Add the panda_control_moveit_rviz.launch

This file can be used to control a real Panda using MoveIt.

config/panda_gripper_moveit_controllers.yaml

@@ -0,0 +1,20 @@
+controller_list:
+  - name: position_joint_trajectory_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - panda_joint1
+      - panda_joint2
+      - panda_joint3
+      - panda_joint4
+      - panda_joint5
+      - panda_joint6
+      - panda_joint7
+  - name: franka_gripper
+    action_ns: gripper_action
+    type: GripperCommand
+    default: true
+    joints:
+      - panda_finger_joint1
+      - panda_finger_joint2

config/panda_moveit_controllers.yaml

@@ -0,0 +1,13 @@
+controller_list:
+  - name: position_joint_trajectory_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - panda_joint1
+      - panda_joint2
+      - panda_joint3
+      - panda_joint4
+      - panda_joint5
+      - panda_joint6
+      - panda_joint7

config/ros_controllers.yaml

@@ -17,57 +17,4 @@ hardware_interface:
     - panda_joint6
     - panda_joint7
     - panda_finger_joint1
-  sim_control_mode: 1  # 0: position, 1: velocity
-# Publish all joint states
-# Creates the /joint_states topic necessary in ROS
-joint_state_controller:
-  type: joint_state_controller/JointStateController
-  publish_rate: 50
-controller_list:
-  []
-position_joint_trajectory_controller:
-  type: position_controllers/JointTrajectoryController
-  joints:
-    - panda_joint1
-    - panda_joint2
-    - panda_joint3
-    - panda_joint4
-    - panda_joint5
-    - panda_joint6
-    - panda_joint7
-  gains:
-    panda_joint1:
-      p: 100
-      d: 1
-      i: 1
-      i_clamp: 1
-    panda_joint2:
-      p: 100
-      d: 1
-      i: 1
-      i_clamp: 1
-    panda_joint3:
-      p: 100
-      d: 1
-      i: 1
-      i_clamp: 1
-    panda_joint4:
-      p: 100
-      d: 1
-      i: 1
-      i_clamp: 1
-    panda_joint5:
-      p: 100
-      d: 1
-      i: 1
-      i_clamp: 1
-    panda_joint6:
-      p: 100
-      d: 1
-      i: 1
-      i_clamp: 1
-    panda_joint7:
-      p: 100
-      d: 1
-      i: 1
-      i_clamp: 1
+  sim_control_mode: 1  # 0: position, 1: velocity

launch/move_group.launch

@@ -76,7 +76,8 @@
   <!-- Trajectory Execution Functionality -->
   <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
     <arg name="moveit_manage_controllers" value="true" />
-    <arg name="moveit_controller_manager" value="panda" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="panda" if="$(eval not arg('fake_execution') and not arg('load_gripper'))"/>
+    <arg name="moveit_controller_manager" value="panda_gripper" if="$(eval not arg('fake_execution') and arg('load_gripper'))"/>
     <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
     <arg name="execution_type" value="$(arg execution_type)" />
   </include>

launch/panda_control_moveit_rviz.launch

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<!--
+  Used to control a real robot using moveit
+-->
+<launch>
+  <arg name="load_gripper" default="true" />
+  <arg name="launch_rviz" default="true" />
+  <!--
+    By default we load the franka controllers.Disable this option if the controllers are
+    running on a seperate workstation
+  -->
+  <arg name="launch_franka_control" default="true" />
+  <group if="$(arg launch_franka_control)">
+    <arg name="robot_ip" />
+  </group>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" />
+
+  <include if="$(arg launch_franka_control)" file="$(find franka_control)/launch/franka_control.launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+    <arg name="load_gripper" value="$(arg load_gripper)" />
+  </include>
+
+  <include file="$(find panda_moveit_config)/launch/panda_moveit.launch">
+    <arg name="load_gripper" value="$(arg load_gripper)" />
+  </include>
+
+  <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" if="$(arg launch_rviz)"/>
+</launch>

launch/panda_gripper_moveit_controller_manager.launch.xml

@@ -0,0 +1,12 @@
+<launch>
+
+  <!-- this argument is not used here, only necessary so that this launch file has the same args as fake_moveit_controller_manager.launch -->
+  <arg name="execution_type" default="unused" />
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
+
+  <!-- load controller_list -->
+  <rosparam file="$(find panda_moveit_config)/config/panda_gripper_moveit_controllers.yaml"/>
+</launch>

launch/panda_moveit.launch

@@ -0,0 +1,10 @@
+<?xml version="1.0" ?>
+<launch>
+  <arg name="load_gripper" default="true" />
+
+  <include file="$(dirname)/ros_controllers.launch"/>
+
+  <include file="$(find panda_moveit_config)/launch/move_group.launch">
+    <arg name="load_gripper" value="$(arg load_gripper)" />
+  </include>
+</launch>

launch/panda_moveit_controller_manager.launch.xml

@@ -9,5 +9,5 @@
   <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
 
   <!-- loads ros_controllers to the param server -->
-  <rosparam file="$(find panda_moveit_config)/config/ros_controllers.yaml"/>
+  <rosparam file="$(find panda_moveit_config)/config/panda_moveit_controllers.yaml"/>
 </launch>

launch/ros_controllers.launch

@@ -6,6 +6,6 @@
 
   <!-- Load the controllers -->
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="position_joint_trajectory_controller "/>
+    output="screen" args="position_joint_trajectory_controller"/>
 
 </launch>