lunalab_summit_xl_gen_moveit_config

lunalab_summit_xl_gen_moveit_config

MoveIt configuration for manipulators that can be attached to Summit XL-GEN (LunaLab variant).

Instructions

move_group

In order to configure and setup move_group of MoveIt 2 to plan motions inside a simulation (real robot is not yet supported), move_group.launch.py script can be launched or included in another launch script.

ros2 launch lunalab_summit_xl_gen_moveit_config move_group.launch.py <arg_i>:=<val_i>

To see all arguments, please use ros2 launch --show-args lunalab_summit_xl_gen_moveit_config move_group.launch.py.

SRDF

For SRDF, lunalab_summit_xl_gen.srdf.xacro is the primary descriptor that includes all other xacros and creates a configuration based on the passed arguments. To generate SRDF out of xacro, you can use the included xacro2srdf.bash script and modify its arguments as needed. Once executed, lunalab_summit_xl_gen.srdf will automatically be replaced. Alternatively, xacro lunalab_summit_xl_gen.srdf.xacro name:="lunalab_summit_xl_gen" <arg_i>:=<val_i> ... can be executed directly, e.g. this is preferred within any launch script.

Examples

fake_control

To see if everything works in an isolated environment, try using ex_fake_control.launch.py script that allows planning motions with MoveIt 2 and executing them with fake controllers inside RViz2.

ros2 launch lunalab_summit_xl_gen_moveit_config ex_fake_control.launch.py

ign_control

For example inside Gazebo, try using ex_ign_control.launch.py script that allows planning motions with MoveIt 2 and executing them with simulated controllers.

ros2 launch lunalab_summit_xl_gen_moveit_config ex_ign_control.launch.py

Directory Structure

The following directory structure is utilised for this package.

.
├── config/                                   # [dir] Configuration files for MoveIt 2
    ├── controllers_*.yaml                    # Configuration of ROS 2 controllers for different command interfaces
    ├── joint_limits.yaml                     # List of velocity and acceleration joint limits
    ├── kinematics.yaml                       # Configuration for the kinematic solver
    ├── moveit_controller_manager.yaml        # List of controllers with their type and action namespace for use with MoveIt 2
    ├── ompl_planning.yaml                    # Configuration of OMPL planning and specific planners
    └── servo.yaml                            # Configuration for moveit_servo
├── launch/                                   # [dir] ROS 2 launch scripts
    ├── ex_fake_control.launch.py             # Launch script virtual motion planning and execution inside RViz2
    ├── ex_ign_control.launch.py              # Launch script virtual motion planning and execution inside Gazebo
    ├── move_group_ros1_controllers.launch.py # Launch script for configuring and setting up move_group of MoveIt 2 using on-board ROS 1 controllers
    └── move_group.launch.py                  # Launch script for configuring and setting up move_group of MoveIt 2
├── rviz/moveit.rviz                          # RViz2 config for motion planning with MoveIt 2
├── scripts/                                  # [dir] Additional useful scripts
├── srdf/                                     # [dir] SRDF description (xacros)
    ├── lunalab_summit_xl_gen_j2s7s300.xacro  # Xacro specific to SRDF of Kinova j2s7s300 manipulator
    ├── lunalab_summit_xl_gen.srdf            # SRDF generated from `lunalab_summit_xl_gen.srdf.xacro`
    ├── lunalab_summit_xl_gen.srdf.xacro      # The primary xacro of the robot
    └── lunalab_summit_xl_manipulators.xacro  # Xacro for utilised manipulators
├── CMakeLists.txt                            # Colcon-enabled CMake recipe
└── package.xml                               # ROS 2 package metadata