diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index 42743460c..f396a3b7d 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -1,4 +1,4 @@ -FROM ros:humble +FROM ros:jazzy # Add vscode user with same UID and GID as your host system # (modified from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user) diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 6b97a9001..3e8bdc14e 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -1,5 +1,5 @@ { - "name": "Omron Arm humble", + "name": "Omron Arm Jazzy", "dockerFile": "Dockerfile", "remoteUser": "ubuntu", "containerEnv": { diff --git a/.github/workflows/compile.yml b/.github/workflows/compile.yml new file mode 100644 index 000000000..7a6c527c0 --- /dev/null +++ b/.github/workflows/compile.yml @@ -0,0 +1,51 @@ +name: Compile Check + +on: + workflow_dispatch: + + push: + branches: + - main + - develop + + pull_request: + branches: + - main + - develop + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + build: + runs-on: ubuntu-24.04 + + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Set up ROS 2 Jazzy + uses: ros-tooling/setup-ros@v0.7 + with: + required-ros-distributions: jazzy + + - name: Install system tooling + run: | + sudo apt-get update + sudo apt-get install -y python3-colcon-common-extensions python3-rosdep + + - name: Initialize rosdep + run: | + sudo rosdep init || true + rosdep update + + - name: Install package dependencies + run: | + rosdep install --from-paths . --ignore-src --rosdistro jazzy -r -y + + - name: Build workspace + shell: bash + run: | + source /opt/ros/jazzy/setup.bash + colcon build --event-handlers console_direct+ diff --git a/README.md b/README.md index 8ed363c61..e996525d0 100644 --- a/README.md +++ b/README.md @@ -1,10 +1,16 @@ -# Omron ARM package +# TMR ROS2 package To view the original Readme.md [click here](./docs/README.md) This package is a combination of documentation from [OmronAPAC/Omron_TM_ROS2](https://github.com/OmronAPAC/Omron_TM_ROS2) and functionality of [TechmanRobotInc/tmr_ros2](https://github.com/TechmanRobotInc/tmr_ros2) -View [Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_arm/blob/humble/docs/DeveloperGuide.adoc). +View [Developer's Guide](https://github.com/CollaborativeRoboticsLab/tmr_ros2/blob/humble/docs/DeveloperGuide.adoc). + +| Branch | ROS2 Version | Compile | +|--------|--------------|---------| +| main | Jazzy | [![main](https://github.com/CollaborativeRoboticsLab/tmr_ros2/actions/workflows/compile.yml/badge.svg?branch=main)](https://github.com/CollaborativeRoboticsLab/tmr_ros2/actions/workflows/compile.yml?query=branch%3Amain) | +| develop | Jazzy | [![develop](https://github.com/CollaborativeRoboticsLab/tmr_ros2/actions/workflows/compile.yml/badge.svg?branch=develop)](https://github.com/CollaborativeRoboticsLab/tmr_ros2/actions/workflows/compile.yml?query=branch%3Adevelop) | +| humble | Humble | [![humble](https://github.com/CollaborativeRoboticsLab/tmr_ros2/actions/workflows/compile.yml/badge.svg?branch=humble)](https://github.com/CollaborativeRoboticsLab/tmr_ros2/actions/workflows/compile.yml?query=branch%3Ahumble) | ## Setup @@ -23,7 +29,7 @@ sudo apt install ros-humble-moveit ros-humble-controller-manager ros-humble-join Clone the repositories into the `src` folder by ```sh -git clone https://github.com/CollaborativeRoboticsLab/omron_arm.git +git clone https://github.com/CollaborativeRoboticsLab/tmr_ros2.git ``` Build by @@ -37,9 +43,9 @@ colcon build ### Initialization -1. [Startup TMFLow software with a listener node](https://github.com/CollaborativeRoboticsLab/omron_arm/blob/humble/docs/README.md#-tmflow-listen-node-setup) +1. [Startup TMFLow software with a listener node](https://github.com/CollaborativeRoboticsLab/tmr_ros2/blob/humble/docs/README.md#-tmflow-listen-node-setup) -2. [Establish Remote connection to TM Robot](https://github.com/CollaborativeRoboticsLab/omron_arm/blob/humble/docs/README.md#-remote-connection-to-tm-robot) +2. [Establish Remote connection to TM Robot](https://github.com/CollaborativeRoboticsLab/tmr_ros2/blob/humble/docs/README.md#-remote-connection-to-tm-robot) 3. Once the robot starts up, it needs to have the listner node loaded (via TMFlow) and should be in the auto mode. On the arm it needs to flash blue and red, while on the pendent a blue light should appear near letter A. diff --git a/tm_moveit/tm12_moveit_config/config/chomp_planning.yaml b/tm_moveit/tm12_moveit_config/config/chomp_planning.yaml index 88163e275..5d1f2c96d 100644 --- a/tm_moveit/tm12_moveit_config/config/chomp_planning.yaml +++ b/tm_moveit/tm12_moveit_config/config/chomp_planning.yaml @@ -1,10 +1,12 @@ -planning_plugin: chomp_interface/CHOMPPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - chomp_interface/CHOMPPlanner +request_adapters: + - 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 start_state_max_bounds_error: 0.1 planning_time_limit: 10.0 max_iterations: 200 diff --git a/tm_moveit/tm12_moveit_config/config/joint_limits.yaml b/tm_moveit/tm12_moveit_config/config/joint_limits.yaml index a340adfcc..e44aefca0 100644 --- a/tm_moveit/tm12_moveit_config/config/joint_limits.yaml +++ b/tm_moveit/tm12_moveit_config/config/joint_limits.yaml @@ -11,30 +11,30 @@ joint_limits: joint_1: has_velocity_limits: true max_velocity: 2.0943951023931953 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.0943951023931953 joint_2: has_velocity_limits: true max_velocity: 2.0943951023931953 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.0943951023931953 joint_3: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_4: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_5: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_6: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 \ No newline at end of file diff --git a/tm_moveit/tm12_moveit_config/config/ompl_planning.yaml b/tm_moveit/tm12_moveit_config/config/ompl_planning.yaml index 9cbaa65a8..ea16ce159 100644 --- a/tm_moveit/tm12_moveit_config/config/ompl_planning.yaml +++ b/tm_moveit/tm12_moveit_config/config/ompl_planning.yaml @@ -1,11 +1,14 @@ -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - ompl_interface/OMPLPlanner +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: diff --git a/tm_moveit/tm12_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/tm_moveit/tm12_moveit_config/config/pilz_industrial_motion_planner_planning.yaml index 6402ab930..b3ff45e79 100644 --- a/tm_moveit/tm12_moveit_config/config/pilz_industrial_motion_planner_planning.yaml +++ b/tm_moveit/tm12_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -1,10 +1,8 @@ -planning_plugin: pilz_industrial_motion_planner/CommandPlanner -request_adapters: >- - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - pilz_industrial_motion_planner/CommandPlanner +request_adapters: + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision default_planner_config: PTP -capabilities: >- - pilz_industrial_motion_planner/MoveGroupSequenceAction - pilz_industrial_motion_planner/MoveGroupSequenceService +capabilities: pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/tm_moveit/tm12x_moveit_config/config/chomp_planning.yaml b/tm_moveit/tm12x_moveit_config/config/chomp_planning.yaml index 88163e275..5d1f2c96d 100644 --- a/tm_moveit/tm12x_moveit_config/config/chomp_planning.yaml +++ b/tm_moveit/tm12x_moveit_config/config/chomp_planning.yaml @@ -1,10 +1,12 @@ -planning_plugin: chomp_interface/CHOMPPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - chomp_interface/CHOMPPlanner +request_adapters: + - 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 start_state_max_bounds_error: 0.1 planning_time_limit: 10.0 max_iterations: 200 diff --git a/tm_moveit/tm12x_moveit_config/config/joint_limits.yaml b/tm_moveit/tm12x_moveit_config/config/joint_limits.yaml index a340adfcc..e44aefca0 100644 --- a/tm_moveit/tm12x_moveit_config/config/joint_limits.yaml +++ b/tm_moveit/tm12x_moveit_config/config/joint_limits.yaml @@ -11,30 +11,30 @@ joint_limits: joint_1: has_velocity_limits: true max_velocity: 2.0943951023931953 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.0943951023931953 joint_2: has_velocity_limits: true max_velocity: 2.0943951023931953 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.0943951023931953 joint_3: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_4: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_5: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_6: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 \ No newline at end of file diff --git a/tm_moveit/tm12x_moveit_config/config/ompl_planning.yaml b/tm_moveit/tm12x_moveit_config/config/ompl_planning.yaml index 9cbaa65a8..ea16ce159 100644 --- a/tm_moveit/tm12x_moveit_config/config/ompl_planning.yaml +++ b/tm_moveit/tm12x_moveit_config/config/ompl_planning.yaml @@ -1,11 +1,14 @@ -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - ompl_interface/OMPLPlanner +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: diff --git a/tm_moveit/tm12x_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/tm_moveit/tm12x_moveit_config/config/pilz_industrial_motion_planner_planning.yaml index 6402ab930..b3ff45e79 100644 --- a/tm_moveit/tm12x_moveit_config/config/pilz_industrial_motion_planner_planning.yaml +++ b/tm_moveit/tm12x_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -1,10 +1,8 @@ -planning_plugin: pilz_industrial_motion_planner/CommandPlanner -request_adapters: >- - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - pilz_industrial_motion_planner/CommandPlanner +request_adapters: + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision default_planner_config: PTP -capabilities: >- - pilz_industrial_motion_planner/MoveGroupSequenceAction - pilz_industrial_motion_planner/MoveGroupSequenceService +capabilities: pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/tm_moveit/tm14_moveit_config/config/chomp_planning.yaml b/tm_moveit/tm14_moveit_config/config/chomp_planning.yaml index 88163e275..5d1f2c96d 100644 --- a/tm_moveit/tm14_moveit_config/config/chomp_planning.yaml +++ b/tm_moveit/tm14_moveit_config/config/chomp_planning.yaml @@ -1,10 +1,12 @@ -planning_plugin: chomp_interface/CHOMPPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - chomp_interface/CHOMPPlanner +request_adapters: + - 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 start_state_max_bounds_error: 0.1 planning_time_limit: 10.0 max_iterations: 200 diff --git a/tm_moveit/tm14_moveit_config/config/joint_limits.yaml b/tm_moveit/tm14_moveit_config/config/joint_limits.yaml index 23cfa925b..41cab428b 100644 --- a/tm_moveit/tm14_moveit_config/config/joint_limits.yaml +++ b/tm_moveit/tm14_moveit_config/config/joint_limits.yaml @@ -11,30 +11,30 @@ joint_limits: joint_1: has_velocity_limits: true max_velocity: 2.0943951023931953 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.0943951023931953 joint_2: has_velocity_limits: true max_velocity: 2.0943951023931953 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.0943951023931953 joint_3: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_4: has_velocity_limits: true max_velocity: 2.6179938779914944 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.6179938779914944 joint_5: has_velocity_limits: true max_velocity: 2.6179938779914944 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.6179938779914944 joint_6: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 \ No newline at end of file diff --git a/tm_moveit/tm14_moveit_config/config/ompl_planning.yaml b/tm_moveit/tm14_moveit_config/config/ompl_planning.yaml index 9cbaa65a8..ea16ce159 100644 --- a/tm_moveit/tm14_moveit_config/config/ompl_planning.yaml +++ b/tm_moveit/tm14_moveit_config/config/ompl_planning.yaml @@ -1,11 +1,14 @@ -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - ompl_interface/OMPLPlanner +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: diff --git a/tm_moveit/tm14_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/tm_moveit/tm14_moveit_config/config/pilz_industrial_motion_planner_planning.yaml index 6402ab930..b3ff45e79 100644 --- a/tm_moveit/tm14_moveit_config/config/pilz_industrial_motion_planner_planning.yaml +++ b/tm_moveit/tm14_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -1,10 +1,8 @@ -planning_plugin: pilz_industrial_motion_planner/CommandPlanner -request_adapters: >- - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - pilz_industrial_motion_planner/CommandPlanner +request_adapters: + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision default_planner_config: PTP -capabilities: >- - pilz_industrial_motion_planner/MoveGroupSequenceAction - pilz_industrial_motion_planner/MoveGroupSequenceService +capabilities: pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/tm_moveit/tm14x_moveit_config/config/chomp_planning.yaml b/tm_moveit/tm14x_moveit_config/config/chomp_planning.yaml index 88163e275..5d1f2c96d 100644 --- a/tm_moveit/tm14x_moveit_config/config/chomp_planning.yaml +++ b/tm_moveit/tm14x_moveit_config/config/chomp_planning.yaml @@ -1,10 +1,12 @@ -planning_plugin: chomp_interface/CHOMPPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - chomp_interface/CHOMPPlanner +request_adapters: + - 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 start_state_max_bounds_error: 0.1 planning_time_limit: 10.0 max_iterations: 200 diff --git a/tm_moveit/tm14x_moveit_config/config/joint_limits.yaml b/tm_moveit/tm14x_moveit_config/config/joint_limits.yaml index 23cfa925b..41cab428b 100644 --- a/tm_moveit/tm14x_moveit_config/config/joint_limits.yaml +++ b/tm_moveit/tm14x_moveit_config/config/joint_limits.yaml @@ -11,30 +11,30 @@ joint_limits: joint_1: has_velocity_limits: true max_velocity: 2.0943951023931953 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.0943951023931953 joint_2: has_velocity_limits: true max_velocity: 2.0943951023931953 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.0943951023931953 joint_3: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_4: has_velocity_limits: true max_velocity: 2.6179938779914944 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.6179938779914944 joint_5: has_velocity_limits: true max_velocity: 2.6179938779914944 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.6179938779914944 joint_6: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 \ No newline at end of file diff --git a/tm_moveit/tm14x_moveit_config/config/ompl_planning.yaml b/tm_moveit/tm14x_moveit_config/config/ompl_planning.yaml index 9cbaa65a8..ea16ce159 100644 --- a/tm_moveit/tm14x_moveit_config/config/ompl_planning.yaml +++ b/tm_moveit/tm14x_moveit_config/config/ompl_planning.yaml @@ -1,11 +1,14 @@ -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - ompl_interface/OMPLPlanner +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: diff --git a/tm_moveit/tm14x_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/tm_moveit/tm14x_moveit_config/config/pilz_industrial_motion_planner_planning.yaml index 6402ab930..b3ff45e79 100644 --- a/tm_moveit/tm14x_moveit_config/config/pilz_industrial_motion_planner_planning.yaml +++ b/tm_moveit/tm14x_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -1,10 +1,8 @@ -planning_plugin: pilz_industrial_motion_planner/CommandPlanner -request_adapters: >- - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - pilz_industrial_motion_planner/CommandPlanner +request_adapters: + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision default_planner_config: PTP -capabilities: >- - pilz_industrial_motion_planner/MoveGroupSequenceAction - pilz_industrial_motion_planner/MoveGroupSequenceService +capabilities: pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/tm_moveit/tm16_moveit_config/config/chomp_planning.yaml b/tm_moveit/tm16_moveit_config/config/chomp_planning.yaml index 88163e275..5d1f2c96d 100644 --- a/tm_moveit/tm16_moveit_config/config/chomp_planning.yaml +++ b/tm_moveit/tm16_moveit_config/config/chomp_planning.yaml @@ -1,10 +1,12 @@ -planning_plugin: chomp_interface/CHOMPPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - chomp_interface/CHOMPPlanner +request_adapters: + - 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 start_state_max_bounds_error: 0.1 planning_time_limit: 10.0 max_iterations: 200 diff --git a/tm_moveit/tm16_moveit_config/config/joint_limits.yaml b/tm_moveit/tm16_moveit_config/config/joint_limits.yaml index a340adfcc..e44aefca0 100644 --- a/tm_moveit/tm16_moveit_config/config/joint_limits.yaml +++ b/tm_moveit/tm16_moveit_config/config/joint_limits.yaml @@ -11,30 +11,30 @@ joint_limits: joint_1: has_velocity_limits: true max_velocity: 2.0943951023931953 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.0943951023931953 joint_2: has_velocity_limits: true max_velocity: 2.0943951023931953 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.0943951023931953 joint_3: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_4: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_5: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_6: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 \ No newline at end of file diff --git a/tm_moveit/tm16_moveit_config/config/ompl_planning.yaml b/tm_moveit/tm16_moveit_config/config/ompl_planning.yaml index 9cbaa65a8..ea16ce159 100644 --- a/tm_moveit/tm16_moveit_config/config/ompl_planning.yaml +++ b/tm_moveit/tm16_moveit_config/config/ompl_planning.yaml @@ -1,11 +1,14 @@ -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - ompl_interface/OMPLPlanner +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: diff --git a/tm_moveit/tm16_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/tm_moveit/tm16_moveit_config/config/pilz_industrial_motion_planner_planning.yaml index 6402ab930..b3ff45e79 100644 --- a/tm_moveit/tm16_moveit_config/config/pilz_industrial_motion_planner_planning.yaml +++ b/tm_moveit/tm16_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -1,10 +1,8 @@ -planning_plugin: pilz_industrial_motion_planner/CommandPlanner -request_adapters: >- - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - pilz_industrial_motion_planner/CommandPlanner +request_adapters: + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision default_planner_config: PTP -capabilities: >- - pilz_industrial_motion_planner/MoveGroupSequenceAction - pilz_industrial_motion_planner/MoveGroupSequenceService +capabilities: pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/tm_moveit/tm20_moveit_config/config/chomp_planning.yaml b/tm_moveit/tm20_moveit_config/config/chomp_planning.yaml index 88163e275..5d1f2c96d 100644 --- a/tm_moveit/tm20_moveit_config/config/chomp_planning.yaml +++ b/tm_moveit/tm20_moveit_config/config/chomp_planning.yaml @@ -1,10 +1,12 @@ -planning_plugin: chomp_interface/CHOMPPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - chomp_interface/CHOMPPlanner +request_adapters: + - 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 start_state_max_bounds_error: 0.1 planning_time_limit: 10.0 max_iterations: 200 diff --git a/tm_moveit/tm20_moveit_config/config/joint_limits.yaml b/tm_moveit/tm20_moveit_config/config/joint_limits.yaml index 1444f0baf..1c78dfabc 100644 --- a/tm_moveit/tm20_moveit_config/config/joint_limits.yaml +++ b/tm_moveit/tm20_moveit_config/config/joint_limits.yaml @@ -11,30 +11,30 @@ joint_limits: joint_1: has_velocity_limits: true max_velocity: 1.570796326794897 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 1.570796326794897 joint_2: has_velocity_limits: true max_velocity: 1.570796326794897 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 1.570796326794897 joint_3: has_velocity_limits: true max_velocity: 2.094395102393195 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.094395102393195 joint_4: has_velocity_limits: true max_velocity: 2.617993877991494 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.617993877991494 joint_5: has_velocity_limits: true max_velocity: 3.141592653589793 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.141592653589793 joint_6: has_velocity_limits: true max_velocity: 3.926990816987241 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 3.926990816987241 \ No newline at end of file diff --git a/tm_moveit/tm20_moveit_config/config/ompl_planning.yaml b/tm_moveit/tm20_moveit_config/config/ompl_planning.yaml index 9cbaa65a8..ea16ce159 100644 --- a/tm_moveit/tm20_moveit_config/config/ompl_planning.yaml +++ b/tm_moveit/tm20_moveit_config/config/ompl_planning.yaml @@ -1,11 +1,14 @@ -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - ompl_interface/OMPLPlanner +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: diff --git a/tm_moveit/tm20_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/tm_moveit/tm20_moveit_config/config/pilz_industrial_motion_planner_planning.yaml index 6402ab930..b3ff45e79 100644 --- a/tm_moveit/tm20_moveit_config/config/pilz_industrial_motion_planner_planning.yaml +++ b/tm_moveit/tm20_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -1,10 +1,8 @@ -planning_plugin: pilz_industrial_motion_planner/CommandPlanner -request_adapters: >- - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - pilz_industrial_motion_planner/CommandPlanner +request_adapters: + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision default_planner_config: PTP -capabilities: >- - pilz_industrial_motion_planner/MoveGroupSequenceAction - pilz_industrial_motion_planner/MoveGroupSequenceService +capabilities: pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/tm_moveit/tm5-700_moveit_config/config/chomp_planning.yaml b/tm_moveit/tm5-700_moveit_config/config/chomp_planning.yaml index 88163e275..5d1f2c96d 100644 --- a/tm_moveit/tm5-700_moveit_config/config/chomp_planning.yaml +++ b/tm_moveit/tm5-700_moveit_config/config/chomp_planning.yaml @@ -1,10 +1,12 @@ -planning_plugin: chomp_interface/CHOMPPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - chomp_interface/CHOMPPlanner +request_adapters: + - 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 start_state_max_bounds_error: 0.1 planning_time_limit: 10.0 max_iterations: 200 diff --git a/tm_moveit/tm5-700_moveit_config/config/joint_limits.yaml b/tm_moveit/tm5-700_moveit_config/config/joint_limits.yaml index 60f8be1fb..2f93a08e8 100644 --- a/tm_moveit/tm5-700_moveit_config/config/joint_limits.yaml +++ b/tm_moveit/tm5-700_moveit_config/config/joint_limits.yaml @@ -11,30 +11,30 @@ joint_limits: joint_1: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_2: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_3: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_4: has_velocity_limits: true max_velocity: 3.9269908169872414 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.9269908169872414 joint_5: has_velocity_limits: true max_velocity: 3.9269908169872414 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.9269908169872414 joint_6: has_velocity_limits: true max_velocity: 3.9269908169872414 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 3.9269908169872414 \ No newline at end of file diff --git a/tm_moveit/tm5-700_moveit_config/config/ompl_planning.yaml b/tm_moveit/tm5-700_moveit_config/config/ompl_planning.yaml index 9cbaa65a8..ea16ce159 100644 --- a/tm_moveit/tm5-700_moveit_config/config/ompl_planning.yaml +++ b/tm_moveit/tm5-700_moveit_config/config/ompl_planning.yaml @@ -1,11 +1,14 @@ -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - ompl_interface/OMPLPlanner +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: diff --git a/tm_moveit/tm5-700_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/tm_moveit/tm5-700_moveit_config/config/pilz_industrial_motion_planner_planning.yaml index 6402ab930..b3ff45e79 100644 --- a/tm_moveit/tm5-700_moveit_config/config/pilz_industrial_motion_planner_planning.yaml +++ b/tm_moveit/tm5-700_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -1,10 +1,8 @@ -planning_plugin: pilz_industrial_motion_planner/CommandPlanner -request_adapters: >- - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - pilz_industrial_motion_planner/CommandPlanner +request_adapters: + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision default_planner_config: PTP -capabilities: >- - pilz_industrial_motion_planner/MoveGroupSequenceAction - pilz_industrial_motion_planner/MoveGroupSequenceService +capabilities: pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/tm_moveit/tm5-900_moveit_config/config/chomp_planning.yaml b/tm_moveit/tm5-900_moveit_config/config/chomp_planning.yaml index 88163e275..5d1f2c96d 100644 --- a/tm_moveit/tm5-900_moveit_config/config/chomp_planning.yaml +++ b/tm_moveit/tm5-900_moveit_config/config/chomp_planning.yaml @@ -1,10 +1,12 @@ -planning_plugin: chomp_interface/CHOMPPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - chomp_interface/CHOMPPlanner +request_adapters: + - 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 start_state_max_bounds_error: 0.1 planning_time_limit: 10.0 max_iterations: 200 diff --git a/tm_moveit/tm5-900_moveit_config/config/joint_limits.yaml b/tm_moveit/tm5-900_moveit_config/config/joint_limits.yaml index 60f8be1fb..2f93a08e8 100644 --- a/tm_moveit/tm5-900_moveit_config/config/joint_limits.yaml +++ b/tm_moveit/tm5-900_moveit_config/config/joint_limits.yaml @@ -11,30 +11,30 @@ joint_limits: joint_1: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_2: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_3: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_4: has_velocity_limits: true max_velocity: 3.9269908169872414 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.9269908169872414 joint_5: has_velocity_limits: true max_velocity: 3.9269908169872414 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.9269908169872414 joint_6: has_velocity_limits: true max_velocity: 3.9269908169872414 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 3.9269908169872414 \ No newline at end of file diff --git a/tm_moveit/tm5-900_moveit_config/config/ompl_planning.yaml b/tm_moveit/tm5-900_moveit_config/config/ompl_planning.yaml index 9cbaa65a8..ea16ce159 100644 --- a/tm_moveit/tm5-900_moveit_config/config/ompl_planning.yaml +++ b/tm_moveit/tm5-900_moveit_config/config/ompl_planning.yaml @@ -1,11 +1,14 @@ -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - ompl_interface/OMPLPlanner +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: diff --git a/tm_moveit/tm5-900_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/tm_moveit/tm5-900_moveit_config/config/pilz_industrial_motion_planner_planning.yaml index 6402ab930..b3ff45e79 100644 --- a/tm_moveit/tm5-900_moveit_config/config/pilz_industrial_motion_planner_planning.yaml +++ b/tm_moveit/tm5-900_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -1,10 +1,8 @@ -planning_plugin: pilz_industrial_motion_planner/CommandPlanner -request_adapters: >- - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - pilz_industrial_motion_planner/CommandPlanner +request_adapters: + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision default_planner_config: PTP -capabilities: >- - pilz_industrial_motion_planner/MoveGroupSequenceAction - pilz_industrial_motion_planner/MoveGroupSequenceService +capabilities: pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/tm_moveit/tm5x-700_moveit_config/config/chomp_planning.yaml b/tm_moveit/tm5x-700_moveit_config/config/chomp_planning.yaml index 88163e275..5d1f2c96d 100644 --- a/tm_moveit/tm5x-700_moveit_config/config/chomp_planning.yaml +++ b/tm_moveit/tm5x-700_moveit_config/config/chomp_planning.yaml @@ -1,10 +1,12 @@ -planning_plugin: chomp_interface/CHOMPPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - chomp_interface/CHOMPPlanner +request_adapters: + - 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 start_state_max_bounds_error: 0.1 planning_time_limit: 10.0 max_iterations: 200 diff --git a/tm_moveit/tm5x-700_moveit_config/config/joint_limits.yaml b/tm_moveit/tm5x-700_moveit_config/config/joint_limits.yaml index 60f8be1fb..2f93a08e8 100644 --- a/tm_moveit/tm5x-700_moveit_config/config/joint_limits.yaml +++ b/tm_moveit/tm5x-700_moveit_config/config/joint_limits.yaml @@ -11,30 +11,30 @@ joint_limits: joint_1: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_2: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_3: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_4: has_velocity_limits: true max_velocity: 3.9269908169872414 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.9269908169872414 joint_5: has_velocity_limits: true max_velocity: 3.9269908169872414 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.9269908169872414 joint_6: has_velocity_limits: true max_velocity: 3.9269908169872414 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 3.9269908169872414 \ No newline at end of file diff --git a/tm_moveit/tm5x-700_moveit_config/config/ompl_planning.yaml b/tm_moveit/tm5x-700_moveit_config/config/ompl_planning.yaml index 9cbaa65a8..ea16ce159 100644 --- a/tm_moveit/tm5x-700_moveit_config/config/ompl_planning.yaml +++ b/tm_moveit/tm5x-700_moveit_config/config/ompl_planning.yaml @@ -1,11 +1,14 @@ -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - ompl_interface/OMPLPlanner +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: diff --git a/tm_moveit/tm5x-700_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/tm_moveit/tm5x-700_moveit_config/config/pilz_industrial_motion_planner_planning.yaml index 6402ab930..b3ff45e79 100644 --- a/tm_moveit/tm5x-700_moveit_config/config/pilz_industrial_motion_planner_planning.yaml +++ b/tm_moveit/tm5x-700_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -1,10 +1,8 @@ -planning_plugin: pilz_industrial_motion_planner/CommandPlanner -request_adapters: >- - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - pilz_industrial_motion_planner/CommandPlanner +request_adapters: + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision default_planner_config: PTP -capabilities: >- - pilz_industrial_motion_planner/MoveGroupSequenceAction - pilz_industrial_motion_planner/MoveGroupSequenceService +capabilities: pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/tm_moveit/tm5x-900_moveit_config/config/chomp_planning.yaml b/tm_moveit/tm5x-900_moveit_config/config/chomp_planning.yaml index 88163e275..5d1f2c96d 100644 --- a/tm_moveit/tm5x-900_moveit_config/config/chomp_planning.yaml +++ b/tm_moveit/tm5x-900_moveit_config/config/chomp_planning.yaml @@ -1,10 +1,12 @@ -planning_plugin: chomp_interface/CHOMPPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - chomp_interface/CHOMPPlanner +request_adapters: + - 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 start_state_max_bounds_error: 0.1 planning_time_limit: 10.0 max_iterations: 200 diff --git a/tm_moveit/tm5x-900_moveit_config/config/joint_limits.yaml b/tm_moveit/tm5x-900_moveit_config/config/joint_limits.yaml index 60f8be1fb..2f93a08e8 100644 --- a/tm_moveit/tm5x-900_moveit_config/config/joint_limits.yaml +++ b/tm_moveit/tm5x-900_moveit_config/config/joint_limits.yaml @@ -11,30 +11,30 @@ joint_limits: joint_1: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_2: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_3: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.1415926535897931 joint_4: has_velocity_limits: true max_velocity: 3.9269908169872414 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.9269908169872414 joint_5: has_velocity_limits: true max_velocity: 3.9269908169872414 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 3.9269908169872414 joint_6: has_velocity_limits: true max_velocity: 3.9269908169872414 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 3.9269908169872414 \ No newline at end of file diff --git a/tm_moveit/tm5x-900_moveit_config/config/ompl_planning.yaml b/tm_moveit/tm5x-900_moveit_config/config/ompl_planning.yaml index 9cbaa65a8..ea16ce159 100644 --- a/tm_moveit/tm5x-900_moveit_config/config/ompl_planning.yaml +++ b/tm_moveit/tm5x-900_moveit_config/config/ompl_planning.yaml @@ -1,11 +1,14 @@ -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - ompl_interface/OMPLPlanner +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: diff --git a/tm_moveit/tm5x-900_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/tm_moveit/tm5x-900_moveit_config/config/pilz_industrial_motion_planner_planning.yaml index 6402ab930..b3ff45e79 100644 --- a/tm_moveit/tm5x-900_moveit_config/config/pilz_industrial_motion_planner_planning.yaml +++ b/tm_moveit/tm5x-900_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -1,10 +1,8 @@ -planning_plugin: pilz_industrial_motion_planner/CommandPlanner -request_adapters: >- - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints +planning_plugins: + - pilz_industrial_motion_planner/CommandPlanner +request_adapters: + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision default_planner_config: PTP -capabilities: >- - pilz_industrial_motion_planner/MoveGroupSequenceAction - pilz_industrial_motion_planner/MoveGroupSequenceService +capabilities: pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService