Moveit is pain

src/ar3_config/config/ar3_controllers.yaml

@@ -0,0 +1,15 @@
+controller_names:
+  - joint_trajectory_controller
+
+joint_trajectory_controller:
+  action_ns: follow_joint_trajectory
+  type: FollowJointTrajectory
+  default: true
+  joints:
+    - joint1
+    - joint2
+    - joint3
+    - joint4
+    - joint5
+    - joint6
+    - joint7

src/ar3_config/config/kinematics.yaml

@@ -0,0 +1,4 @@
+ar3_arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05

src/ar3_config/config/ompl_planning.yaml

@@ -0,0 +1,149 @@
+planner_configs:
+  SBLkConfigDefault:
+    type: geometric::SBL
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ESTkConfigDefault:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECEkConfigDefault:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECEkConfigDefault:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECEkConfigDefault:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRTkConfigDefault:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnectkConfigDefault:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstarkConfigDefault:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRTkConfigDefault:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRMkConfigDefault:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstarkConfigDefault:
+    type: geometric::PRMstar
+  FMTkConfigDefault:
+    type: geometric::FMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
+    nearest_k: 1  # use Knearest strategy. default: 1
+    cache_cc: 1  # use collision checking cache. default: 1
+    heuristics: 0  # activate cost to go heuristics. default: 0
+    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  BFMTkConfigDefault:
+    type: geometric::BFMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
+    nearest_k: 1  # use the Knearest strategy. default: 1
+    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
+    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
+    heuristics: 1  # activates cost to go heuristics. default: 1
+    cache_cc: 1  # use the collision checking cache. default: 1
+    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  PDSTkConfigDefault:
+    type: geometric::PDST
+  STRIDEkConfigDefault:
+    type: geometric::STRIDE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    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
+    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
+    max_degree: 18  # max degree of a node in the GNAT. default: 12
+    min_degree: 12  # min degree of a node in the GNAT. default: 12
+    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
+    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
+    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
+  BiTRRTkConfigDefault:
+    type: geometric::BiTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
+    init_temperature: 100  # initial temperature. default: 100
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
+  LBTRRTkConfigDefault:
+    type: geometric::LBTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    epsilon: 0.4  # optimality approximation factor. default: 0.4
+  BiESTkConfigDefault:
+    type: geometric::BiEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ProjESTkConfigDefault:
+    type: geometric::ProjEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LazyPRMkConfigDefault:
+    type: geometric::LazyPRM
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  LazyPRMstarkConfigDefault:
+    type: geometric::LazyPRMstar
+  SPARSkConfigDefault:
+    type: geometric::SPARS
+    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
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 1000  # maximum consecutive failure limit. default: 1000
+  SPARStwokConfigDefault:
+    type: geometric::SPARStwo
+    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
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 5000  # maximum consecutive failure limit. default: 5000
+
+ar3_arm:
+  # default_planner_config: RRTConnect #RRTConnectkConfigDefault
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
+    - FMTkConfigDefault
+    - BFMTkConfigDefault
+    - PDSTkConfigDefault
+    - STRIDEkConfigDefault
+    - BiTRRTkConfigDefault
+    - LBTRRTkConfigDefault
+    - BiESTkConfigDefault
+    - ProjESTkConfigDefault
+    - LazyPRMkConfigDefault
+    - LazyPRMstarkConfigDefault
+    - SPARSkConfigDefault
+    - SPARStwokConfigDefault

src/ar3_config/launch/dev.launch.py

@@ -3,6 +3,7 @@ from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node
 from launch.actions import ExecuteProcess
+import yaml
 
 def generate_launch_description():
     launch_root = get_package_share_directory('ar3_config')
@@ -13,6 +14,46 @@ def generate_launch_description():
     with open(urdf_path, 'r') as f:
         robot_description = {'robot_description': f.read()}
 
+    srdf_path = join(description_root, 'ar3.srdf')
+    with open(srdf_path, 'r') as f:
+        robot_description_semantic = {'robot_description_semantic': f.read()}
+
+    robot_description_kinematics = {}
+    with open(join(config_root, 'kinematics.yaml'), 'r') as f:
+        robot_description_kinematics.update({"robot_description_kinematics": yaml.safe_load(f)})
+
+    # Planning Functionality
+    ompl_planning_pipeline_config = {
+        "move_group": {
+            "planning_plugin": "ompl_interface/OMPLPlanner",
+            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints"""    ,
+            "start_state_max_bounds_error": 0.1,
+        }
+    }
+
+    with open(join(config_root, "ompl_planning.yaml"), 'r') as f:
+       ompl_planning_pipeline_config["move_group"].update(yaml.safe_load(f))
+
+     # Trajectory Execution Functionality
+    moveit_controllers = {
+        "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"
+    }
+    with open(join(config_root, "ar3_controllers.yaml"), 'r') as f:
+        moveit_controllers.update({"moveit_simple_controller_manager": yaml.safe_load(f)})
+
+    trajectory_execution = {
+        "moveit_manage_controllers": True,
+        "trajectory_execution.allowed_execution_duration_scaling": 1.2,
+        "trajectory_execution.allowed_goal_duration_margin": 0.5,
+        "trajectory_execution.allowed_start_tolerance": 0.01,
+    }
+    planning_scene_monitor_parameters = {
+        "publish_planning_scene": True,
+        "publish_geometry_updates": True,
+        "publish_state_updates": True,
+        "publish_transforms_updates": True,
+    }
+
     return LaunchDescription([
         # RViz
         Node(
@@ -27,7 +68,7 @@ def generate_launch_description():
             package='tf2_ros',
             executable='static_transform_publisher',
             output='screen',
-            arguments=['0', '0', '0', '0', '0', '0', 'map', 'base_link']),
+            arguments=['0', '0', '0', '0', '0', '0', 'world', 'base_link']),
 
         # Controller
         Node(
@@ -46,6 +87,22 @@ def generate_launch_description():
             shell=True,
             output='screen'),
 
+        # Start the actual move_group node/action server
+        Node(
+            package="moveit_ros_move_group",
+            executable="move_group",
+            output="screen",
+            parameters=[
+                robot_description,
+                robot_description_semantic,
+                robot_description_kinematics,
+                ompl_planning_pipeline_config,
+                trajectory_execution,
+                moveit_controllers,
+                planning_scene_monitor_parameters
+            ],
+        ),
+
         # Robot state publisher
         Node(
             package='robot_state_publisher',
@@ -56,8 +113,8 @@ def generate_launch_description():
         # Fake robot state publisher
         Node(
             package='ar3_description',
-            executable='state_publisher_net',
-            name='state_publisher_net',
+            executable='state_publisher',
+            name='state_publisher',
             emulate_tty=True,
             output='screen'),
     ])

src/ar3_description/ar3_description/state_publisher.py

@@ -31,7 +31,7 @@ class StatePublisher(Node):
 
         # message declarations
         odom_trans = TransformStamped()
-        odom_trans.header.frame_id = 'odom'
+        odom_trans.header.frame_id = 'world'
         odom_trans.child_frame_id = 'base_link'
         joint_state = JointState()
 

src/ar3_description/urdf/ar3.srdf

@@ -0,0 +1,8 @@
+<robot name="ar3">
+    <group name="ar3_arm">
+        <chain base_link="base_link" tip_link="link_6" />
+    </group>
+
+    <virtual_joint child_link="base_link" name="virtual_joint" parent_frame="world" type="floating" />
+
+</robot>