8735..1f936c066 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -10,7 +10,7 @@ Watch this `Quick YouTube video `_ Getting Started --------------- -If you haven't already done so, make sure you've completed the steps in `Getting Started <../getting_started/getting_started.html>`_. +If you haven't already done so, make sure you've completed the steps in `Getting Started `_. The steps of setting multiple arms environments to use MoveIt motion planning are as follows: @@ -43,34 +43,32 @@ To start building your multiple arms model, create a new ``panda_multiple_arms`` To prepare your multiple robot arms xacro file (model), you need to have the single arm's xacro file. In the following part, we will build a multiple arms panda robot description file consisting of two identical arms. -Our multiple arms model has ``rgt_arm`` and ``lft_arm`` models. Each arm is equipped with a gripper. Here is a link to the panda_multiple_arms_ xacro file. Please copy its XML code to your ``panda_multiple_arms.xacro`` file. - -.. _multiple_arms: https://github.com/Robotawi/panda_arms_ws/blob/master/src/panda_multiple_arms/robot_description/panda_multiple_arms.xacro +Our multiple arms model has ``rgt_arm`` and ``lft_arm`` models. Each arm is equipped with a gripper. Here is a link to the `panda_multiple_arms.xacro `_ file. Please copy its XML code to your ``panda_multiple_arms.xacro`` file. Notes: 1. Two xacro arguments ``rgt_arm`` and ``lft_arm`` are defined as prefixes to differentiate the arms and hands names. -2. The arms and hands models are loaded from the ``franka_description`` package, which is installed as a dependency of the ``panda_moveit_config`` package. When modeling your robot, make sure the robot_description package is available in your ROS workspace. +2. The arms and hands models are loaded from the ``franka_description`` package, which is installed as a dependency of the ``panda_moveit_config`` package. Ensure the ``franka_description`` package is installed in your ROS environment. -3. We usually need to have a careful look at the robot's xacro file to understand the xacro parameters to use. Here is an example from the ``panda_arm.xacro`` in the ``franka_description`` package. :: +3. We usually need to have a careful look at the robot's xacro file to understand the parameters to use. Here is an of the ``franka_arm.xacro`` from the ``franka_description`` package. :: -We can search those parameters in the xacro macro to understand the function of each. The ``arm_id`` sets a prefix to the arm name to enable reusing the same model. This is essential for our purpose of modeling multiple robots. The ``connected_to`` parameter allows the robot base to be attached to a given link. In our multiple arms model, each robot is connected to the box shaped base. The gazebo parameter determines whether to load the gazebo simulation required information (e.g links inertias and joints transmissions) or not. +We can search those parameters in the xacro macro to understand the function of each. The ``arm_id`` sets a prefix to the arm name to enable reusing the same model. This is essential for our purpose of modeling multiple robots. The ``connected_to`` parameter allows the robot base to be attached to a given link. In our multiple arms model, each robot is connected to a box-shaped base. The gazebo parameter determines whether to load the gazebo simulation required information (e.g links inertias and joints transmissions) or not. After knowing the xacro macro for the arm, and understanding the input parameters, we can use it as follows to load the arms. :: - + - + -The same applies to loading the grippers/hands models, and other robots that are defined with xacro macros. +The same way applies to loading the grippers/hands models, and other robots that are defined with xacro macros. -At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and visualize it (as described before). Run the following commands to check the URDF has no problems. :: +At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and visualize the model. Run the following commands to check the URDF has no problems. :: cd ~/ws_moveit catkin build @@ -80,7 +78,7 @@ At this point, it is recommended to check our xacro model is working as expected check_urdf panda_multiple_arms.urdf -The ``check_urdf`` shows the links tree and indicats if there are any errors: :: +The ``check_urdf`` shows the links tree and indicates if there are any errors: :: robot name is: panda_multiple_arms ---------- Successfully Parsed XML --------------- @@ -132,7 +130,7 @@ The ``check_urdf`` shows the links tree and indicats if there are any errors: :: child(2): rgt_arm_link0_sc -To visually check your multiple robot model, run the command: :: +To visually check your multiple robot arm model, run the command: :: roslaunch urdf_tutorial display.launch model:=panda_multiple_arms.urdf From b3774f2e200639bad00dc486a54ba38b6ce78f10 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 19:21:15 +0900 Subject: [PATCH 38/63] Revise step 1 --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 1f936c066..6b4972140 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -54,7 +54,7 @@ Notes: 3. We usually need to have a careful look at the robot's xacro file to understand the parameters to use. Here is an of the ``franka_arm.xacro`` from the ``franka_description`` package. :: - + We can search those parameters in the xacro macro to understand the function of each. The ``arm_id`` sets a prefix to the arm name to enable reusing the same model. This is essential for our purpose of modeling multiple robots. The ``connected_to`` parameter allows the robot base to be attached to a given link. In our multiple arms model, each robot is connected to a box-shaped base. The gazebo parameter determines whether to load the gazebo simulation required information (e.g links inertias and joints transmissions) or not. From ef26f2fad4be4bebff60933e23dde7a750ad2315 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 19:35:16 +0900 Subject: [PATCH 39/63] Fix robot_description path --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 6b4972140..37d1d0e01 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -37,7 +37,7 @@ To start building your multiple arms model, create a new ``panda_multiple_arms`` cd ~/ws_moveit/src catkin create pkg panda_multiple_arms cd panda_multiple_arms - mkdir robot_description + mkdir robot_description && cd robot_description touch panda_multiple_arms.xacro To prepare your multiple robot arms xacro file (model), you need to have the single arm's xacro file. In the following part, we will build a multiple arms panda robot description file consisting of two identical arms. @@ -68,7 +68,7 @@ After knowing the xacro macro for the arm, and understanding the input parameter The same way applies to loading the grippers/hands models, and other robots that are defined with xacro macros. -At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and visualize the model. Run the following commands to check the URDF has no problems. :: +At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and visualize the model. Run the following commands to build your panda_multiple_arms package and check the xacro model has no problems. :: cd ~/ws_moveit catkin build From fb7d94158541064b2125f1f8e49fef26836c37d7 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 19:46:53 +0900 Subject: [PATCH 40/63] Update rviz screenshot to use world frame --- .../images/rviz_fixed_frame.png | Bin 21130 -> 19889 bytes .../multiple_robot_arms_tutorial.rst | 6 +++--- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/multiple_robot_arms/images/rviz_fixed_frame.png b/doc/multiple_robot_arms/images/rviz_fixed_frame.png index 4885d9f48ab14260cd11344b496b96984842d4d0..fbdad7e537f1c3db3d3fbbb52f9c20717d8b72dc 100644 GIT binary patch literal 19889 zcma(3WmFtp)HRAW!QC~uyIXK~cPF?*aBm>E2X}W5?hqijdvJGY+~xH1e(xFgoO}P= z8l$Uwbk*2v*WR_)nrp6E6{(^mjf_Bm0001xWo0DP000OZ@b6~0FW@~!V#YK03;u_U zt}6h5^7p?FL<$4SR{($%AS)rN;gx-!Mxnldw}Jw=kE7$`C*M6%Qqrf!@|n1ik&&&hun-V^B%;G{M9{*&fKG%^P*4H1 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zjK`VR4G+VsAn2+FGa*2VJpBCoBRpc)UfTsekB7yc{h$2z2g6L+?3HN~>UD{rsfufL z_V)IOkBtNWoSSv;%g%^)P8@Z~Xq}eKvb#+KhS?*rqP7)iowZOCZ-l&}=E*IB^$0U&%*m zb~y?;K&m2!p{^?4d_~f*GRqUd{w*tP(o9GAnQUClDn}-dk1kzg=xL~d9_(9OZQ8O) zbu8;+m{!oPBV(A(rFvw{`Sa(Ilate+{WUc;VPj*{3?pNhDjg;=hUvUmp=8 -We can search those parameters in the xacro macro to understand the function of each. The ``arm_id`` sets a prefix to the arm name to enable reusing the same model. This is essential for our purpose of modeling multiple robots. The ``connected_to`` parameter allows the robot base to be attached to a given link. In our multiple arms model, each robot is connected to a box-shaped base. The gazebo parameter determines whether to load the gazebo simulation required information (e.g links inertias and joints transmissions) or not. +We can search those parameters in the xacro macro to understand the function of each. The ``arm_id`` sets a prefix to the arm name to enable reusing the same model. This is essential for our purpose of modeling multiple robots. The ``connected_to`` parameter allows the robot base to be attached to a given link. In our multiple arms model, each robot is connected to a box-shaped base. The ``gazebo`` parameter determines whether to load the gazebo simulation required information (e.g links inertias and joints transmissions) or not. After knowing the xacro macro for the arm, and understanding the input parameters, we can use it as follows to load the arms. :: @@ -68,7 +68,7 @@ After knowing the xacro macro for the arm, and understanding the input parameter The same way applies to loading the grippers/hands models, and other robots that are defined with xacro macros. -At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and visualize the model. Run the following commands to build your panda_multiple_arms package and check the xacro model has no problems. :: +At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and visualize the model. Run the following commands to build your ``panda_multiple_arms`` package and check the xacro model has no problems. :: cd ~/ws_moveit catkin build @@ -134,7 +134,7 @@ To visually check your multiple robot arm model, run the command: :: roslaunch urdf_tutorial display.launch model:=panda_multiple_arms.urdf -Once Rviz GUI starts, set the fixed frame on the upper left corner to be ``base``. +Once Rviz GUI starts, set the fixed frame on the upper left corner to be ``world``. .. image:: images/rviz_fixed_frame.png :width: 300pt From f799e0de1773ec357fdae54249819d593bc51b53 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 19:58:31 +0900 Subject: [PATCH 41/63] Conclude step 1 --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index bfde3e068..2481b1eb7 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -140,14 +140,14 @@ Once Rviz GUI starts, set the fixed frame on the upper left corner to be ``world :width: 300pt :align: center -If the model is correctly prepared, it should show up as follows. +If the previous steps are correctly done, the multiple arms model should show up as follows. .. image:: images/rviz_start.png :width: 500pt :align: center -This concludes the step of building the model and verifying it. +This concludes the first step of building the model and verifying it. Step 2: Prepare the MoveIt config package using MoveIt Setup Assistant ---------------------------------------------------------------------- From 67592866cc6faa6940dccae335a001c0a7aafbab Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 20:07:33 +0900 Subject: [PATCH 42/63] Revise step 2 --- .../multiple_robot_arms_tutorial.rst | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 2481b1eb7..2891d5087 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -150,9 +150,7 @@ If the previous steps are correctly done, the multiple arms model should show up This concludes the first step of building the model and verifying it. Step 2: Prepare the MoveIt config package using MoveIt Setup Assistant ----------------------------------------------------------------------- - -If you are not familiar with MoveIt Setup Assistant, please refer to this `tutorial `_. +---------------------------------------------------------------------- MoveIt Setup Assistant is used to configure our multiple robot arms for using the MoveIt pipeline. @@ -160,7 +158,7 @@ MoveIt Setup Assistant is used to configure our multiple robot arms for using th roslaunch moveit_setup_assistant setup_assistant.launch -Follow the MoveIt Setup Assistant tutorial to configure the arms. Note that we will be making a separate move group for each arm and hand. The groups are called ``rgt_arm``, ``lft_arm``, ``rgt_hand``, and ``lft_hand``. +Follow the MoveIt Setup Assistant `tutorial `_ to configure the arms. Note that we will be making a separate move group for each arm and hand. The groups are called ``rgt_arm``, ``lft_arm``, ``rgt_hand``, and ``lft_hand``. I want to consider two more point along with the the Setup Assistant tutorial @@ -174,13 +172,13 @@ The arms should look as follows at the `ready` pose. :align: center -1. Define ``open`` and ``close`` poses for the ``rgt_hand`` and ``lft_hand`` move groups. The ``open`` pose with joint1 value set to 0.35, and the ``close`` has the joint1 set to 0.0. Notice that the hand joint2 mimics the value of joint1. Therefore, there is no need to fix joint2 in the hand move_group poses. The defined poses for the arms and hand can be as follows. You can add other poses of interest for the arms, if needed. +2. Define ``open`` and ``close`` poses for the ``rgt_hand`` and ``lft_hand`` move groups. The ``open`` pose with joint1 value set to 0.035, and the ``close`` has the joint1 set to 0.0. Notice that the hand joint2 mimics the value of joint1. Therefore, there is no need to fix joint2 in the hand move_group poses. The defined poses for the arms and hands should look as follows. Feel free to add other poses of interest for the arms/hands. .. image:: images/move_groups_poses.png :width: 500pt :align: center -Name the Moveit config package ``panda_multiple_arms_moveit_config`` and generate the files using the Setup Assistant. +Name the Moveit config package ``panda_multiple_arms_moveit_config`` and generate the files using the Setup Assistant in the ``~/ws_moveit/src`` directory. Step 3: Write the ros controllers configuration and launch files for the multiple arms -------------------------------------------------------------------------------------- From d089349b1f3e04a342ba6f5afacc19f70a93c73f Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 20:56:14 +0900 Subject: [PATCH 43/63] Reformat step 3 --- .../multiple_robot_arms_tutorial.rst | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 2891d5087..619a86c2b 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -307,7 +307,7 @@ The remaining part of this step explains how to modify the auto-generated contro - The ros_controllers.yaml - The ``ros_controllers.yaml`` file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. This file is for the ROS control configuration, which means its content should be the same as the content of both ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``. Copy the two files contents into this file, and it should be as follows :: +6. The ``ros_controllers.yaml`` file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. This file is for the ROS control configuration, which means its content should be the same as the content of both ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``. Copy the two files contents into this file, and it should be as follows :: joint_state_controller: type: joint_state_controller/JointStateController @@ -379,12 +379,7 @@ The remaining part of this step explains how to modify the auto-generated contro - The simple_moveit_controllers.yaml - This file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. Moveit requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ros controller (written above). - - This file configures the controllers to be used by MoveIt controller manager to execute planned trajectories. The controllers names should match to the ros controllers in the previous ``ros_controllers.yaml``, which is same as the ``trajectory_control.yaml``. - - -Modify the file contents to be as follows. :: +7. This file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. Moveit requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ros controller (written above). This file configures the controllers to be used by MoveIt controller manager to execute planned trajectories. The controllers names should match to the ros controllers in the previous ``ros_controllers.yaml``, which is same as the ``trajectory_control.yaml``. Modify the file contents to be as follows. :: controller_list: - name: rgt_arm_trajectory_controller @@ -429,7 +424,7 @@ Modify the file contents to be as follows. :: joints: - lft_arm_finger_joint1 -The last step is to let the ``ros_controllers.launch`` spawn the ros controllers configured in the ``ros_controller.yaml`` file. This is simply done by adding the controller names as arguments in the spawner node as shown below. :: +The last step is to make the ``ros_controllers.launch`` spawn the ros controllers configured in the ``ros_controller.yaml`` file. This is simply done by adding the controller names as arguments in the spawner node as shown below. :: From cf2bef4981fffdc898d39d79d4d1a3d6da801356 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 21:10:46 +0900 Subject: [PATCH 44/63] Revise step 3 --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 619a86c2b..ac35ef11e 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -280,7 +280,7 @@ In the following configuration files, the controllers names are ``joint_state_co lft_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} -5. Create the ``control_utils.launch`` file inside the ``panda_multiple_arms/launch`` directory to start the robot state publisher, and the controllers. :: +5. Create a ``control_utils.launch`` file inside the ``panda_multiple_arms/launch`` directory to start the robot state publisher, and the controllers. :: @@ -307,7 +307,7 @@ The remaining part of this step explains how to modify the auto-generated contro - The ros_controllers.yaml -6. The ``ros_controllers.yaml`` file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. This file is for the ROS control configuration, which means its content should be the same as the content of both ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``. Copy the two files contents into this file, and it should be as follows :: +6. The ``ros_controllers.yaml`` file is auto-generated in the ``panda_multiple_arms_moveit_config/config``. This file is for the ROS control configuration, which means its content should be the same as the content of both ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``. Copy the two files contents into this file, and it should be as follows :: joint_state_controller: type: joint_state_controller/JointStateController @@ -379,7 +379,7 @@ The remaining part of this step explains how to modify the auto-generated contro - The simple_moveit_controllers.yaml -7. This file is autogenerated in the ``panda_multiple_arms_moveit_config/config``. Moveit requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ros controller (written above). This file configures the controllers to be used by MoveIt controller manager to execute planned trajectories. The controllers names should match to the ros controllers in the previous ``ros_controllers.yaml``, which is same as the ``trajectory_control.yaml``. Modify the file contents to be as follows. :: +7. This file is auto-generated in the ``panda_multiple_arms_moveit_config/config``. Moveit requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ros controller (written above). This file configures the controllers to be used by MoveIt controller manager to execute planned trajectories. The controllers names should match to the ros controllers in the previous ``ros_controllers.yaml``, which is same as the ``trajectory_control.yaml``. Modify the file contents to be as follows. :: controller_list: - name: rgt_arm_trajectory_controller @@ -424,7 +424,7 @@ The remaining part of this step explains how to modify the auto-generated contro joints: - lft_arm_finger_joint1 -The last step is to make the ``ros_controllers.launch`` spawn the ros controllers configured in the ``ros_controller.yaml`` file. This is simply done by adding the controller names as arguments in the spawner node as shown below. :: +8. The last step is to make the auto-generated ``ros_controllers.launch`` spawn the ros controllers configured in the ``ros_controller.yaml`` file. This launch file is inside the ``panda_multiple_arms_moveit_config/launch`` directory. Edit the file and add the controller names as arguments in the controller spawner node as shown below. :: From 5092848ce316566f6828739502df042b48be1da5 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 21:21:14 +0900 Subject: [PATCH 45/63] Revise step 4 --- .../multiple_robot_arms_tutorial.rst | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index ac35ef11e..6ef77dc8f 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -444,11 +444,11 @@ The remaining part of this step explains how to modify the auto-generated contro Step 4: Integrate the simulation in Gazebo with Moveit motion planning ---------------------------------------------------------------------- -We need to prepare a launch file to start three required components for the integration to work. Those components are the simulated robot in Gazebo, ros controllers, and moveit motion plannig executable. We have already prepared the ``control_utils.launch`` file to load the ros controllers, and the required moveit motion planning file ``move_group.launch`` is auto generated. Then, our tasks here are to start the simulated robot in gazebo world, and prepare a launch file that launches the above mentioned three components. +We need to prepare a launch file to start three required components for the integration to work. Those components are the simulated robot in Gazebo, ros controllers, and Moveit motion plannig executable. We have already prepared the ``control_utils.launch`` file to load the ros controllers, and the required Moveit motion planning file ``move_group.launch`` is auto-generated. Then, our tasks here are to start the simulated robot in a Gazebo world, and prepare a launch file that launches the mentioned three components. -1. Start the simulated a robot in an empty Gazebo world +1. Starting the simulated robot in an empty Gazebo world -To spawn the panda multiple arms model in a gazebo, we need to prepare a launch file in the ``panda_multiple_arms`` package. Let's call it ``panda_multiple_arms_empty_world.launch``. Here are the steps to prepar this file. :: +To spawn the panda multiple arms model in Gazebo, we need to prepare a launch file in the ``panda_multiple_arms/launch`` package. Let's call it ``panda_multiple_arms_empty_world.launch``. Here are the steps to prepar this file. :: cd ~/ws_moveit cd src/panda_multiple_arms/launch @@ -474,13 +474,13 @@ The ``panda_multiple_arms_empty_world.launch`` file launches an empty world file -2. Prepare a ``bringup_moveit.launch`` file to start the three components. Create the file in the ``panda_multiple_arms/launch`` directory as follows then copy the contents into it. :: +2. Preparing a ``bringup_moveit.launch`` file to start the three integration components. Create the file in the ``panda_multiple_arms/launch`` directory. :: cd ~/ws_moveit cd src/panda_multiple_arms/launch touch bringup_moveit.launch -The ``bringup_moveit.launch`` contents are as follows. :: +Copy the following XML code to the ``bringup_moveit.launch`` file. :: From 4d309cc3c7d059a5de22c2839e4c1b2db32eea03 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 21:43:22 +0900 Subject: [PATCH 46/63] Explain integration dependencies --- .../multiple_robot_arms_tutorial.rst | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 6ef77dc8f..8e412775f 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -444,7 +444,12 @@ The remaining part of this step explains how to modify the auto-generated contro Step 4: Integrate the simulation in Gazebo with Moveit motion planning ---------------------------------------------------------------------- -We need to prepare a launch file to start three required components for the integration to work. Those components are the simulated robot in Gazebo, ros controllers, and Moveit motion plannig executable. We have already prepared the ``control_utils.launch`` file to load the ros controllers, and the required Moveit motion planning file ``move_group.launch`` is auto-generated. Then, our tasks here are to start the simulated robot in a Gazebo world, and prepare a launch file that launches the mentioned three components. +At the integration step, we need to ensure that ROS packages for ROS control, Gazebo ROS control, MoveIt ROS control interface, and MoveIt planners are installed and sourced on our ROS environment. Install the required ROS packages as follows, and **source** your ROS workspace:: + + sudo apt install sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-position-controllers ros-noetic-velocity-controllers ros-noetic-gazebo-ros ros-noetic-gazebo-ros-control ros-noetic-moveit-ros-control-interface ros-noetic-moveit-simple-controller-manager + ros-noetic-moveit-fake-controller-manager ros-noetic-moveit-planners + +For the integration to work, we need to prepare a launch file to start three components. Those components are the simulated robot in Gazebo, ros controllers, and Moveit motion plannig executable. We have already prepared the ``control_utils.launch`` file to load the ros controllers, and the required Moveit motion planning file ``move_group.launch`` is auto-generated. Then, our tasks here are to start the simulated robot in a Gazebo world, and prepare a launch file that launches the mentioned three components. 1. Starting the simulated robot in an empty Gazebo world @@ -510,11 +515,14 @@ Copy the following XML code to the ``bringup_moveit.launch`` file. :: -To run the Moveit Gazebo integration, run the ``bringup_moveit.launch``. :: +To run the Moveit Gazebo integration, build and source your ROS workspace, and run the ``bringup_moveit.launch``. :: + cd ~/ws_moveit + catkin build + source devel/setup.bash roslaunch panda_multiple_arms bringup_moveit.launch -If all steps are done, this should bringup all the required components for the integration. Then, we can plan motions for the arms and hands using MoveIt's rviz plugin and execute those motions on the simulated robots in Gazebo as shown in `this video `_. +If all steps are done, this should bring up all the required components for the integration. Then, we can plan motions for the arms and hands using MoveIt's rviz plugin and execute those motions on the simulated robots in Gazebo as shown in `this video `_. Step 5: Plan arms motions with MoveIt Move Group Interface. From cacabd1b5bbf380e0a19dda988b7a666e78d914c Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 21:58:04 +0900 Subject: [PATCH 47/63] Fix ROS and MoveIt abbreviations --- .../multiple_robot_arms_tutorial.rst | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 8e412775f..de7ad24d9 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -1,6 +1,6 @@ Introduction ------------ -In MoveIt, we can plan motions for multiple robot arms, but there are pre-required steps to prepare robot models and configure ros controllers. This tutorial provides ROS beginners with the steps to model multiple arms, configure controllers, and plan motions using MoveIt. +In MoveIt, we can plan motions for multiple robot arms, but there are pre-required steps to prepare robot models and configure ROS controllers. This tutorial provides ROS beginners with the steps to model multiple arms, configure controllers, and plan motions using MoveIt. .. image:: images/multiple_arms_start.png :width: 600pt @@ -19,7 +19,7 @@ The steps of setting multiple arms environments to use MoveIt motion planning ar 2. Prepare the MoveIt config package using MoveIt setup Assistant. -3. Write the ros controllers configuration and launch files for the multiple arms. +3. Write the ROS controllers configuration and launch files for the multiple arms. 4. Integrate the simulation in Gazebo with MoveIt motion planning. @@ -178,14 +178,14 @@ The arms should look as follows at the `ready` pose. :width: 500pt :align: center -Name the Moveit config package ``panda_multiple_arms_moveit_config`` and generate the files using the Setup Assistant in the ``~/ws_moveit/src`` directory. +Name the MoveIt config package ``panda_multiple_arms_moveit_config`` and generate the files using the Setup Assistant in the ``~/ws_moveit/src`` directory. -Step 3: Write the ros controllers configuration and launch files for the multiple arms +Step 3: Write the ROS controllers configuration and launch files for the multiple arms -------------------------------------------------------------------------------------- This step creates ``ros_control`` configuration files and ``roslaunch`` files to start them. We need two controller types. The first is a *joint state controller*, which publishes the state of all joints. The second is *joint trajectory controller* type, which executes joint-space trajectories on a group of robot joints. -In the following configuration files, the controllers names are ``joint_state_controller``, ``rgt_arm_trajectory_controller``, and ``lft_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and constraints. For more about ros controllers, refer to their documentation_. Let's create the controllers configuration and their launch file in systematic steps and with descriptive names. Some comments are added after the steps not to break the flow. +In the following configuration files, the controllers names are ``joint_state_controller``, ``rgt_arm_trajectory_controller``, and ``lft_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and constraints. For more about ROS controllers, refer to their documentation_. Let's create the controllers configuration and their launch file in systematic steps and with descriptive names. Some comments are added after the steps not to break the flow. .. _documentation: http://wiki.ros.org/ros_control @@ -379,7 +379,7 @@ The remaining part of this step explains how to modify the auto-generated contro - The simple_moveit_controllers.yaml -7. This file is auto-generated in the ``panda_multiple_arms_moveit_config/config``. Moveit requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ros controller (written above). This file configures the controllers to be used by MoveIt controller manager to execute planned trajectories. The controllers names should match to the ros controllers in the previous ``ros_controllers.yaml``, which is same as the ``trajectory_control.yaml``. Modify the file contents to be as follows. :: +7. This file is auto-generated in the ``panda_multiple_arms_moveit_config/config``. MoveIt requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ROS controller (written above). This file configures the controllers to be used by MoveIt controller manager to execute planned trajectories. The controllers names should match to the ROS controllers in the previous ``ros_controllers.yaml``, which is same as the ``trajectory_control.yaml``. Modify the file contents to be as follows. :: controller_list: - name: rgt_arm_trajectory_controller @@ -424,7 +424,7 @@ The remaining part of this step explains how to modify the auto-generated contro joints: - lft_arm_finger_joint1 -8. The last step is to make the auto-generated ``ros_controllers.launch`` spawn the ros controllers configured in the ``ros_controller.yaml`` file. This launch file is inside the ``panda_multiple_arms_moveit_config/launch`` directory. Edit the file and add the controller names as arguments in the controller spawner node as shown below. :: +8. The last step is to make the auto-generated ``ros_controllers.launch`` spawn the ROS controllers configured in the ``ros_controller.yaml`` file. This launch file is inside the ``panda_multiple_arms_moveit_config/launch`` directory. Edit the file and add the controller names as arguments in the controller spawner node as shown below. :: @@ -441,15 +441,15 @@ The remaining part of this step explains how to modify the auto-generated contro -Step 4: Integrate the simulation in Gazebo with Moveit motion planning +Step 4: Integrate the simulation in Gazebo with MoveIt motion planning ---------------------------------------------------------------------- -At the integration step, we need to ensure that ROS packages for ROS control, Gazebo ROS control, MoveIt ROS control interface, and MoveIt planners are installed and sourced on our ROS environment. Install the required ROS packages as follows, and **source** your ROS workspace:: +At the integration step, we need to ensure that ROS packages for ROS control, Gazebo ROS control, MoveIt ROS control interface, and MoveIt planners are installed and sourced on our ROS environment. Install the required ROS packages as follows, and **source** your ROS environment:: - sudo apt install sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-position-controllers ros-noetic-velocity-controllers ros-noetic-gazebo-ros ros-noetic-gazebo-ros-control ros-noetic-moveit-ros-control-interface ros-noetic-moveit-simple-controller-manager + sudo apt install sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-position-controllers ros-noetic-velocity-controllers ros-noetic-gazebo-ros ros-noetic-gazebo-ros-control ros-noetic-moveit-ros-control-interface ros-noetic-moveit-simple-controller-manager ros-noetic-moveit-fake-controller-manager ros-noetic-moveit-planners -For the integration to work, we need to prepare a launch file to start three components. Those components are the simulated robot in Gazebo, ros controllers, and Moveit motion plannig executable. We have already prepared the ``control_utils.launch`` file to load the ros controllers, and the required Moveit motion planning file ``move_group.launch`` is auto-generated. Then, our tasks here are to start the simulated robot in a Gazebo world, and prepare a launch file that launches the mentioned three components. +For the integration to work, we need to prepare a launch file to start three components. Those components are the simulated robot in Gazebo, ROS controllers, and MoveIt motion plannig executable. We have already prepared the ``control_utils.launch`` file to load the ROS controllers, and the required MoveIt motion planning file ``move_group.launch`` is auto-generated. Then, our tasks here are to start the simulated robot in a Gazebo world, and prepare a launch file that starts the mentioned three components. 1. Starting the simulated robot in an empty Gazebo world @@ -515,7 +515,7 @@ Copy the following XML code to the ``bringup_moveit.launch`` file. :: -To run the Moveit Gazebo integration, build and source your ROS workspace, and run the ``bringup_moveit.launch``. :: +To run the MoveIt-Gazebo integration, build and source your ROS workspace, and run the ``bringup_moveit.launch``. :: cd ~/ws_moveit catkin build @@ -528,7 +528,7 @@ If all steps are done, this should bring up all the required components for the Step 5: Plan arms motions with MoveIt Move Group Interface. ----------------------------------------------------------- -After ensuring our integration is correct, the most interesting part is to plan robot motion with the Moveit API and see our robots moving in Gazebo. This step shows how to prepare the dependenies and write code for planning simple motions for the arms and hands. +After ensuring our integration is correct, the most interesting part is to plan robot motion with the MoveIt API and see our robots moving in Gazebo. This step shows how to prepare the dependenies and write code for planning simple motions for the arms and hands. We need to include some dependenies in the robot's package ``CMakeLists.txt`` file. They are packages to enable using moveit group interface and utility package to describe the arms target poses. Here is a link to a `minimal CMakeLists.txt `_ file used in this step. From 8de52ebd2fe01786f6db40b545097d50cb6511a7 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 22:13:29 +0900 Subject: [PATCH 48/63] Revise step 5 --- .../multiple_robot_arms_tutorial.rst | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index de7ad24d9..deb48b0ea 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -530,11 +530,11 @@ Step 5: Plan arms motions with MoveIt Move Group Interface. After ensuring our integration is correct, the most interesting part is to plan robot motion with the MoveIt API and see our robots moving in Gazebo. This step shows how to prepare the dependenies and write code for planning simple motions for the arms and hands. -We need to include some dependenies in the robot's package ``CMakeLists.txt`` file. They are packages to enable using moveit group interface and utility package to describe the arms target poses. Here is a link to a `minimal CMakeLists.txt `_ file used in this step. +We need to include some dependenies in the robot's package ``CMakeLists.txt`` file. They are packages to enable using moveit group interface and utility package to describe the arms target poses. Here is a link to a `minimal CMakeLists.txt `_ file used in this step. Copy the contents of this CMakeLists.txt file to your ``panda_multiple_arms/CMakeLists.txt`` file. For the motion planning, please refer to Move Group Interface `tutorial `_ for more details about MoveIt's move group C++ interface. We are using a separate move group for every arm and every hand. -This is the `file `_ used for planning the simple motions. The code in this file does the following. +This is the `file `_ used for planning the simple motions. Copy the content of this CPP file into ``panda_multiple_arms/src/plan_simple_motion.cpp`` in your package. The code in this file does the following. 1. Set the move groups names for arms and hands (considering same naming in step 2).:: @@ -595,4 +595,11 @@ This is the `file `_ shows the described arms and hands motions using MoveIt move group interface. You may think the arms should move in straight lines between current and target poses. This is can be accomplished using the MoveIt Cartesian Planners, which is also explained in the Move Group Interface `tutorials `_, and you are strongly encouraged to implement it. \ No newline at end of file +Build the workspace and run the plan_simple_motion node:: + + cd ~/ws_moveit + catkin build + source devel/setup.bash + rosrun panda_multiple_arms plan_simple_motion + +This `short YouTube video `_ shows the described arms and hands motions using MoveIt move group interface. You may think the arms should move in straight lines between current and target poses. This is can be accomplished using the MoveIt Cartesian Planners, which is also explained in the Move Group Interface `tutorials `_, and you are strongly encouraged to implement it. From 067b371f77ddf5bba069441418b0109f52d08943 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 4 Nov 2022 22:28:25 +0900 Subject: [PATCH 49/63] Fix minimal formatting issues --- .../multiple_robot_arms_tutorial.rst | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index deb48b0ea..38cd3eebc 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -534,9 +534,9 @@ We need to include some dependenies in the robot's package ``CMakeLists.txt`` fi For the motion planning, please refer to Move Group Interface `tutorial `_ for more details about MoveIt's move group C++ interface. We are using a separate move group for every arm and every hand. -This is the `file `_ used for planning the simple motions. Copy the content of this CPP file into ``panda_multiple_arms/src/plan_simple_motion.cpp`` in your package. The code in this file does the following. +This is the `file `_ used for planning the simple motions. Copy the content of this CPP file into ``panda_multiple_arms/src/plan_simple_motion.cpp`` in your package. The code in this file does the following:: -1. Set the move groups names for arms and hands (considering same naming in step 2).:: +1. Set the move groups names for arms and hands (considering same naming in step 2):: static const std::string rgt_arm_group = "rgt_arm"; static const std::string rgt_hand_group = "rgt_hand"; @@ -545,7 +545,7 @@ This is the `file Date: Fri, 18 Nov 2022 11:46:39 +0900 Subject: [PATCH 50/63] Fix error due to duplicate hyperlink target --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 38cd3eebc..9a2b09c09 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -532,7 +532,7 @@ After ensuring our integration is correct, the most interesting part is to plan We need to include some dependenies in the robot's package ``CMakeLists.txt`` file. They are packages to enable using moveit group interface and utility package to describe the arms target poses. Here is a link to a `minimal CMakeLists.txt `_ file used in this step. Copy the contents of this CMakeLists.txt file to your ``panda_multiple_arms/CMakeLists.txt`` file. -For the motion planning, please refer to Move Group Interface `tutorial `_ for more details about MoveIt's move group C++ interface. We are using a separate move group for every arm and every hand. +For the motion planning, please refer to Move Group Interface `tutorials `_ for more details about MoveIt's move group C++ interface. We are using a separate move group for every arm and every hand. This is the `file `_ used for planning the simple motions. Copy the content of this CPP file into ``panda_multiple_arms/src/plan_simple_motion.cpp`` in your package. The code in this file does the following:: @@ -602,4 +602,4 @@ Build the workspace and run the plan_simple_motion node:: source devel/setup.bash rosrun panda_multiple_arms plan_simple_motion -This `short YouTube video `_ shows the described arms and hands motions using MoveIt move group interface. You may think the arms should move in straight lines between current and target poses. This is can be accomplished using the MoveIt Cartesian Planners, which is also explained in the Move Group Interface `tutorials `_, and you are strongly encouraged to implement it. +This `short YouTube video `_ shows the described arms and hands motions using MoveIt move group interface. You may think the arms should move in straight lines between current and target poses. This is can be accomplished using the MoveIt `Cartesian Path planner `_ , which is also explained in the Move Group Interface tutorials, and you are strongly encouraged to implement it. From 11479df3837ba812eed1b18b1c01d6606e724f94 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 18 Nov 2022 16:15:55 +0900 Subject: [PATCH 51/63] Proofread and include references --- .../multiple_robot_arms_tutorial.rst | 61 ++++++++++--------- 1 file changed, 31 insertions(+), 30 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 9a2b09c09..936bee063 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -27,8 +27,8 @@ The steps of setting multiple arms environments to use MoveIt motion planning ar This tutorial explains every step to help set up your multiple robot arms environment. -1. Build the Xacro/URDF model of the multiple arms --------------------------------------------------- +Step 1: Build the Xacro/URDF model of the multiple arms +------------------------------------------------------- The Panda robot arm is used in the following explanation, but the same applies to preparing other types of robot arms. @@ -43,21 +43,21 @@ To start building your multiple arms model, create a new ``panda_multiple_arms`` To prepare your multiple robot arms xacro file (model), you need to have the single arm's xacro file. In the following part, we will build a multiple arms panda robot description file consisting of two identical arms. -Our multiple arms model has ``rgt_arm`` and ``lft_arm`` models. Each arm is equipped with a gripper. Here is a link to the `panda_multiple_arms.xacro `_ file. Please copy its XML code to your ``panda_multiple_arms.xacro`` file. +Our multiple arms model has ``rgt_arm`` and ``lft_arm`` robots. Each arm is equipped with a gripper. Here is a link to the `panda_multiple_arms.xacro `_ file. Please copy its XML code to your ``panda_multiple_arms.xacro`` file. Notes: -1. Two xacro arguments ``rgt_arm`` and ``lft_arm`` are defined as prefixes to differentiate the arms and hands names. +1. Two arguments ``rgt_arm`` and ``lft_arm`` are defined as prefixes to differentiate the arms and hands names. 2. The arms and hands models are loaded from the ``franka_description`` package, which is installed as a dependency of the ``panda_moveit_config`` package. Ensure the ``franka_description`` package is installed in your ROS environment. -3. We usually need to have a careful look at the robot's xacro file to understand the parameters to use. Here is an of the ``franka_arm.xacro`` from the ``franka_description`` package. :: +3. We usually need to have a careful look at the robot's xacro macro to understand parameters to use. Here is an example from the ``franka_arm.xacro`` file in the ``franka_description`` package. It has the following macro for the robot model:: -We can search those parameters in the xacro macro to understand the function of each. The ``arm_id`` sets a prefix to the arm name to enable reusing the same model. This is essential for our purpose of modeling multiple robots. The ``connected_to`` parameter allows the robot base to be attached to a given link. In our multiple arms model, each robot is connected to a box-shaped base. The ``gazebo`` parameter determines whether to load the gazebo simulation required information (e.g links inertias and joints transmissions) or not. +We can search those parameters in the macro to understand the function of each. The ``arm_id`` sets a prefix to the arm name to enable reusing the same model. This is essential for our purpose of modeling multiple robots. The ``connected_to`` parameter allows the robot base to be attached to a given link. In our multiple arms model, each robot is connected to a box-shaped base. The ``gazebo`` parameter determines whether to load the gazebo simulation required information (e.g links inertias and joints transmissions) or not. After knowing the xacro macro for the arm, and understanding the input parameters, we can use it as follows to load the arms. :: @@ -66,7 +66,7 @@ After knowing the xacro macro for the arm, and understanding the input parameter -The same way applies to loading the grippers/hands models, and other robots that are defined with xacro macros. +The same way applies to loading the robot grippers/hands models. Follow the tutorials of `URDF `_ and `Xacro `_ to learn more about modeling robots with those formats. At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and visualize the model. Run the following commands to build your ``panda_multiple_arms`` package and check the xacro model has no problems. :: @@ -78,7 +78,7 @@ At this point, it is recommended to check our xacro model is working as expected check_urdf panda_multiple_arms.urdf -The ``check_urdf`` shows the links tree and indicates if there are any errors: :: +The ``check_urdf`` command shows the links tree and indicates if there are any errors: :: robot name is: panda_multiple_arms ---------- Successfully Parsed XML --------------- @@ -130,7 +130,7 @@ The ``check_urdf`` shows the links tree and indicates if there are any errors: : child(2): rgt_arm_link0_sc -To visually check your multiple robot arm model, run the command: :: +To visually check your multiple robot arm model, ensure that the ``urdf_tutorial`` ROS package is installed and run the command: :: roslaunch urdf_tutorial display.launch model:=panda_multiple_arms.urdf @@ -172,7 +172,7 @@ The arms should look as follows at the `ready` pose. :align: center -2. Define ``open`` and ``close`` poses for the ``rgt_hand`` and ``lft_hand`` move groups. The ``open`` pose with joint1 value set to 0.035, and the ``close`` has the joint1 set to 0.0. Notice that the hand joint2 mimics the value of joint1. Therefore, there is no need to fix joint2 in the hand move_group poses. The defined poses for the arms and hands should look as follows. Feel free to add other poses of interest for the arms/hands. +2. Define ``open`` and ``close`` poses for the ``rgt_hand`` and ``lft_hand`` move groups. The ``open`` pose with joint1 value set to 0.035, and the ``close`` has the joint1 set to 0.0. Notice that the **hand's** ``joint2`` mimics the value of ``joint1``. Therefore, there is no need to include ``joint2`` in the **hand** move_group poses. The defined poses for the arms and hands should look as follows. Feel free to add other poses of interest for the arms/hands. .. image:: images/move_groups_poses.png :width: 500pt @@ -183,9 +183,9 @@ Name the MoveIt config package ``panda_multiple_arms_moveit_config`` and generat Step 3: Write the ROS controllers configuration and launch files for the multiple arms -------------------------------------------------------------------------------------- -This step creates ``ros_control`` configuration files and ``roslaunch`` files to start them. We need two controller types. The first is a *joint state controller*, which publishes the state of all joints. The second is *joint trajectory controller* type, which executes joint-space trajectories on a group of robot joints. +This step creates ``ros_control`` configuration files and ``roslaunch`` files to start them. We need two controller types. The first is a *joint state controller*, which publishes the state of all joints. The second is *joint trajectory controller*, which executes joint-space trajectories on a group of robot joints. -In the following configuration files, the controllers names are ``joint_state_controller``, ``rgt_arm_trajectory_controller``, and ``lft_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and constraints. For more about ROS controllers, refer to their documentation_. Let's create the controllers configuration and their launch file in systematic steps and with descriptive names. Some comments are added after the steps not to break the flow. +In the following configuration files, the controllers names are ``joint_state_controller``, ``rgt_arm_trajectory_controller``, and ``lft_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and constraints. For more about ROS controllers, refer to their documentation_. Let's create the controllers configuration and their launch file in systematic steps and with descriptive names. .. _documentation: http://wiki.ros.org/ros_control @@ -198,7 +198,7 @@ In the following configuration files, the controllers names are ``joint_state_co mkdir config && cd config touch joint_state_controller.yaml -2. Open the ``joint_state_controller.yaml`` and copy the controller configuration to it :: +2. Open the ``joint_state_controller.yaml`` and copy the following controller configuration to it :: joint_state_controller: type: joint_state_controller/JointStateController @@ -213,7 +213,7 @@ In the following configuration files, the controllers names are ``joint_state_co touch trajectory_controller.yaml -4. Open the ``trajectory_controller.yaml`` and copy the controller configuration to it :: +4. Open the ``trajectory_controller.yaml`` and copy the following controller configuration to it :: rgt_arm_trajectory_controller: type: "position_controllers/JointTrajectoryController" @@ -280,7 +280,7 @@ In the following configuration files, the controllers names are ``joint_state_co lft_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} -5. Create a ``control_utils.launch`` file inside the ``panda_multiple_arms/launch`` directory to start the robot state publisher, and the controllers. :: +5. Create a ``control_utils.launch`` file inside the ``panda_multiple_arms/launch`` directory to start the robot state publisher, and the controllers. Copy the following XML code to your ``control_utils.launch`` file:: @@ -307,7 +307,7 @@ The remaining part of this step explains how to modify the auto-generated contro - The ros_controllers.yaml -6. The ``ros_controllers.yaml`` file is auto-generated in the ``panda_multiple_arms_moveit_config/config``. This file is for the ROS control configuration, which means its content should be the same as the content of both ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``. Copy the two files contents into this file, and it should be as follows :: +6. The ``ros_controllers.yaml`` file is auto-generated in the ``panda_multiple_arms_moveit_config/config``. This file is for the ROS control configuration, which means its content should be the same as the content of both ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``. Its contents should be as follows :: joint_state_controller: type: joint_state_controller/JointStateController @@ -379,7 +379,7 @@ The remaining part of this step explains how to modify the auto-generated contro - The simple_moveit_controllers.yaml -7. This file is auto-generated in the ``panda_multiple_arms_moveit_config/config``. MoveIt requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ROS controller (written above). This file configures the controllers to be used by MoveIt controller manager to execute planned trajectories. The controllers names should match to the ROS controllers in the previous ``ros_controllers.yaml``, which is same as the ``trajectory_control.yaml``. Modify the file contents to be as follows. :: +7. This file is also auto-generated in the ``panda_multiple_arms_moveit_config/config``. MoveIt requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ROS controller (written above). This file configures the controllers to be used by MoveIt controller manager to execute planned trajectories. The controllers names should match the ROS controllers in the previous ``ros_controllers.yaml``. Copy the following to your ``simple_moveit_controllers.yaml`` file. :: controller_list: - name: rgt_arm_trajectory_controller @@ -453,13 +453,13 @@ For the integration to work, we need to prepare a launch file to start three com 1. Starting the simulated robot in an empty Gazebo world -To spawn the panda multiple arms model in Gazebo, we need to prepare a launch file in the ``panda_multiple_arms/launch`` package. Let's call it ``panda_multiple_arms_empty_world.launch``. Here are the steps to prepar this file. :: +To spawn the panda multiple arms model in Gazebo, we need to prepare a launch file in the ``panda_multiple_arms/launch`` directory. Let's call it ``panda_multiple_arms_empty_world.launch``. Here are the steps to prepar this file. :: cd ~/ws_moveit cd src/panda_multiple_arms/launch touch panda_multiple_arms_empty_world.launch -The ``panda_multiple_arms_empty_world.launch`` file launches an empty world file, loads the robot description, and spawns the robot in the empty world. Its contents are as follows:: +The ``panda_multiple_arms_empty_world.launch`` file launches an empty world file, loads the robot description, and spawns the robot in the empty world. Copy the following XML code to this file. :: @@ -515,7 +515,7 @@ Copy the following XML code to the ``bringup_moveit.launch`` file. :: -To run the MoveIt-Gazebo integration, build and source your ROS workspace, and run the ``bringup_moveit.launch``. :: +To start the MoveIt-Gazebo integration, build and source your ROS workspace, and run the ``bringup_moveit.launch`` file. :: cd ~/ws_moveit catkin build @@ -528,15 +528,16 @@ If all steps are done, this should bring up all the required components for the Step 5: Plan arms motions with MoveIt Move Group Interface. ----------------------------------------------------------- -After ensuring our integration is correct, the most interesting part is to plan robot motion with the MoveIt API and see our robots moving in Gazebo. This step shows how to prepare the dependenies and write code for planning simple motions for the arms and hands. +After ensuring our integration is properly working, the most interesting part is to plan robot motion with the MoveIt API and see our robots moving in Gazebo. This step shows how to prepare the dependenies and write code for planning simple motions for the arms and hands. -We need to include some dependenies in the robot's package ``CMakeLists.txt`` file. They are packages to enable using moveit group interface and utility package to describe the arms target poses. Here is a link to a `minimal CMakeLists.txt `_ file used in this step. Copy the contents of this CMakeLists.txt file to your ``panda_multiple_arms/CMakeLists.txt`` file. +We need to include some dependenies in the robot's package ``CMakeLists.txt`` file. They are packages to enable using Moveit move group interface and utility package to describe the arms target poses. Here is a link to a `minimal CMakeLists.txt `_ file used in this step. Copy the contents of this CMakeLists.txt file to your ``panda_multiple_arms/CMakeLists.txt`` file. For the motion planning, please refer to Move Group Interface `tutorials `_ for more details about MoveIt's move group C++ interface. We are using a separate move group for every arm and every hand. -This is the `file `_ used for planning the simple motions. Copy the content of this CPP file into ``panda_multiple_arms/src/plan_simple_motion.cpp`` in your package. The code in this file does the following:: +This is the `file `_ used for planning the simple motions. Copy the content of this CPP file into ``panda_multiple_arms/src/plan_simple_motion.cpp`` in your package. The code in this file does the following. -1. Set the move groups names for arms and hands (considering same naming in step 2):: + +1. Set the move groups names for arms and hands (considering same naming in step 2). :: static const std::string rgt_arm_group = "rgt_arm"; static const std::string rgt_hand_group = "rgt_hand"; @@ -545,7 +546,7 @@ This is the `file `_ shows the described arms and hands motions using MoveIt move group interface. You may think the arms should move in straight lines between current and target poses. This is can be accomplished using the MoveIt `Cartesian Path planner `_ , which is also explained in the Move Group Interface tutorials, and you are strongly encouraged to implement it. +This `short YouTube video `_ shows the described arms and hands motions using MoveIt move group interface. After seeing the arms motions, you may think they should move in straight lines between current and target poses. This is can be accomplished using MoveIt's `Cartesian Path planner `_ , which is also explained in the Move Group Interface tutorials, and you are strongly encouraged to implement it. From 24715fcfd0137db034d93e3153b0eb95205d1860 Mon Sep 17 00:00:00 2001 From: Mohamed Raessa Date: Fri, 25 Nov 2022 15:26:37 +0900 Subject: [PATCH 52/63] Update doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst Co-authored-by: AndyZe --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 936bee063..c32947baf 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -161,7 +161,7 @@ MoveIt Setup Assistant is used to configure our multiple robot arms for using th Follow the MoveIt Setup Assistant `tutorial `_ to configure the arms. Note that we will be making a separate move group for each arm and hand. The groups are called ``rgt_arm``, ``lft_arm``, ``rgt_hand``, and ``lft_hand``. -I want to consider two more point along with the the Setup Assistant tutorial +Here are two more steps which are not required but they are often useful: 1. Define a practical `ready` pose for both arms with joint values {0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785}. From 8892b8d26d71486178d394eb98c35f64a9177002 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 25 Nov 2022 15:33:03 +0900 Subject: [PATCH 53/63] Change rgt to right and lft to left --- .../multiple_robot_arms_tutorial.rst | 340 +++++++++--------- 1 file changed, 170 insertions(+), 170 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 936bee063..1a02af85c 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -43,12 +43,12 @@ To start building your multiple arms model, create a new ``panda_multiple_arms`` To prepare your multiple robot arms xacro file (model), you need to have the single arm's xacro file. In the following part, we will build a multiple arms panda robot description file consisting of two identical arms. -Our multiple arms model has ``rgt_arm`` and ``lft_arm`` robots. Each arm is equipped with a gripper. Here is a link to the `panda_multiple_arms.xacro `_ file. Please copy its XML code to your ``panda_multiple_arms.xacro`` file. +Our multiple arms model has ``right_arm`` and ``left_arm`` robots. Each arm is equipped with a gripper. Here is a link to the `panda_multiple_arms.xacro `_ file. Please copy its XML code to your ``panda_multiple_arms.xacro`` file. Notes: -1. Two arguments ``rgt_arm`` and ``lft_arm`` are defined as prefixes to differentiate the arms and hands names. +1. Two arguments ``right_arm`` and ``left_arm`` are defined as prefixes to differentiate the arms and hands names. 2. The arms and hands models are loaded from the ``franka_description`` package, which is installed as a dependency of the ``panda_moveit_config`` package. Ensure the ``franka_description`` package is installed in your ROS environment. @@ -84,50 +84,50 @@ The ``check_urdf`` command shows the links tree and indicates if there are any e ---------- Successfully Parsed XML --------------- root Link: world has 1 child(ren) child(1): base - child(1): lft_arm_link0 - child(1): lft_arm_link1 - child(1): lft_arm_link2 - child(1): lft_arm_link3 - child(1): lft_arm_link4 - child(1): lft_arm_link5 - child(1): lft_arm_link6 - child(1): lft_arm_link7 - child(1): lft_arm_link8 - child(1): lft_arm_hand - child(1): lft_arm_leftfinger - child(2): lft_arm_rightfinger - child(3): lft_arm_hand_sc - child(4): lft_arm_hand_tcp - child(2): lft_arm_link7_sc - child(2): lft_arm_link6_sc - child(2): lft_arm_link5_sc - child(2): lft_arm_link4_sc - child(2): lft_arm_link3_sc - child(2): lft_arm_link2_sc - child(2): lft_arm_link1_sc - child(2): lft_arm_link0_sc - child(2): rgt_arm_link0 - child(1): rgt_arm_link1 - child(1): rgt_arm_link2 - child(1): rgt_arm_link3 - child(1): rgt_arm_link4 - child(1): rgt_arm_link5 - child(1): rgt_arm_link6 - child(1): rgt_arm_link7 - child(1): rgt_arm_link8 - child(1): rgt_arm_hand - child(1): rgt_arm_leftfinger - child(2): rgt_arm_rightfinger - child(3): rgt_arm_hand_sc - child(4): rgt_arm_hand_tcp - child(2): rgt_arm_link7_sc - child(2): rgt_arm_link6_sc - child(2): rgt_arm_link5_sc - child(2): rgt_arm_link4_sc - child(2): rgt_arm_link3_sc - child(2): rgt_arm_link2_sc - child(2): rgt_arm_link1_sc - child(2): rgt_arm_link0_sc + child(1): left_arm_link0 + child(1): left_arm_link1 + child(1): left_arm_link2 + child(1): left_arm_link3 + child(1): left_arm_link4 + child(1): left_arm_link5 + child(1): left_arm_link6 + child(1): left_arm_link7 + child(1): left_arm_link8 + child(1): left_arm_hand + child(1): left_arm_leftfinger + child(2): left_arm_rightfinger + child(3): left_arm_hand_sc + child(4): left_arm_hand_tcp + child(2): left_arm_link7_sc + child(2): left_arm_link6_sc + child(2): left_arm_link5_sc + child(2): left_arm_link4_sc + child(2): left_arm_link3_sc + child(2): left_arm_link2_sc + child(2): left_arm_link1_sc + child(2): left_arm_link0_sc + child(2): right_arm_link0 + child(1): right_arm_link1 + child(1): right_arm_link2 + child(1): right_arm_link3 + child(1): right_arm_link4 + child(1): right_arm_link5 + child(1): right_arm_link6 + child(1): right_arm_link7 + child(1): right_arm_link8 + child(1): right_arm_hand + child(1): right_arm_leftfinger + child(2): right_arm_rightfinger + child(3): right_arm_hand_sc + child(4): right_arm_hand_tcp + child(2): right_arm_link7_sc + child(2): right_arm_link6_sc + child(2): right_arm_link5_sc + child(2): right_arm_link4_sc + child(2): right_arm_link3_sc + child(2): right_arm_link2_sc + child(2): right_arm_link1_sc + child(2): right_arm_link0_sc To visually check your multiple robot arm model, ensure that the ``urdf_tutorial`` ROS package is installed and run the command: :: @@ -158,7 +158,7 @@ MoveIt Setup Assistant is used to configure our multiple robot arms for using th roslaunch moveit_setup_assistant setup_assistant.launch -Follow the MoveIt Setup Assistant `tutorial `_ to configure the arms. Note that we will be making a separate move group for each arm and hand. The groups are called ``rgt_arm``, ``lft_arm``, ``rgt_hand``, and ``lft_hand``. +Follow the MoveIt Setup Assistant `tutorial `_ to configure the arms. Note that we will be making a separate move group for each arm and hand. The groups are called ``right_arm``, ``left_arm``, ``right_hand``, and ``left_hand``. I want to consider two more point along with the the Setup Assistant tutorial @@ -172,7 +172,7 @@ The arms should look as follows at the `ready` pose. :align: center -2. Define ``open`` and ``close`` poses for the ``rgt_hand`` and ``lft_hand`` move groups. The ``open`` pose with joint1 value set to 0.035, and the ``close`` has the joint1 set to 0.0. Notice that the **hand's** ``joint2`` mimics the value of ``joint1``. Therefore, there is no need to include ``joint2`` in the **hand** move_group poses. The defined poses for the arms and hands should look as follows. Feel free to add other poses of interest for the arms/hands. +2. Define ``open`` and ``close`` poses for the ``right_hand`` and ``left_hand`` move groups. The ``open`` pose with joint1 value set to 0.035, and the ``close`` has the joint1 set to 0.0. Notice that the **hand's** ``joint2`` mimics the value of ``joint1``. Therefore, there is no need to include ``joint2`` in the **hand** move_group poses. The defined poses for the arms and hands should look as follows. Feel free to add other poses of interest for the arms/hands. .. image:: images/move_groups_poses.png :width: 500pt @@ -185,7 +185,7 @@ Step 3: Write the ROS controllers configuration and launch files for the multipl This step creates ``ros_control`` configuration files and ``roslaunch`` files to start them. We need two controller types. The first is a *joint state controller*, which publishes the state of all joints. The second is *joint trajectory controller*, which executes joint-space trajectories on a group of robot joints. -In the following configuration files, the controllers names are ``joint_state_controller``, ``rgt_arm_trajectory_controller``, and ``lft_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and constraints. For more about ROS controllers, refer to their documentation_. Let's create the controllers configuration and their launch file in systematic steps and with descriptive names. +In the following configuration files, the controllers names are ``joint_state_controller``, ``right_arm_trajectory_controller``, and ``left_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and constraints. For more about ROS controllers, refer to their documentation_. Let's create the controllers configuration and their launch file in systematic steps and with descriptive names. .. _documentation: http://wiki.ros.org/ros_control @@ -215,69 +215,69 @@ In the following configuration files, the controllers names are ``joint_state_co 4. Open the ``trajectory_controller.yaml`` and copy the following controller configuration to it :: - rgt_arm_trajectory_controller: + right_arm_trajectory_controller: type: "position_controllers/JointTrajectoryController" joints: - - rgt_arm_joint1 - - rgt_arm_joint2 - - rgt_arm_joint3 - - rgt_arm_joint4 - - rgt_arm_joint5 - - rgt_arm_joint6 - - rgt_arm_joint7 + - right_arm_joint1 + - right_arm_joint2 + - right_arm_joint3 + - right_arm_joint4 + - right_arm_joint5 + - right_arm_joint6 + - right_arm_joint7 constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - rgt_arm_joint1: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint2: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint3: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint4: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint5: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint6: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint7: {trajectory: 0.1, goal: 0.1} + right_arm_joint1: {trajectory: 0.1, goal: 0.1} + right_arm_joint2: {trajectory: 0.1, goal: 0.1} + right_arm_joint3: {trajectory: 0.1, goal: 0.1} + right_arm_joint4: {trajectory: 0.1, goal: 0.1} + right_arm_joint5: {trajectory: 0.1, goal: 0.1} + right_arm_joint6: {trajectory: 0.1, goal: 0.1} + right_arm_joint7: {trajectory: 0.1, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 - lft_arm_trajectory_controller: + left_arm_trajectory_controller: type: "position_controllers/JointTrajectoryController" joints: - - lft_arm_joint1 - - lft_arm_joint2 - - lft_arm_joint3 - - lft_arm_joint4 - - lft_arm_joint5 - - lft_arm_joint6 - - lft_arm_joint7 + - left_arm_joint1 + - left_arm_joint2 + - left_arm_joint3 + - left_arm_joint4 + - left_arm_joint5 + - left_arm_joint6 + - left_arm_joint7 constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - lft_arm_joint1: {trajectory: 0.1, goal: 0.1} - lft_arm_joint2: {trajectory: 0.1, goal: 0.1} - lft_arm_joint3: {trajectory: 0.1, goal: 0.1} - lft_arm_joint4: {trajectory: 0.1, goal: 0.1} - lft_arm_joint5: {trajectory: 0.1, goal: 0.1} - lft_arm_joint6: {trajectory: 0.1, goal: 0.1} - lft_arm_joint7: {trajectory: 0.1, goal: 0.1} + left_arm_joint1: {trajectory: 0.1, goal: 0.1} + left_arm_joint2: {trajectory: 0.1, goal: 0.1} + left_arm_joint3: {trajectory: 0.1, goal: 0.1} + left_arm_joint4: {trajectory: 0.1, goal: 0.1} + left_arm_joint5: {trajectory: 0.1, goal: 0.1} + left_arm_joint6: {trajectory: 0.1, goal: 0.1} + left_arm_joint7: {trajectory: 0.1, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 #notice that the grippers joint2 mimics joint1 #this is why it is not listed under the hand controllers - rgt_hand_controller: + right_hand_controller: type: "effort_controllers/JointTrajectoryController" joints: - - rgt_arm_finger_joint1 + - right_arm_finger_joint1 gains: - rgt_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} + right_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} - lft_hand_controller: + left_hand_controller: type: "effort_controllers/JointTrajectoryController" joints: - - lft_arm_finger_joint1 + - left_arm_finger_joint1 gains: - lft_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} + left_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} 5. Create a ``control_utils.launch`` file inside the ``panda_multiple_arms/launch`` directory to start the robot state publisher, and the controllers. Copy the following XML code to your ``control_utils.launch`` file:: @@ -297,7 +297,7 @@ In the following configuration files, the controllers names are ``joint_state_co - + @@ -313,116 +313,116 @@ The remaining part of this step explains how to modify the auto-generated contro type: joint_state_controller/JointStateController publish_rate: 50 - rgt_arm_trajectory_controller: + right_arm_trajectory_controller: type: "position_controllers/JointTrajectoryController" joints: - - rgt_arm_joint1 - - rgt_arm_joint2 - - rgt_arm_joint3 - - rgt_arm_joint4 - - rgt_arm_joint5 - - rgt_arm_joint6 - - rgt_arm_joint7 + - right_arm_joint1 + - right_arm_joint2 + - right_arm_joint3 + - right_arm_joint4 + - right_arm_joint5 + - right_arm_joint6 + - right_arm_joint7 constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - rgt_arm_joint1: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint2: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint3: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint4: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint5: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint6: {trajectory: 0.1, goal: 0.1} - rgt_arm_joint7: {trajectory: 0.1, goal: 0.1} + right_arm_joint1: {trajectory: 0.1, goal: 0.1} + right_arm_joint2: {trajectory: 0.1, goal: 0.1} + right_arm_joint3: {trajectory: 0.1, goal: 0.1} + right_arm_joint4: {trajectory: 0.1, goal: 0.1} + right_arm_joint5: {trajectory: 0.1, goal: 0.1} + right_arm_joint6: {trajectory: 0.1, goal: 0.1} + right_arm_joint7: {trajectory: 0.1, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 - lft_arm_trajectory_controller: + left_arm_trajectory_controller: type: "position_controllers/JointTrajectoryController" joints: - - lft_arm_joint1 - - lft_arm_joint2 - - lft_arm_joint3 - - lft_arm_joint4 - - lft_arm_joint5 - - lft_arm_joint6 - - lft_arm_joint7 + - left_arm_joint1 + - left_arm_joint2 + - left_arm_joint3 + - left_arm_joint4 + - left_arm_joint5 + - left_arm_joint6 + - left_arm_joint7 constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 - lft_arm_joint1: {trajectory: 0.1, goal: 0.1} - lft_arm_joint2: {trajectory: 0.1, goal: 0.1} - lft_arm_joint3: {trajectory: 0.1, goal: 0.1} - lft_arm_joint4: {trajectory: 0.1, goal: 0.1} - lft_arm_joint5: {trajectory: 0.1, goal: 0.1} - lft_arm_joint6: {trajectory: 0.1, goal: 0.1} - lft_arm_joint7: {trajectory: 0.1, goal: 0.1} + left_arm_joint1: {trajectory: 0.1, goal: 0.1} + left_arm_joint2: {trajectory: 0.1, goal: 0.1} + left_arm_joint3: {trajectory: 0.1, goal: 0.1} + left_arm_joint4: {trajectory: 0.1, goal: 0.1} + left_arm_joint5: {trajectory: 0.1, goal: 0.1} + left_arm_joint6: {trajectory: 0.1, goal: 0.1} + left_arm_joint7: {trajectory: 0.1, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 #notice that the grippers joint2 mimics joint1 #this is why it is not listed under the hand controllers - rgt_hand_controller: + right_hand_controller: type: "effort_controllers/JointTrajectoryController" joints: - - rgt_arm_finger_joint1 + - right_arm_finger_joint1 gains: - rgt_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} + right_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} - lft_hand_controller: + left_hand_controller: type: "effort_controllers/JointTrajectoryController" joints: - - lft_arm_finger_joint1 + - left_arm_finger_joint1 gains: - lft_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} + left_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} - The simple_moveit_controllers.yaml 7. This file is also auto-generated in the ``panda_multiple_arms_moveit_config/config``. MoveIt requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ROS controller (written above). This file configures the controllers to be used by MoveIt controller manager to execute planned trajectories. The controllers names should match the ROS controllers in the previous ``ros_controllers.yaml``. Copy the following to your ``simple_moveit_controllers.yaml`` file. :: controller_list: - - name: rgt_arm_trajectory_controller + - name: right_arm_trajectory_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: True joints: - - rgt_arm_joint1 - - rgt_arm_joint2 - - rgt_arm_joint3 - - rgt_arm_joint4 - - rgt_arm_joint5 - - rgt_arm_joint6 - - rgt_arm_joint7 - - name: lft_arm_trajectory_controller + - right_arm_joint1 + - right_arm_joint2 + - right_arm_joint3 + - right_arm_joint4 + - right_arm_joint5 + - right_arm_joint6 + - right_arm_joint7 + - name: left_arm_trajectory_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: True joints: - - lft_arm_joint1 - - lft_arm_joint2 - - lft_arm_joint3 - - lft_arm_joint4 - - lft_arm_joint5 - - lft_arm_joint6 - - lft_arm_joint7 + - left_arm_joint1 + - left_arm_joint2 + - left_arm_joint3 + - left_arm_joint4 + - left_arm_joint5 + - left_arm_joint6 + - left_arm_joint7 #notice that the grippers joint2 mimics joint1 #this is why it is not listed under the hand controllers - - name: rgt_hand_controller + - name: right_hand_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints: - - rgt_arm_finger_joint1 + - right_arm_finger_joint1 - - name: lft_hand_controller + - name: left_hand_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints: - - lft_arm_finger_joint1 + - left_arm_finger_joint1 8. The last step is to make the auto-generated ``ros_controllers.launch`` spawn the ROS controllers configured in the ``ros_controller.yaml`` file. This launch file is inside the ``panda_multiple_arms_moveit_config/launch`` directory. Edit the file and add the controller names as arguments in the controller spawner node as shown below. :: @@ -434,7 +434,7 @@ The remaining part of this step explains how to modify the auto-generated contro + output="screen" args=" right_arm_trajectory_controller left_arm_trajectory_controller right_hand_controller left_hand_controller"/> @@ -539,60 +539,60 @@ This is the `file Date: Fri, 25 Nov 2022 16:04:26 +0900 Subject: [PATCH 54/63] Update screenshots to show right and left --- .../images/arms_at_ready_poses.png | Bin 0 -> 99341 bytes .../images/check_urdf_in_rviz.png | Bin 0 -> 88924 bytes .../images/move_groups_and_poses.png | Bin 0 -> 109179 bytes .../multiple_robot_arms_tutorial.rst | 6 +++--- 4 files changed, 3 insertions(+), 3 deletions(-) create mode 100644 doc/multiple_robot_arms/images/arms_at_ready_poses.png create mode 100644 doc/multiple_robot_arms/images/check_urdf_in_rviz.png create mode 100644 doc/multiple_robot_arms/images/move_groups_and_poses.png diff --git a/doc/multiple_robot_arms/images/arms_at_ready_poses.png b/doc/multiple_robot_arms/images/arms_at_ready_poses.png new file mode 100644 index 0000000000000000000000000000000000000000..295e95903ba6bef6868af5c1d54de9c3df226ecf GIT binary patch literal 99341 zcmcG#byQr<(l<(i1y67%gy1^36GDKX!QI{6HMqM48{FO9-Q8i30S0&1%kwj45 zomfm2R2+ot40Rn$t*t&Qm|7aXH9|o#GchyoG}QtCyJ^A9Y`aN$p8;&U$-ZoWo!~$= zW=KKo<~zY1D5%d+Vm|~GT+)u#933!~2|72|kF0omQ7EG~PRjFKY^lc=u<7aP6@2Oy zOnmeLunQVncrcMrNgFX(NlCx+w(zWzR7nMI*1Bfc-+Xj3I$3oWb%LzXivRo>TwF{e zlJhBN>ZhA`N%6z%dOqXlxplGEU$kwv{vW@8ApQGCk~%bY(|!Nh{9)RJ_1ClIgZ1*Q zgP7pQnQuQ048HpK`1l6}VPIhRX;u8vf-}I!6nm`r&)D9uVXDu156;uCaelhA@IM( zNhvB`x$(KR0Sos`#?$ywe&^+p2Owg-|EAB19}*ngIWZA+X*_}cvK;~={2!j3XJi-C z=<4d;rSpy4Uqb%sXTqBOwoDi}IJ<*wvF|Vh{#`ASy}V?eo9Ir3wCu`b6fv=i~K)Utmb5X*3;8t!bL{V z58u0X)632VIkf+Kf)AuxO@)P2Zz~bW0q82>C&w!PXN}gh5$}n)$s(Km7yI=2c*7Si zT4RtE6~$8Wl#N;O$*KN_iiXIN@t^QPxMq-Pa4uWE8g}V|4bybEVpbwdAMHe%Q*meT zl*yW&T7XC)+0?i=k$jFk^9TwebJYu~o)8 z$d;0LQ?;bFpdq^tL5~PZj@geYt!|6TJz>Q+1^gEw!aM_u7VyH7b@fqsbwW1{5}`pR z3W^EXWN#el^-k;W_GtxaHLAZf+};l_DP*o6l^v;Y#6$`^sFuIb9Bv4xcD!}88l3hapUltbEy+61p74bxyx{6QB8HuU5--mW2h|5)*>~hsxl?GA&Cj2cgON6ZiXG}Cp9ORhVp4C7l)BTZxi$`R}||%$4<{RCT5ud;4M~Z zWa|E~C8J#4ywNPR@TOM5X`9hezw#@Tv*Lu1jq>$FsqhI!7&?n}AqDewW{Y@1F-UT- zqI8%EH<5r}WvRg2a#rqt7{^PCQciqgf+;g9F4S5pIKa{SceAq@=XI7_$>)PKBSju@Tcqf? zpWgNhn2c@AVT?}P!p6yVB!0;iq+&bqftzu;T^m{*_FLCzACV{uFVlN`V;TqI&Y

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images/check_urdf_in_rviz.png :width: 500pt :align: center @@ -167,14 +167,14 @@ Here are two more steps which are not required but they are often useful: The arms should look as follows at the `ready` pose. -.. image:: images/rgt_lft_arms_ready_poses.png +.. image:: images/arms_at_ready_poses.png :width: 500pt :align: center 2. Define ``open`` and ``close`` poses for the ``right_hand`` and ``left_hand`` move groups. The ``open`` pose with joint1 value set to 0.035, and the ``close`` has the joint1 set to 0.0. Notice that the **hand's** ``joint2`` mimics the value of ``joint1``. Therefore, there is no need to include ``joint2`` in the **hand** move_group poses. The defined poses for the arms and hands should look as follows. Feel free to add other poses of interest for the arms/hands. -.. image:: images/move_groups_poses.png +.. image:: images/move_groups_and_poses.png :width: 500pt :align: center From c6f4a398e1425f5f8bfd6aba07142280ed98ef72 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 25 Nov 2022 16:07:10 +0900 Subject: [PATCH 55/63] Delete unneeded files --- doc/multiple_robot_arms/CMakeLists.txt | 202 ------------------ .../images/move_groups_poses.png | Bin 110952 -> 0 bytes .../images/panda_arm_collision1-2.png | Bin 107932 -> 0 bytes .../images/panda_arm_visual1-2.png | Bin 125806 -> 0 bytes .../images/rgt_lft_arms_ready_poses.png | Bin 88405 -> 0 bytes doc/multiple_robot_arms/images/rviz_start.png | Bin 81891 -> 0 bytes doc/multiple_robot_arms/package.xml | 59 ----- 7 files changed, 261 deletions(-) delete mode 100644 doc/multiple_robot_arms/CMakeLists.txt delete mode 100644 doc/multiple_robot_arms/images/move_groups_poses.png delete mode 100644 doc/multiple_robot_arms/images/panda_arm_collision1-2.png delete mode 100644 doc/multiple_robot_arms/images/panda_arm_visual1-2.png delete mode 100644 doc/multiple_robot_arms/images/rgt_lft_arms_ready_poses.png delete mode 100644 doc/multiple_robot_arms/images/rviz_start.png delete mode 100644 doc/multiple_robot_arms/package.xml diff --git a/doc/multiple_robot_arms/CMakeLists.txt b/doc/multiple_robot_arms/CMakeLists.txt deleted file mode 100644 index 0d00805fd..000000000 --- a/doc/multiple_robot_arms/CMakeLists.txt +++ /dev/null @@ -1,202 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(multiple_robot_arms) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES multiple_robot_arms -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include -# ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/multiple_robot_arms.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/multiple_robot_arms_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_multiple_robot_arms.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/doc/multiple_robot_arms/images/move_groups_poses.png b/doc/multiple_robot_arms/images/move_groups_poses.png deleted file mode 100644 index 0b45372a3379ec03336b89bb4d2a4a22e8997602..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 110952 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multiple_robot_arms - 0.0.0 - The multiple_robot_arms package - - - - - mohamed - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - - - - - - - - From 447b50a76f50e5681a18d9f42442c227a755b378 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 25 Nov 2022 19:19:09 +0900 Subject: [PATCH 56/63] Shorten the motion planning step --- .../multiple_robot_arms_tutorial.rst | 77 +------------------ 1 file changed, 2 insertions(+), 75 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 285769743..0e37e9258 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -528,79 +528,6 @@ If all steps are done, this should bring up all the required components for the Step 5: Plan arms motions with MoveIt Move Group Interface. ----------------------------------------------------------- -After ensuring our integration is properly working, the most interesting part is to plan robot motion with the MoveIt API and see our robots moving in Gazebo. This step shows how to prepare the dependenies and write code for planning simple motions for the arms and hands. +When writing code for multiple move groups, motion planning works the same way it did in previous tutorials. There is an `example here for multiple move groups. `_ and a `minimal CMakeLists.txt `_ file with the dependencies to use Moveit Move Group Interface and describe the arms poses. This `short YouTube video `_ shows the resulting arms and hands motions. -We need to include some dependenies in the robot's package ``CMakeLists.txt`` file. They are packages to enable using Moveit move group interface and utility package to describe the arms target poses. Here is a link to a `minimal CMakeLists.txt `_ file used in this step. Copy the contents of this CMakeLists.txt file to your ``panda_multiple_arms/CMakeLists.txt`` file. - -For the motion planning, please refer to Move Group Interface `tutorials `_ for more details about MoveIt's move group C++ interface. We are using a separate move group for every arm and every hand. - -This is the `file `_ used for planning the simple motions. Copy the content of this CPP file into ``panda_multiple_arms/src/plan_simple_motion.cpp`` in your package. The code in this file does the following. - - -1. Set the move groups names for arms and hands (considering same naming in step 2). :: - - static const std::string right_arm_group = "right_arm"; - static const std::string right_hand_group = "right_hand"; - - static const std::string left_arm_group = "left_arm"; - static const std::string left_hand_group = "left_hand"; - - -2. Declare MoveGroupInterface objects for every arm and hand. :: - - moveit::planning_interface::MoveGroupInterface right_arm_move_group_interface(right_arm_group); - moveit::planning_interface::MoveGroupInterface right_hand_move_group_interface(right_hand_group); - - moveit::planning_interface::MoveGroupInterface left_arm_move_group_interface(left_arm_group); - moveit::planning_interface::MoveGroupInterface left_hand_move_group_interface(left_hand_group); - -3. Set the arms goal poses to the pre-defined ``ready`` pose. :: - - right_arm_move_group_interface.setNamedTarget("ready"); - left_arm_move_group_interface.setNamedTarget("ready"); - -4. Plan the arms motions, and if the planning is successful move arms and open grippers. :: - - bool right_success = (right_arm_move_group_interface.plan(right_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); - bool left_success = (left_arm_move_group_interface.plan(left_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); - - if (right_success) - { - right_arm_move_group_interface.execute(right_arm_plan); - - right_hand_move_group_interface.setNamedTarget("open"); - right_hand_move_group_interface.move(); - } - - if (left_success) - { - left_arm_move_group_interface.execute(left_arm_plan); - - left_hand_move_group_interface.setNamedTarget("open"); - left_hand_move_group_interface.move(); - } - -5. In the last step, the arms are tasked to move with respect to their current poses. The right arm moves 0.10 meter up, and the left arm moves 0.10 forward. Here is the code for moving the right arm up. :: - - geometry_msgs::PoseStamped current_right_arm_pose = right_arm_move_group_interface.getCurrentPose(); - geometry_msgs::PoseStamped target_right_arm_pose = current_right_arm_pose; - - target_right_arm_pose.pose.position.z += 0.10; - - right_arm_move_group_interface.setPoseTarget(target_right_arm_pose); - right_success = (right_arm_move_group_interface.plan(right_arm_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); - - if (right_success) - { - right_arm_move_group_interface.execute(right_arm_plan); - } - - -Build the workspace and run the ``plan_simple_motion`` node:: - - cd ~/ws_moveit - catkin build - source devel/setup.bash - rosrun panda_multiple_arms plan_simple_motion - -This `short YouTube video `_ shows the described arms and hands motions using MoveIt move group interface. After seeing the arms motions, you may think they should move in straight lines between current and target poses. This is can be accomplished using MoveIt's `Cartesian Path planner `_ , which is also explained in the Move Group Interface tutorials, and you are strongly encouraged to implement it. +Refer to `MoveIt tutorials `_ to learn more about the Move Group Interface. \ No newline at end of file From df87d2c3f1c1c394e9e797f34e8abec16399fa99 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 25 Nov 2022 19:26:19 +0900 Subject: [PATCH 57/63] Minimal fix to the target link position --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 0e37e9258..d7a076a10 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -528,6 +528,6 @@ If all steps are done, this should bring up all the required components for the Step 5: Plan arms motions with MoveIt Move Group Interface. ----------------------------------------------------------- -When writing code for multiple move groups, motion planning works the same way it did in previous tutorials. There is an `example here for multiple move groups. `_ and a `minimal CMakeLists.txt `_ file with the dependencies to use Moveit Move Group Interface and describe the arms poses. This `short YouTube video `_ shows the resulting arms and hands motions. +When writing code for multiple move groups, motion planning works the same way it did in previous tutorials. There is an `example here for multiple move groups `_ and a `minimal CMakeLists.txt `_ file with the dependencies to use Moveit Move Group Interface and describe the arms poses. This `short YouTube video `_ shows the resulting arms and hands motions. -Refer to `MoveIt tutorials `_ to learn more about the Move Group Interface. \ No newline at end of file +Refer to MoveIt tutorials to learn more about the `Move Group Interface `_. \ No newline at end of file From 89da6c888c9cde074c3f0986f5e61f06ac9e4010 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 25 Nov 2022 20:01:08 +0900 Subject: [PATCH 58/63] Fix the title of the tutorial --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 3 +++ 1 file changed, 3 insertions(+) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index d7a076a10..8ee11fd43 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -1,3 +1,6 @@ +MoveIt Multiple Robot Arms +========================== + Introduction ------------ In MoveIt, we can plan motions for multiple robot arms, but there are pre-required steps to prepare robot models and configure ROS controllers. This tutorial provides ROS beginners with the steps to model multiple arms, configure controllers, and plan motions using MoveIt. From adab679ef504054dda13baebd933040ffc88ac00 Mon Sep 17 00:00:00 2001 From: Robotawi Date: Fri, 25 Nov 2022 20:16:48 +0900 Subject: [PATCH 59/63] Remove the word "MoveIt" from the title --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 8ee11fd43..ef42f000a 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -1,4 +1,4 @@ -MoveIt Multiple Robot Arms +Multiple Robot Arms ========================== Introduction From 9a76dadd029daa20a07b4d6435e61b48880ba8c5 Mon Sep 17 00:00:00 2001 From: AndyZe Date: Mon, 28 Nov 2022 16:38:52 -0600 Subject: [PATCH 60/63] Grammar nitpicks --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index ef42f000a..9b464f085 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -410,7 +410,7 @@ The remaining part of this step explains how to modify the auto-generated contro - left_arm_joint6 - left_arm_joint7 - #notice that the grippers joint2 mimics joint1 + #notice that the gripper's joint2 mimics joint1 #this is why it is not listed under the hand controllers - name: right_hand_controller @@ -449,8 +449,7 @@ Step 4: Integrate the simulation in Gazebo with MoveIt motion planning At the integration step, we need to ensure that ROS packages for ROS control, Gazebo ROS control, MoveIt ROS control interface, and MoveIt planners are installed and sourced on our ROS environment. Install the required ROS packages as follows, and **source** your ROS environment:: - sudo apt install sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-position-controllers ros-noetic-velocity-controllers ros-noetic-gazebo-ros ros-noetic-gazebo-ros-control ros-noetic-moveit-ros-control-interface ros-noetic-moveit-simple-controller-manager - ros-noetic-moveit-fake-controller-manager ros-noetic-moveit-planners + sudo apt install ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-position-controllers ros-noetic-velocity-controllers ros-noetic-gazebo-ros ros-noetic-gazebo-ros-control ros-noetic-moveit-ros-control-interface ros-noetic-moveit-simple-controller-manager ros-noetic-moveit-fake-controller-manager ros-noetic-moveit-planners For the integration to work, we need to prepare a launch file to start three components. Those components are the simulated robot in Gazebo, ROS controllers, and MoveIt motion plannig executable. We have already prepared the ``control_utils.launch`` file to load the ROS controllers, and the required MoveIt motion planning file ``move_group.launch`` is auto-generated. Then, our tasks here are to start the simulated robot in a Gazebo world, and prepare a launch file that starts the mentioned three components. From 875b5a4c9de700fbd30055a04640395073c09968 Mon Sep 17 00:00:00 2001 From: AndyZe Date: Mon, 28 Nov 2022 16:43:48 -0600 Subject: [PATCH 61/63] Mention a move_group for both arms --- doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index 9b464f085..a1f54f392 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -530,6 +530,6 @@ If all steps are done, this should bring up all the required components for the Step 5: Plan arms motions with MoveIt Move Group Interface. ----------------------------------------------------------- -When writing code for multiple move groups, motion planning works the same way it did in previous tutorials. There is an `example here for multiple move groups `_ and a `minimal CMakeLists.txt `_ file with the dependencies to use Moveit Move Group Interface and describe the arms poses. This `short YouTube video `_ shows the resulting arms and hands motions. +When writing code for multiple move groups, motion planning works the same way it did in previous tutorials. There is an `example here for multiple move groups `_ and a `minimal CMakeLists.txt `_ file with the dependencies to use Moveit Move Group Interface and describe the arms poses. This `short YouTube video `_ shows the resulting arms and hands motions. This example uses a separate move group for every arm, but we can make a new move group that contains both the ``right_arm`` and ``left_arm`` groups to plan and execute motions for them simultaneously. Refer to MoveIt tutorials to learn more about the `Move Group Interface `_. \ No newline at end of file From 7ba18a533ed6471340528076eb88855f58edfc65 Mon Sep 17 00:00:00 2001 From: Andy Zelenak Date: Mon, 28 Nov 2022 16:55:46 -0600 Subject: [PATCH 62/63] Update url --- doc/mesh_filter/mesh_filter_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/mesh_filter/mesh_filter_tutorial.rst b/doc/mesh_filter/mesh_filter_tutorial.rst index c023b740a..4ebfca0ea 100644 --- a/doc/mesh_filter/mesh_filter_tutorial.rst +++ b/doc/mesh_filter/mesh_filter_tutorial.rst @@ -82,7 +82,7 @@ Include sensor plugin in a ``.gazebo`` file. In this tutorial, a kinect sensor p -Attach sensor to `base urdf `_ of UR5 using links and joints as shown in ``ur5_sensor.urdf.xacro`` :: +Attach sensor to `base urdf `_ of UR5 using links and joints as shown in ``ur5_sensor.urdf.xacro`` :: From e4685486acb765aa56e8d988888d42a0282b73a3 Mon Sep 17 00:00:00 2001 From: Andy Zelenak Date: Mon, 28 Nov 2022 17:13:47 -0600 Subject: [PATCH 63/63] Formatting --- .../multiple_robot_arms_tutorial.rst | 98 +++++++++---------- 1 file changed, 45 insertions(+), 53 deletions(-) diff --git a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst index a1f54f392..cbd42a01a 100644 --- a/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst +++ b/doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst @@ -20,22 +20,22 @@ The steps of setting multiple arms environments to use MoveIt motion planning ar 1. Build the Xacro/URDF model of the multiple arms. -2. Prepare the MoveIt config package using MoveIt setup Assistant. +2. Prepare the MoveIt config package using MoveIt setup Assistant. -3. Write the ROS controllers configuration and launch files for the multiple arms. +3. Write the ROS controllers configuration and launch files for the multiple arms. 4. Integrate the simulation in Gazebo with MoveIt motion planning. -5. Plan arms motions with MoveIt Move Group Interface. +5. Plan arm motions with the MoveIt Move Group Interface. -This tutorial explains every step to help set up your multiple robot arms environment. +This tutorial explains every step to help set up your multiple robot arms. Step 1: Build the Xacro/URDF model of the multiple arms ------------------------------------------------------- The Panda robot arm is used in the following explanation, but the same applies to preparing other types of robot arms. -To start building your multiple arms model, create a new ``panda_multiple_arms`` package as follows: :: +To start building your multiple arms model, create a new ``panda_multiple_arms`` package as follows: :: cd ~/ws_moveit/src catkin create pkg panda_multiple_arms @@ -45,22 +45,19 @@ To start building your multiple arms model, create a new ``panda_multiple_arms`` To prepare your multiple robot arms xacro file (model), you need to have the single arm's xacro file. In the following part, we will build a multiple arms panda robot description file consisting of two identical arms. +Our multiple arms model has ``right_arm`` and ``left_arm`` robots. Each arm is equipped with a gripper. Here is a link to the `panda_multiple_arms.xacro `_ file. Please copy its XML code to your ``panda_multiple_arms.xacro`` file. -Our multiple arms model has ``right_arm`` and ``left_arm`` robots. Each arm is equipped with a gripper. Here is a link to the `panda_multiple_arms.xacro `_ file. Please copy its XML code to your ``panda_multiple_arms.xacro`` file. +Notes: +1. Two arguments ``right_arm`` and ``left_arm`` are defined as prefixes to differentiate the arms and hands names. -Notes: - -1. Two arguments ``right_arm`` and ``left_arm`` are defined as prefixes to differentiate the arms and hands names. - 2. The arms and hands models are loaded from the ``franka_description`` package, which is installed as a dependency of the ``panda_moveit_config`` package. Ensure the ``franka_description`` package is installed in your ROS environment. 3. We usually need to have a careful look at the robot's xacro macro to understand parameters to use. Here is an example from the ``franka_arm.xacro`` file in the ``franka_description`` package. It has the following macro for the robot model:: - - + -We can search those parameters in the macro to understand the function of each. The ``arm_id`` sets a prefix to the arm name to enable reusing the same model. This is essential for our purpose of modeling multiple robots. The ``connected_to`` parameter allows the robot base to be attached to a given link. In our multiple arms model, each robot is connected to a box-shaped base. The ``gazebo`` parameter determines whether to load the gazebo simulation required information (e.g links inertias and joints transmissions) or not. +We can search those parameters in the macro to understand the function of each. The ``arm_id`` sets a prefix to the arm name to enable reusing the same model. This is essential for our purpose of modeling multiple robots. The ``connected_to`` parameter allows the robot base to be attached to a given link. In our multiple arms model, each robot is connected to a box-shaped base. The ``gazebo`` parameter determines whether to load the gazebo simulation required information (e.g links inertias and joints transmissions) or not. After knowing the xacro macro for the arm, and understanding the input parameters, we can use it as follows to load the arms. :: @@ -68,13 +65,12 @@ After knowing the xacro macro for the arm, and understanding the input parameter - -The same way applies to loading the robot grippers/hands models. Follow the tutorials of `URDF `_ and `Xacro `_ to learn more about modeling robots with those formats. +The same applies to loading the robot grippers/hands models. Follow the tutorials of `URDF `_ and `xacro `_ to learn more about modeling robots with those formats. At this point, it is recommended to check our xacro model is working as expected. This can be done in three simple steps; convert your xacro model to URDF, check the connections between links and joints are correct, and visualize the model. Run the following commands to build your ``panda_multiple_arms`` package and check the xacro model has no problems. :: - + cd ~/ws_moveit - catkin build + catkin build source devel/setup.bash roscd panda_multiple_arms/robot_description rosrun xacro xacro panda_multiple_arms.xacro -o panda_multiple_arms.urdf @@ -137,34 +133,32 @@ To visually check your multiple robot arm model, ensure that the ``urdf_tutorial roslaunch urdf_tutorial display.launch model:=panda_multiple_arms.urdf -Once Rviz GUI starts, set the fixed frame on the upper left corner to be ``world``. +Once the Rviz GUI starts, set the fixed frame on the upper left corner to ``world``. .. image:: images/rviz_fixed_frame.png :width: 300pt :align: center -If the previous steps are correctly done, the multiple arms model should show up as follows. +If the previous steps are correctly done, the multiple arms model should show up as follows. .. image:: images/check_urdf_in_rviz.png :width: 500pt :align: center +This concludes the first step of building the model and verifying it. -This concludes the first step of building the model and verifying it. - -Step 2: Prepare the MoveIt config package using MoveIt Setup Assistant ----------------------------------------------------------------------- +Step 2: Prepare the MoveIt config package using MoveIt Setup Assistant +---------------------------------------------------------------------- -MoveIt Setup Assistant is used to configure our multiple robot arms for using the MoveIt pipeline. +MoveIt Setup Assistant is used to configure our multiple robot arms for using the MoveIt pipeline. - Start the MoveIt Setup Assistant: :: roslaunch moveit_setup_assistant setup_assistant.launch -Follow the MoveIt Setup Assistant `tutorial `_ to configure the arms. Note that we will be making a separate move group for each arm and hand. The groups are called ``right_arm``, ``left_arm``, ``right_hand``, and ``left_hand``. - +Follow the MoveIt Setup Assistant `tutorial `_ to configure the arms. Note that we will be making a separate move group for each arm and hand. The groups are called ``right_arm``, ``left_arm``, ``right_hand``, and ``left_hand``. -Here are two more steps which are not required but they are often useful: +Here are two more steps which are not required but often useful: 1. Define a practical `ready` pose for both arms with joint values {0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785}. @@ -181,33 +175,33 @@ The arms should look as follows at the `ready` pose. :width: 500pt :align: center -Name the MoveIt config package ``panda_multiple_arms_moveit_config`` and generate the files using the Setup Assistant in the ``~/ws_moveit/src`` directory. +Name the MoveIt config package ``panda_multiple_arms_moveit_config`` and generate the files using the Setup Assistant in the ``~/ws_moveit/src`` directory. -Step 3: Write the ROS controllers configuration and launch files for the multiple arms +Step 3: Write the ROS controllers configuration and launch files for the multiple arms -------------------------------------------------------------------------------------- This step creates ``ros_control`` configuration files and ``roslaunch`` files to start them. We need two controller types. The first is a *joint state controller*, which publishes the state of all joints. The second is *joint trajectory controller*, which executes joint-space trajectories on a group of robot joints. -In the following configuration files, the controllers names are ``joint_state_controller``, ``right_arm_trajectory_controller``, and ``left_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and constraints. For more about ROS controllers, refer to their documentation_. Let's create the controllers configuration and their launch file in systematic steps and with descriptive names. +In the following configuration files, the controllers names are ``joint_state_controller``, ``right_arm_trajectory_controller``, and ``left_arm_trajectory_controller``. Under each trajectory controller, we need to specify its hardware interface type, joint groups, and constraints. For more about ROS controllers, refer to their documentation_. Let's create the controllers configuration and their launch file in systematic steps and with descriptive names. -.. _documentation: http://wiki.ros.org/ros_control +.. _documentation: http://wiki.ros.org/ros_control - The joint state controller: - + 1. Create the ``joint_state_controller.yaml`` configuration file inside the ``panda_multiple_arms/config`` directory as follows:: cd ~/ws_moveit cd src/panda_multiple_arms mkdir config && cd config - touch joint_state_controller.yaml + touch joint_state_controller.yaml 2. Open the ``joint_state_controller.yaml`` and copy the following controller configuration to it :: joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: 50 + publish_rate: 50 -- The joint trajectory controller: +- The joint trajectory controller: 3. Create the ``trajectory_controller.yaml`` configuration file in the same directory ``panda_multiple_arms/config`` :: @@ -306,16 +300,16 @@ In the following configuration files, the controllers names are ``joint_state_co The joint state controller publishes the robot joint values on the ``/joint_states`` topic, and the robot state publisher uses them to calculate forward kinematics and publish the poses/transforms of the robot links. The joint trajectory controller enables executing joint-space trajectories on a group of joints. -The remaining part of this step explains how to modify the auto-generated controller files in the moveit config package to execute MoveIt-generated trajectories on Gazebo-simulated robots. Also in a systematic way, we need to modify two files, ``ros_controllers.yaml``, and ``simple_moveit_controllers.yaml`` +The remaining part of this step explains how to modify the auto-generated controller files in the moveit config package to execute MoveIt-generated trajectories on Gazebo-simulated robots. Also in a systematic way, we need to modify two files, ``ros_controllers.yaml``, and ``simple_moveit_controllers.yaml`` -- The ros_controllers.yaml +- The ros_controllers.yaml 6. The ``ros_controllers.yaml`` file is auto-generated in the ``panda_multiple_arms_moveit_config/config``. This file is for the ROS control configuration, which means its content should be the same as the content of both ``joint_state_controller.yaml`` and ``trajectory_controller.yaml``. Its contents should be as follows :: - + joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: 50 - + publish_rate: 50 + right_arm_trajectory_controller: type: "position_controllers/JointTrajectoryController" joints: @@ -379,11 +373,11 @@ The remaining part of this step explains how to modify the auto-generated contro - left_arm_finger_joint1 gains: left_arm_finger_joint1: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0} - -- The simple_moveit_controllers.yaml -7. This file is also auto-generated in the ``panda_multiple_arms_moveit_config/config``. MoveIt requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ROS controller (written above). This file configures the controllers to be used by MoveIt controller manager to execute planned trajectories. The controllers names should match the ROS controllers in the previous ``ros_controllers.yaml``. Copy the following to your ``simple_moveit_controllers.yaml`` file. :: - +- The simple_moveit_controllers.yaml + +7. This file is also auto-generated in ``panda_multiple_arms_moveit_config/config``. MoveIt requires a trajectory controller which has a FollowJointTrajectoryAction interface. After motion planning, the FollowJointTrajectoryAction interface sends the generated trajectory to the robot ROS controller (written above). This file configures the controllers to be used by MoveIt controller manager to execute planned trajectories. The controllers names should match the ROS controllers in the previous ``ros_controllers.yaml``. Copy the following to your ``simple_moveit_controllers.yaml`` file. :: + controller_list: - name: right_arm_trajectory_controller action_ns: follow_joint_trajectory @@ -453,12 +447,12 @@ At the integration step, we need to ensure that ROS packages for ROS control, Ga For the integration to work, we need to prepare a launch file to start three components. Those components are the simulated robot in Gazebo, ROS controllers, and MoveIt motion plannig executable. We have already prepared the ``control_utils.launch`` file to load the ROS controllers, and the required MoveIt motion planning file ``move_group.launch`` is auto-generated. Then, our tasks here are to start the simulated robot in a Gazebo world, and prepare a launch file that starts the mentioned three components. -1. Starting the simulated robot in an empty Gazebo world +1. Starting the simulated robot in an empty Gazebo world -To spawn the panda multiple arms model in Gazebo, we need to prepare a launch file in the ``panda_multiple_arms/launch`` directory. Let's call it ``panda_multiple_arms_empty_world.launch``. Here are the steps to prepar this file. :: +To spawn the panda multiple arms model in Gazebo, we need to prepare a launch file in the ``panda_multiple_arms/launch`` directory. Let's call it ``panda_multiple_arms_empty_world.launch``. Here are the steps to prepar this file. :: cd ~/ws_moveit - cd src/panda_multiple_arms/launch + cd src/panda_multiple_arms/launch touch panda_multiple_arms_empty_world.launch The ``panda_multiple_arms_empty_world.launch`` file launches an empty world file, loads the robot description, and spawns the robot in the empty world. Copy the following XML code to this file. :: @@ -478,20 +472,18 @@ The ``panda_multiple_arms_empty_world.launch`` file launches an empty world file - 2. Preparing a ``bringup_moveit.launch`` file to start the three integration components. Create the file in the ``panda_multiple_arms/launch`` directory. :: cd ~/ws_moveit - cd src/panda_multiple_arms/launch + cd src/panda_multiple_arms/launch touch bringup_moveit.launch Copy the following XML code to the ``bringup_moveit.launch`` file. :: - + - @@ -520,7 +512,7 @@ Copy the following XML code to the ``bringup_moveit.launch`` file. :: To start the MoveIt-Gazebo integration, build and source your ROS workspace, and run the ``bringup_moveit.launch`` file. :: cd ~/ws_moveit - catkin build + catkin build source devel/setup.bash roslaunch panda_multiple_arms bringup_moveit.launch @@ -532,4 +524,4 @@ Step 5: Plan arms motions with MoveIt Move Group Interface. When writing code for multiple move groups, motion planning works the same way it did in previous tutorials. There is an `example here for multiple move groups `_ and a `minimal CMakeLists.txt `_ file with the dependencies to use Moveit Move Group Interface and describe the arms poses. This `short YouTube video `_ shows the resulting arms and hands motions. This example uses a separate move group for every arm, but we can make a new move group that contains both the ``right_arm`` and ``left_arm`` groups to plan and execute motions for them simultaneously. -Refer to MoveIt tutorials to learn more about the `Move Group Interface `_. \ No newline at end of file +Refer to MoveIt tutorials to learn more about the `Move Group Interface `_.