jazzy対応（MoveitConfigsBuilder）

.github/workflows/industrial_ci.yml

@@ -17,7 +17,7 @@ jobs:
     strategy:
       matrix:
         env:
-          - { ROS_DISTRO: humble, ROS_REPO: ros }
+          - { ROS_DISTRO: jazzy, ROS_REPO: ros }
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2

.gitignore

@@ -55,6 +55,4 @@ docs/_build/
 
 # PyBuilder
 target/
-.pytest_cache
-
-.vscode
+.pytest_cache

crane_plus_description/package.xml

@@ -13,8 +13,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <depend>gazebo_ros2_control</depend>
-  <depend>ign_ros2_control</depend>
+  <depend>gz_ros2_control</depend>
   <depend>joint_state_publisher_gui</depend>
   <depend>launch</depend>
   <depend>robot_state_publisher</depend>

crane_plus_examples/src/aruco_detection.cpp

@@ -27,7 +27,7 @@
 #include "sensor_msgs/msg/image.hpp"
 #include "opencv2/opencv.hpp"
 #include "opencv2/aruco.hpp"
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 #include "tf2/LinearMath/Quaternion.h"
 #include "tf2/LinearMath/Matrix3x3.h"
 #include "tf2_ros/transform_broadcaster.h"

crane_plus_examples/src/color_detection.cpp

@@ -29,8 +29,8 @@
 #include "tf2_ros/transform_broadcaster.h"
 #include "opencv2/opencv.hpp"
 #include "opencv2/imgproc/imgproc.hpp"
-#include "cv_bridge/cv_bridge.h"
-#include "image_geometry/pinhole_camera_model.h"
+#include "cv_bridge/cv_bridge.hpp"
+#include "image_geometry/pinhole_camera_model.hpp"
 using std::placeholders::_1;
 
 class ImageSubscriber : public rclcpp::Node

crane_plus_moveit_config/.setup_assistant

@@ -0,0 +1,25 @@
+moveit_setup_assistant_config:
+  urdf:
+    package: crane_plus_description
+    relative_path: urdf/crane_plus.urdf.xacro
+  srdf:
+    relative_path: config/crane_plus.srdf
+  package_settings:
+    author_name: RT Corporation
+    author_email: [email protected]
+    generated_timestamp: 1721799427
+  control_xacro:
+    command:
+      - position
+    state:
+      - position
+      - velocity
+  modified_urdf:
+    xacros:
+      - control_xacro
+  control_xacro:
+    command:
+      - position
+    state:
+      - position
+      - velocity

crane_plus_moveit_config/CMakeLists.txt

@@ -14,4 +14,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package()
+ament_package()

crane_plus_moveit_config/config/controllers.yaml

@@ -1,20 +1,25 @@
-controller_names:
-  - crane_plus_arm_controller
-  - crane_plus_gripper_controller
+# MoveIt uses this configuration for controller management
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
 
-crane_plus_arm_controller:
-  action_ns: follow_joint_trajectory
-  type: FollowJointTrajectory
-  default: true
-  joints:
-    - crane_plus_joint1
-    - crane_plus_joint2
-    - crane_plus_joint3
-    - crane_plus_joint4
+moveit_simple_controller_manager:
+  controller_names:
+    - crane_plus_arm_controller
+    - crane_plus_gripper_controller
+
+  crane_plus_arm_controller:
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - crane_plus_joint1
+      - crane_plus_joint2
+      - crane_plus_joint3
+      - crane_plus_joint4
+
+  crane_plus_gripper_controller:
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - crane_plus_joint_hand
 
-crane_plus_gripper_controller:
-  action_ns: follow_joint_trajectory
-  type: FollowJointTrajectory
-  default: true
-  joints:
-    - crane_plus_joint_hand

crane_plus_moveit_config/config/crane_plus.srdf

@@ -1,43 +1,42 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="UTF-8"?>
 <!--This does not replace URDF, and is not an extension of URDF.
     This is a format for representing semantic information about the robot structure.
     A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
 -->
-  <robot name="crane_plus">
+<robot name="crane_plus">
     <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
     <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
     <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="arm">
-      <chain base_link="crane_plus_base" tip_link="crane_plus_link4" />
+        <chain base_link="crane_plus_base" tip_link="crane_plus_link4"/>
     </group>
     <group name="gripper">
-      <link name="crane_plus_link_hand" />
-      <joint name="crane_plus_joint_hand" />
+        <link name="crane_plus_link_hand"/>
+        <joint name="crane_plus_joint_hand"/>
     </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="vertical" group="arm">
-        <joint name="crane_plus_joint1" value="0" />
-        <joint name="crane_plus_joint2" value="0" />
-        <joint name="crane_plus_joint3" value="0" />
-        <joint name="crane_plus_joint4" value="0" />
+        <joint name="crane_plus_joint1" value="0"/>
+        <joint name="crane_plus_joint2" value="0"/>
+        <joint name="crane_plus_joint3" value="0"/>
+        <joint name="crane_plus_joint4" value="0"/>
     </group_state>
     <group_state name="home" group="arm">
-        <joint name="crane_plus_joint1" value="0.0" />
-        <joint name="crane_plus_joint2" value="-1.16" />
-        <joint name="crane_plus_joint3" value="-2.01" />
-        <joint name="crane_plus_joint4" value="-0.73" />
+        <joint name="crane_plus_joint1" value="0"/>
+        <joint name="crane_plus_joint2" value="-1.16"/>
+        <joint name="crane_plus_joint3" value="-2.01"/>
+        <joint name="crane_plus_joint4" value="-0.73"/>
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="end_effector" parent_link="crane_plus_link4" group="gripper" />
+    <end_effector name="end_effector" parent_link="crane_plus_link4" group="gripper"/>
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <virtual_joint name="table" type="fixed" parent_frame="world" child_link="base_link" />
+    <virtual_joint name="table" type="fixed" parent_frame="world" child_link="base_link"/>
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="crane_plus_base" link2="crane_plus_link1" reason="Adjacent" />
-    <disable_collisions link1="crane_plus_link1" link2="crane_plus_link2" reason="Adjacent" />
-    <disable_collisions link1="crane_plus_link2" link2="crane_plus_link3" reason="Adjacent" />
-    <disable_collisions link1="crane_plus_link3" link2="crane_plus_link4" reason="Adjacent" />
-    <disable_collisions link1="crane_plus_link4" link2="crane_plus_link_hand" reason="Adjacent" />
-
+    <disable_collisions link1="crane_plus_base" link2="crane_plus_link1" reason="Adjacent"/>
+    <disable_collisions link1="crane_plus_link1" link2="crane_plus_link2" reason="Adjacent"/>
+    <disable_collisions link1="crane_plus_link2" link2="crane_plus_link3" reason="Adjacent"/>
+    <disable_collisions link1="crane_plus_link3" link2="crane_plus_link4" reason="Adjacent"/>
+    <disable_collisions link1="crane_plus_link4" link2="crane_plus_link_hand" reason="Adjacent"/>
 </robot>

crane_plus_moveit_config/config/joint_limits.yaml

@@ -0,0 +1,36 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 1.0
+default_acceleration_scaling_factor: 1.0
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  crane_plus_joint1:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+  crane_plus_joint2:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+  crane_plus_joint3:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+  crane_plus_joint4:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+  crane_plus_joint_hand:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+

crane_plus_moveit_config/config/kinematics.yaml

@@ -1,5 +1,5 @@
 arm:
-  kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
-  kinematics_solver_attempts: 10
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
+  kinematics_solver_attempts: 3

crane_plus_moveit_config/config/moveit.rviz

@@ -0,0 +1,51 @@
+Panels:
+  - Class: rviz_common/Displays
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+  - Class: rviz_common/Help
+    Name: Help
+  - Class: rviz_common/Views
+    Name: Views
+Visualization Manager:
+  Displays:
+    - Class: rviz_default_plugins/Grid
+      Name: Grid
+      Value: true
+    - Class: moveit_rviz_plugin/MotionPlanning
+      Name: MotionPlanning
+      Planned Path:
+        Loop Animation: true
+        State Display Time: 0.05 s
+        Trajectory Topic: display_planned_path
+      Planning Scene Topic: monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+      Scene Robot:
+        Robot Alpha: 0.5
+      Value: true
+  Global Options:
+    Fixed Frame: world
+  Tools:
+    - Class: rviz_default_plugins/Interact
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2.0
+      Focal Point:
+        X: -0.1
+        Y: 0.25
+        Z: 0.30
+      Name: Current View
+      Pitch: 0.5
+      Target Frame: world
+      Yaw: -0.623
+Window Geometry:
+  Height: 975
+  QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Width: 1200

crane_plus_moveit_config/config/ompl_planning.yaml

@@ -1,3 +1,19 @@
+planning_plugins:
+  - ompl_interface/OMPLPlanner
+# To optionally use Ruckig for jerk-limited smoothing, add this line to the request adapters below
+# default_planning_request_adapters/AddRuckigTrajectorySmoothing
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
+
+start_state_max_bounds_error: 0.1
+
 planner_configs:
   SBLkConfigDefault:
     type: geometric::SBL

crane_plus_moveit_config/config/pilz_cartesian_limits.yaml

@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57