added med14

lbr_moveit_config/med14_moveit_config/.setup_assistant

@@ -7,17 +7,19 @@ moveit_setup_assistant_config:
   package_settings:
     author_name: mhubii
     author_email: [email protected]
-    generated_timestamp: 1686315597
+    generated_timestamp: 1690640936
   control_xacro:
     command:
-      []
+      - position
     state:
-      []
+      - position
+      - velocity
   modified_urdf:
     xacros:
       - control_xacro
   control_xacro:
     command:
-      []
+      - position
     state:
-      []
+      - position
+      - velocity

lbr_moveit_config/med14_moveit_config/config/joint_limits.yaml

@@ -11,35 +11,35 @@ joint_limits:
   lbr_joint_0:
     has_velocity_limits: true
     max_velocity: 1.4835298641951802
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   lbr_joint_1:
     has_velocity_limits: true
     max_velocity: 1.4835298641951802
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   lbr_joint_2:
     has_velocity_limits: true
     max_velocity: 1.7453292519943295
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   lbr_joint_3:
     has_velocity_limits: true
     max_velocity: 1.3089969389957472
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   lbr_joint_4:
     has_velocity_limits: true
     max_velocity: 2.2689280275926285
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   lbr_joint_5:
     has_velocity_limits: true
     max_velocity: 2.3561944901923448
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0
   lbr_joint_6:
     has_velocity_limits: true
     max_velocity: 2.3561944901923448
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 10.0

lbr_moveit_config/med14_moveit_config/config/med14.srdf

@@ -13,7 +13,7 @@
         <chain base_link="lbr_link_0" tip_link="lbr_link_ee"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
-    <group_state name="home" group="arm">
+    <group_state name="zero" group="arm">
         <joint name="lbr_joint_0" value="0"/>
         <joint name="lbr_joint_1" value="0"/>
         <joint name="lbr_joint_2" value="0"/>

lbr_moveit_config/med14_moveit_config/config/moveit_controllers.yaml

@@ -0,0 +1,20 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - position_trajectory_controller
+
+  position_trajectory_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - lbr_joint_0
+      - lbr_joint_1
+      - lbr_joint_2
+      - lbr_joint_3
+      - lbr_joint_4
+      - lbr_joint_5
+      - lbr_joint_6

lbr_moveit_config/med14_moveit_config/launch/move_group.launch.py

@@ -1,7 +1,19 @@
+import os
+
+from ament_index_python import get_package_share_directory
 from moveit_configs_utils import MoveItConfigsBuilder
 from moveit_configs_utils.launches import generate_move_group_launch
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("med14", package_name="med14_moveit_config").to_moveit_configs()
+    moveit_config = (
+        MoveItConfigsBuilder("med14", package_name="med14_moveit_config")
+        .robot_description(
+            os.path.join(
+                get_package_share_directory("lbr_description"),
+                "urdf/med14/med14.urdf.xacro",
+            )
+        )
+        .to_moveit_configs()
+    )
     return generate_move_group_launch(moveit_config)

lbr_moveit_config/med14_moveit_config/package.xml

@@ -30,19 +30,14 @@
        We don't include them by default to prevent installing gazebo and all its dependencies. -->
   <!-- <exec_depend>joint_trajectory_controller</exec_depend> -->
   <!-- <exec_depend>gazebo_ros_control</exec_depend> -->
-  <exec_depend>controller_manager</exec_depend>
   <exec_depend>lbr_description</exec_depend>
   <exec_depend>moveit_configs_utils</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>
   <exec_depend>moveit_ros_visualization</exec_depend>
-  <exec_depend>moveit_ros_warehouse</exec_depend>
   <exec_depend>moveit_setup_assistant</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>rviz_common</exec_depend>
   <exec_depend>rviz_default_plugins</exec_depend>
-  <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>warehouse_ros_mongo</exec_depend>
   <exec_depend>xacro</exec_depend>