Fixed configs and added real ratios for J1 and J2
This commit is contained in:
Thomas Muller
parent
21440062d4
commit
724839cf19
4 changed files with 174 additions and 164 deletions
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@ -1,14 +1,16 @@
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controller_names:
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- joint_trajectory_controller
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moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
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moveit_simple_controller_manager:
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controller_names:
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- joint_trajectory_controller
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joint_trajectory_controller:
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action_ns: follow_joint_trajectory
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type: FollowJointTrajectory
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default: true
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joints:
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- joint_1
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- joint_2
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- joint_3
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- joint_4
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- joint_5
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- joint_6
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joint_trajectory_controller:
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action_ns: follow_joint_trajectory
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type: FollowJointTrajectory
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default: true
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joints:
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- joint_1
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- joint_2
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- joint_3
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- joint_4
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- joint_5
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- joint_6
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@ -1,149 +1,155 @@
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planner_configs:
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SBLkConfigDefault:
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type: geometric::SBL
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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ESTkConfigDefault:
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type: geometric::EST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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LBKPIECEkConfigDefault:
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type: geometric::LBKPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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BKPIECEkConfigDefault:
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type: geometric::BKPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
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failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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KPIECEkConfigDefault:
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type: geometric::KPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
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failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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RRTkConfigDefault:
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type: geometric::RRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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RRTConnectkConfigDefault:
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type: geometric::RRTConnect
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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RRTstarkConfigDefault:
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type: geometric::RRTstar
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
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TRRTkConfigDefault:
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type: geometric::TRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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max_states_failed: 10 # when to start increasing temp. default: 10
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temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
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min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
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init_temperature: 10e-6 # initial temperature. default: 10e-6
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frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
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frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
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k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
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PRMkConfigDefault:
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type: geometric::PRM
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max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
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PRMstarkConfigDefault:
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type: geometric::PRMstar
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FMTkConfigDefault:
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type: geometric::FMT
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num_samples: 1000 # number of states that the planner should sample. default: 1000
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radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
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nearest_k: 1 # use Knearest strategy. default: 1
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cache_cc: 1 # use collision checking cache. default: 1
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heuristics: 0 # activate cost to go heuristics. default: 0
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extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
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BFMTkConfigDefault:
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type: geometric::BFMT
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num_samples: 1000 # number of states that the planner should sample. default: 1000
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radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
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nearest_k: 1 # use the Knearest strategy. default: 1
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balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
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optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
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heuristics: 1 # activates cost to go heuristics. default: 1
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cache_cc: 1 # use the collision checking cache. default: 1
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extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
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PDSTkConfigDefault:
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type: geometric::PDST
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STRIDEkConfigDefault:
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type: geometric::STRIDE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
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degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
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max_degree: 18 # max degree of a node in the GNAT. default: 12
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min_degree: 12 # min degree of a node in the GNAT. default: 12
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max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
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estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
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min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
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BiTRRTkConfigDefault:
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type: geometric::BiTRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
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init_temperature: 100 # initial temperature. default: 100
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frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
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frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
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cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
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LBTRRTkConfigDefault:
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type: geometric::LBTRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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epsilon: 0.4 # optimality approximation factor. default: 0.4
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BiESTkConfigDefault:
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type: geometric::BiEST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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ProjESTkConfigDefault:
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type: geometric::ProjEST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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LazyPRMkConfigDefault:
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type: geometric::LazyPRM
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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LazyPRMstarkConfigDefault:
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type: geometric::LazyPRMstar
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SPARSkConfigDefault:
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type: geometric::SPARS
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stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
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sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
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dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
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max_failures: 1000 # maximum consecutive failure limit. default: 1000
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SPARStwokConfigDefault:
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type: geometric::SPARStwo
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stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
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sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
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dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
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max_failures: 5000 # maximum consecutive failure limit. default: 5000
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move_group:
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planning_plugin: ompl_interface/OMPLPlanner
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request_adapters:
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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
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start_state_max_bounds_error: 0.1
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ar3_arm:
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default_planner_config: RRTConnectkConfigDefault
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planner_configs:
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- SBLkConfigDefault
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- ESTkConfigDefault
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- LBKPIECEkConfigDefault
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- BKPIECEkConfigDefault
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- KPIECEkConfigDefault
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- RRTkConfigDefault
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- RRTConnectkConfigDefault
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- RRTstarkConfigDefault
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- TRRTkConfigDefault
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- PRMkConfigDefault
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- PRMstarkConfigDefault
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- FMTkConfigDefault
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- BFMTkConfigDefault
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- PDSTkConfigDefault
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- STRIDEkConfigDefault
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- BiTRRTkConfigDefault
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- LBTRRTkConfigDefault
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- BiESTkConfigDefault
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- ProjESTkConfigDefault
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- LazyPRMkConfigDefault
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- LazyPRMstarkConfigDefault
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- SPARSkConfigDefault
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- SPARStwokConfigDefault
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SBLkConfigDefault:
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type: geometric::SBL
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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ESTkConfigDefault:
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type: geometric::EST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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LBKPIECEkConfigDefault:
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type: geometric::LBKPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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BKPIECEkConfigDefault:
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type: geometric::BKPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
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failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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KPIECEkConfigDefault:
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type: geometric::KPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
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failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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RRTkConfigDefault:
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type: geometric::RRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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RRTConnectkConfigDefault:
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type: geometric::RRTConnect
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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RRTstarkConfigDefault:
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type: geometric::RRTstar
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
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TRRTkConfigDefault:
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type: geometric::TRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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max_states_failed: 10 # when to start increasing temp. default: 10
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temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
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min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
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init_temperature: 10e-6 # initial temperature. default: 10e-6
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frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
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frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
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k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
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PRMkConfigDefault:
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type: geometric::PRM
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max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
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PRMstarkConfigDefault:
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type: geometric::PRMstar
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FMTkConfigDefault:
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type: geometric::FMT
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num_samples: 1000 # number of states that the planner should sample. default: 1000
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radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
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nearest_k: 1 # use Knearest strategy. default: 1
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cache_cc: 1 # use collision checking cache. default: 1
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heuristics: 0 # activate cost to go heuristics. default: 0
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extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
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BFMTkConfigDefault:
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type: geometric::BFMT
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num_samples: 1000 # number of states that the planner should sample. default: 1000
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radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
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nearest_k: 1 # use the Knearest strategy. default: 1
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balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
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optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
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heuristics: 1 # activates cost to go heuristics. default: 1
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cache_cc: 1 # use the collision checking cache. default: 1
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extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
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PDSTkConfigDefault:
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type: geometric::PDST
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STRIDEkConfigDefault:
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type: geometric::STRIDE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
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degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
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max_degree: 18 # max degree of a node in the GNAT. default: 12
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min_degree: 12 # min degree of a node in the GNAT. default: 12
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max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
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estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
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min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
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BiTRRTkConfigDefault:
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type: geometric::BiTRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
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init_temperature: 100 # initial temperature. default: 100
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frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
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frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
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cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
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LBTRRTkConfigDefault:
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type: geometric::LBTRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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epsilon: 0.4 # optimality approximation factor. default: 0.4
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BiESTkConfigDefault:
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type: geometric::BiEST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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ProjESTkConfigDefault:
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type: geometric::ProjEST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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LazyPRMkConfigDefault:
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type: geometric::LazyPRM
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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LazyPRMstarkConfigDefault:
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type: geometric::LazyPRMstar
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SPARSkConfigDefault:
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type: geometric::SPARS
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stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
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sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
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dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
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max_failures: 1000 # maximum consecutive failure limit. default: 1000
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SPARStwokConfigDefault:
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type: geometric::SPARStwo
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stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
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sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
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dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
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max_failures: 5000 # maximum consecutive failure limit. default: 5000
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ar3_arm:
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default_planner_config: RRTConnectkConfigDefault
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planner_configs:
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- SBLkConfigDefault
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- ESTkConfigDefault
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- LBKPIECEkConfigDefault
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- BKPIECEkConfigDefault
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- KPIECEkConfigDefault
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- RRTkConfigDefault
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- RRTConnectkConfigDefault
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- RRTstarkConfigDefault
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- TRRTkConfigDefault
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- PRMkConfigDefault
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- PRMstarkConfigDefault
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- FMTkConfigDefault
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- BFMTkConfigDefault
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- PDSTkConfigDefault
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- STRIDEkConfigDefault
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- BiTRRTkConfigDefault
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- LBTRRTkConfigDefault
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- BiESTkConfigDefault
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- ProjESTkConfigDefault
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- LazyPRMkConfigDefault
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- LazyPRMstarkConfigDefault
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- SPARSkConfigDefault
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- SPARStwokConfigDefault
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@ -72,8 +72,10 @@ def generate_launch_description():
|
|||
robot_description,
|
||||
robot_description_semantic,
|
||||
robot_description_kinematics,
|
||||
{'move_group': join(config_root, 'ompl_planning.yaml')},
|
||||
{'moveit_simple_controller_manager': join(config_root, "ar3_controllers.yaml")},
|
||||
get_yaml(join(config_root, 'ompl_planning.yaml')),
|
||||
get_yaml(join(config_root, 'trajectory.yaml')),
|
||||
get_yaml(join(config_root, 'planning_scene.yaml')),
|
||||
get_yaml(join(config_root, "ar3_controllers.yaml")),
|
||||
],
|
||||
),
|
||||
|
||||
|
|
|
|||
|
|
@ -46,11 +46,11 @@ class CobotMove(Node):
|
|||
print(self._serial.readline())
|
||||
|
||||
def _move_j1_cb(self, msg):
|
||||
self._cur[0] = int(msg.data / pi / 2. * 2000)
|
||||
self._cur[0] = int(msg.data / pi / 2. * 8000)
|
||||
self._move_servo()
|
||||
|
||||
def _move_j2_cb(self, msg):
|
||||
self._cur[1] = int(msg.data / pi / 2. * 3840.64)
|
||||
self._cur[1] = int(msg.data / pi / 2. * 10000)
|
||||
self._move_servo()
|
||||
|
||||
def _move_j3_cb(self, msg):
|
||||
|
|
|
|||
Loading…
Reference in a new issue