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Add cartesian limits for pilz LIN planner

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This commit is contained in:
Nicolas Hiillos
2023-03-27 15:55:52 +03:00
parent 2e28c4e99f
commit ef994440f4
4 changed files with 19 additions and 21 deletions
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5
src/custom_xarm_moveit_config/config/lite6/cartesian_limits.yaml Normal file
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@@ -0,0 +1,5 @@
cartesian_limits:
max_trans_vel: 1.0
max_trans_acc: 2.25
max_trans_dec: -5.0
max_rot_vel: 1.57

8
src/lite6_controller/launch/lite6_gazebo.launch.py
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@@ -300,12 +300,8 @@ def launch_setup(context, *args, **kwargs):
prefix=prefix.perform(context)) prefix=prefix.perform(context))
robot_description_parameters['cartesian_limits'] = {} cartesian_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'cartesian_limits.yaml')
robot_description_parameters['cartesian_limits']['max_trans_vel'] = 1 robot_description_parameters['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits']
robot_description_parameters['cartesian_limits']['max_trans_acc'] = 2.25
robot_description_parameters['cartesian_limits']['max_trans_dec'] = -5
robot_description_parameters['cartesian_limits']['max_rot_vel'] = 1.57
# Planning pipeline # Planning pipeline
# https://github.com/AndrejOrsula/panda_moveit2_config/blob/master/launch/move_group_fake_control.launch.py # https://github.com/AndrejOrsula/panda_moveit2_config/blob/master/launch/move_group_fake_control.launch.py

20
src/lite6_controller/launch/lite6_real.launch.py
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@@ -154,17 +154,15 @@ def launch_setup(context, *args, **kwargs):
ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, 'ompl_planning.yaml') ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, 'ompl_planning.yaml')
kinematics_yaml = robot_description_parameters['robot_description_kinematics'] kinematics_yaml = robot_description_parameters['robot_description_kinematics']
robot_description_parameters['cartesian_limits'] = {} cartesian_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'cartesian_limits.yaml')
robot_description_parameters['cartesian_limits']['max_trans_vel'] = 1 robot_description_parameters['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits']
robot_description_parameters['cartesian_limits']['max_trans_acc'] = 2.25
robot_description_parameters['cartesian_limits']['max_trans_dec'] = -5
robot_description_parameters['cartesian_limits']['max_rot_vel'] = 1.57
#kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin' kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin'
#kinematics_yaml['kinematics_solver_search_resolution'] = 0.005 kinematics_yaml['kinematics_solver_search_resolution'] = 0.005
#kinematics_yaml['kinematics_solver_timeout'] = 0.005 kinematics_yaml['kinematics_solver_timeout'] = 0.005
#kinematics_yaml['kinematics_solver_attempts'] = 3 kinematics_yaml['kinematics_solver_attempts'] = 3
kinematics_yaml['kinematics_solver_timeout'] = 10.0 kinematics_yaml['kinematics_solver_timeout'] = 10.0
kinematics_yaml['kinematics_solver_attempts'] = 10 kinematics_yaml['kinematics_solver_attempts'] = 10
joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None) joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
@@ -249,7 +247,8 @@ def launch_setup(context, *args, **kwargs):
'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner', 'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner',
#'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""", #'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
'request_adapters': """default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""", 'request_adapters': """default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
"default_planner_config": "PTP", #"default_planner_config": "PTP",
"default_planner_config": "LIN",
} }
} }
@@ -264,6 +263,7 @@ def launch_setup(context, *args, **kwargs):
output='screen', output='screen',
parameters=[ parameters=[
robot_description_parameters, robot_description_parameters,
#cartesian_limits,
#ompl_planning_pipeline_config, #ompl_planning_pipeline_config,
pilz_planning_pipeline_config, pilz_planning_pipeline_config,
move_group_capabilities, move_group_capabilities,

7
src/lite6_controller/launch/lite6_real_no_gui.launch.py
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@@ -182,11 +182,8 @@ def launch_setup(context, *args, **kwargs):
kinematics_yaml=kinematics_yaml, joint_limits_yaml=joint_limits_yaml, kinematics_yaml=kinematics_yaml, joint_limits_yaml=joint_limits_yaml,
prefix=prefix.perform(context)) prefix=prefix.perform(context))
robot_description_parameters['cartesian_limits'] = {} cartesian_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'cartesian_limits.yaml')
robot_description_parameters['cartesian_limits']['max_trans_vel'] = 1 robot_description_parameters['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits']
robot_description_parameters['cartesian_limits']['max_trans_acc'] = 2.25
robot_description_parameters['cartesian_limits']['max_trans_dec'] = -5
robot_description_parameters['cartesian_limits']['max_rot_vel'] = 1.57
# Planning Configuration # Planning Configuration
ompl_planning_pipeline_config = { ompl_planning_pipeline_config = {