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hexapod_robot
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Added moveit stuff

main
Marcus Grieger 1 year ago
parent
52ccba2384
commit
665b981ce1
20 changed files with 1039 additions and 445 deletions
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  1. +10
    -0
      .setup_assistant
  2. +8
    -5
      CMakeLists.txt
  3. +0
    -58
      bringup/config/controllers.yaml
  4. +0
    -327
      bringup/config/hexapod_robot.rviz
  5. +669
    -0
      config/hexapod_robot.rviz
  6. +21
    -0
      config/hexapod_robot.srdf
  7. +7
    -0
      config/joint_limits.yaml
  8. +77
    -0
      config/kinematics.yaml
  9. +81
    -0
      config/moveit_controllers.yaml
  10. +6
    -0
      config/pilz_cartesian_limits.yaml
  11. +103
    -0
      config/ros2_controllers.yaml
  12. +3
    -3
      config/urdf/hexapod_robot.urdf.xacro
  13. +3
    -3
      config/urdf/hexapod_robot_macros.xacro
  14. +0
    -0
      config/urdf/hexapod_robot_materials.xacro
  15. +6
    -6
      config/urdf/hexapod_robot_ros2_control.xacro
  16. +2
    -2
      kinematics/hexapod_robot_ik_service.cpp
  17. +9
    -6
      launch/hexapod_robot.launch.py
  18. +27
    -33
      launch/hexapod_robot_gui.launch.py
  19. +4
    -0
      package.xml
  20. +3
    -2
      srv/HexapodRobotInverseKinematics.srv

+ 10
- 0
.setup_assistant View File

@@ -0,0 +1,10 @@
moveit_setup_assistant_config:
urdf:
package: hexapod_robot
relative_path: config/urdf/hexapod_robot.urdf.xacro
srdf:
relative_path: config/hexapod_robot.srdf
package_settings:
author_name: Marcus Grieger
author_email: marcus@grieger.xyz
generated_timestamp: 1707046355

+ 8
- 5
CMakeLists.txt View File

@@ -11,6 +11,8 @@ find_package(hardware_interface REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)

find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

# Build hexapod_robot_interfaces
@@ -21,6 +23,7 @@ set(srv_files

rosidl_generate_interfaces(${PROJECT_NAME}
${srv_files}
DEPENDENCIES geometry_msgs
)

# Build hexapod_robot_ik_server
@@ -70,17 +73,17 @@ pluginlib_export_plugin_description_file(hardware_interface hexapod_robot.xml)


install(
DIRECTORY description
DESTINATION share/hexapod_robot
DIRECTORY config launch
DESTINATION share/${PROJECT_NAME}
)

install(
DIRECTORY bringup/launch bringup/config
DESTINATION share/hexapod_robot
FILES .setup_assistant DESTINATION share/${PROJECT_NAME}
)


install(TARGETS hexapod_robot_ik_server
DESTINATION lib/hexapod_robot
DESTINATION lib/${PROJECT_NAME}
)

install(TARGETS hexapod_robot_hwi


+ 0
- 58
bringup/config/controllers.yaml View File

@@ -1,58 +0,0 @@
controller_manager:
ros__parameters:
update_rate: 50
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

joint_trajectory_controller:
type: joint_trajectory_controller/JointTrajectoryController

forward_position_controller:
type: forward_command_controller/ForwardCommandController


forward_position_controller:
ros__parameters:
joints:
- t3_joint
interface_name: position

joint_trajectory_controller:
ros__parameters:
joints:
- c1_joint
- f1_joint
- t1_joint

- c2_joint
- f2_joint
- t2_joint

- c3_joint
- f3_joint
- t3_joint

- c4_joint
- f4_joint
- t4_joint

- c5_joint
- f5_joint
- t5_joint

- c6_joint
- f6_joint
- t6_joint

command_interfaces:
- position

state_interfaces:
- position

action_monitor_rate: 20.0

allow_partial_joints_goal: false


+ 0
- 327
bringup/config/hexapod_robot.rviz View File

@@ -1,327 +0,0 @@
Panels:
- Class: rviz_common/Displays
Help Height: 70
Name: Displays
Property Tree Widget:
Expanded:
- /TF1
Splitter Ratio: 0.5
Tree Height: 438
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.800000011920929
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
c1_link:
Value: true
c2_link:
Value: true
c3_link:
Value: true
c4_link:
Value: true
c5_link:
Value: true
c6_link:
Value: true
e1_link:
Value: true
e2_link:
Value: true
e3_link:
Value: true
e4_link:
Value: true
e5_link:
Value: true
e6_link:
Value: true
f1_link:
Value: true
f2_link:
Value: true
f3_link:
Value: true
f4_link:
Value: true
f5_link:
Value: true
f6_link:
Value: true
t1_link:
Value: true
t2_link:
Value: true
t3_link:
Value: true
t4_link:
Value: true
t5_link:
Value: true
t6_link:
Value: true
Marker Scale: 0.30000001192092896
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base_link:
c1_link:
f1_link:
t1_link:
e1_link:
{}
c2_link:
f2_link:
t2_link:
e2_link:
{}
c3_link:
f3_link:
t3_link:
e3_link:
{}
c4_link:
f4_link:
t4_link:
e4_link:
{}
c5_link:
f5_link:
t5_link:
e5_link:
{}
c6_link:
f6_link:
t6_link:
e6_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 0.8691349625587463
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.559999942779541
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.6249775886535645
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 666
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000100000000000001560000023cfc0200000002fb000000100044006900730070006c006100790073010000003f0000023c000000cc00fffffffb0000000a0056006900650077007300000001d2000000a9000000a900ffffff000001ff0000023c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 859
X: 0
Y: 32

+ 669
- 0
config/hexapod_robot.rviz View File

@@ -0,0 +1,669 @@
Panels:
- Class: rviz_common/Displays
Help Height: 70
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
Splitter Ratio: 0.5
Tree Height: 378
- Class: rviz_common/Help
Name: Help
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: true
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.05000000074505806
Joint Violation Color: 255; 0; 255
Planning Group: e1_group
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
- Class: moveit_rviz_plugin/Trajectory
Color Enabled: false
Enabled: true
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
c6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
e6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t4_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t5_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
t6_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Name: Trajectory
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Robot Description: robot_description
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 3x
Trail Step Size: 1
Trajectory Topic: /display_planned_path
Use Sim Time: false
Value: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
c1_link:
Value: true
c2_link:
Value: true
c3_link:
Value: true
c4_link:
Value: true
c5_link:
Value: true
c6_link:
Value: true
e1_link:
Value: true
e2_link:
Value: true
e3_link:
Value: true
e4_link:
Value: true
e5_link:
Value: true
e6_link:
Value: true
f1_link:
Value: true
f2_link:
Value: true
f3_link:
Value: true
f4_link:
Value: true
f5_link:
Value: true
f6_link:
Value: true
t1_link:
Value: true
t2_link:
Value: true
t3_link:
Value: true
t4_link:
Value: true
t5_link:
Value: true
t6_link:
Value: true
Marker Scale: 0.10000000149011612
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base_link:
c1_link:
f1_link:
t1_link:
e1_link:
{}
c2_link:
f2_link:
t2_link:
e2_link:
{}
c3_link:
f3_link:
t3_link:
e3_link:
{}
c4_link:
f4_link:
t4_link:
e4_link:
{}
c5_link:
f5_link:
t5_link:
e5_link:
{}
c6_link:
f6_link:
t6_link:
e6_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 0.6329568028450012
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.07758110761642456
Y: 0.08254023641347885
Z: 0.09184139221906662
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5400001406669617
Target Frame: base_link
Value: Orbit (rviz_default_plugins)
Yaw: 2.3151493072509766
Saved: ~
Window Geometry:
" - Trajectory Slider":
collapsed: false
Displays:
collapsed: false
Height: 1287
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002b4000004a9fc0200000006fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004400fffffffb000000100044006900730070006c006100790073010000003f00000200000000cc00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000245000001a10000019600fffffffb0000000800480065006c0070000000029a0000006e0000006f00fffffffb0000000a0056006900650077007301000003ec000000fc000000a900fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004400ffffff0000063e000004a900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 2296
X: 0
Y: 32

+ 21
- 0
config/hexapod_robot.srdf View File

@@ -0,0 +1,21 @@
<?xml version="1.0" encoding="UTF-8"?>
<robot name="hexapod_robot">
<group name="e1_group">
<chain base_link="base_link" tip_link="e1_link"/>
</group>
<group name="e2_group">
<chain base_link="base_link" tip_link="e2_link"/>
</group>
<group name="e3_group">
<chain base_link="base_link" tip_link="e3_link"/>
</group>
<group name="e4_group">
<chain base_link="base_link" tip_link="e4_link"/>
</group>
<group name="e5_group">
<chain base_link="base_link" tip_link="e5_link"/>
</group>
<group name="e6_group">
<chain base_link="base_link" tip_link="e6_link"/>
</group>
</robot>

+ 7
- 0
config/joint_limits.yaml View File

@@ -0,0 +1,7 @@
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed

# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1


+ 77
- 0
config/kinematics.yaml View File

@@ -0,0 +1,77 @@
e1_group:
kinematics_solver: pick_ik/PickIkPlugin
kinematics_solver_timeout: 0.05
kinematics_solver_attempts: 3
mode: global
position_scale: 1.0
rotation_scale: 0.0
position_threshold: 0.001
orientation_threshold: 0.01
cost_threshold: 0.001
minimal_displacement_weight: 0.0
gd_step_size: 0.0001

e2_group:
kinematics_solver: pick_ik/PickIkPlugin
kinematics_solver_timeout: 0.05
kinematics_solver_attempts: 3
mode: global
position_scale: 1.0
rotation_scale: 0.0
position_threshold: 0.001
orientation_threshold: 0.01
cost_threshold: 0.001
minimal_displacement_weight: 0.0
gd_step_size: 0.0001

e3_group:
kinematics_solver: pick_ik/PickIkPlugin
kinematics_solver_timeout: 0.05
kinematics_solver_attempts: 3
mode: global
position_scale: 1.0
rotation_scale: 0.0
position_threshold: 0.001
orientation_threshold: 0.01
cost_threshold: 0.001
minimal_displacement_weight: 0.0
gd_step_size: 0.0001

e4_group:
kinematics_solver: pick_ik/PickIkPlugin
kinematics_solver_timeout: 0.05
kinematics_solver_attempts: 3
mode: global
position_scale: 1.0
rotation_scale: 0.0
position_threshold: 0.001
orientation_threshold: 0.01
cost_threshold: 0.001
minimal_displacement_weight: 0.0
gd_step_size: 0.0001

e5_group:
kinematics_solver: pick_ik/PickIkPlugin
kinematics_solver_timeout: 0.05
kinematics_solver_attempts: 3
mode: global
position_scale: 1.0
rotation_scale: 0.0
position_threshold: 0.001
orientation_threshold: 0.01
cost_threshold: 0.001
minimal_displacement_weight: 0.0
gd_step_size: 0.0001

e6_group:
kinematics_solver: pick_ik/PickIkPlugin
kinematics_solver_timeout: 0.05
kinematics_solver_attempts: 3
mode: global
position_scale: 1.0
rotation_scale: 0.0
position_threshold: 0.001
orientation_threshold: 0.01
cost_threshold: 0.001
minimal_displacement_weight: 0.0
gd_step_size: 0.0001

+ 81
- 0
config/moveit_controllers.yaml View File

@@ -0,0 +1,81 @@
# MoveIt uses this configuration for controller management

moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:
controller_names:
- e1_group_controller
- e2_group_controller
- e3_group_controller
- e4_group_controller
- e5_group_controller
- e6_group_controller

e1_group_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- c1_joint
- f1_joint
- t1_joint
action_ns: follow_joint_trajectory
default: true

e2_group_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- c2_joint
- f2_joint
- t2_joint
action_ns: follow_joint_trajectory
default: true

e3_group_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- c3_joint
- f3_joint
- t3_joint
action_ns: follow_joint_trajectory
default: true

e4_group_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- c4_joint
- f4_joint
- t4_joint
action_ns: follow_joint_trajectory
default: true

e5_group_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- c5_joint
- f5_joint
- t5_joint
action_ns: follow_joint_trajectory
default: true

e6_group_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- c6_joint
- f6_joint
- t6_joint
action_ns: follow_joint_trajectory
default: true



+ 6
- 0
config/pilz_cartesian_limits.yaml View File

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

+ 103
- 0
config/ros2_controllers.yaml View File

@@ -0,0 +1,103 @@
controller_manager:
ros__parameters:
update_rate: 50
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

e1_group_controller:
type: joint_trajectory_controller/JointTrajectoryController

e2_group_controller:
type: joint_trajectory_controller/JointTrajectoryController

e3_group_controller:
type: joint_trajectory_controller/JointTrajectoryController

e4_group_controller:
type: joint_trajectory_controller/JointTrajectoryController

e5_group_controller:
type: joint_trajectory_controller/JointTrajectoryController

e6_group_controller:
type: joint_trajectory_controller/JointTrajectoryController


e1_group_controller:
ros__parameters:
joints:
- c1_joint
- f1_joint
- t1_joint
command_interfaces:
- position
state_interfaces:
- position

e2_group_controller:
ros__parameters:
joints:
- c2_joint
- f2_joint
- t2_joint
command_interfaces:
- position
state_interfaces:
- position

e3_group_controller:
ros__parameters:
joints:
- c3_joint
- f3_joint
- t3_joint
command_interfaces:
- position
state_interfaces:
- position

e4_group_controller:
ros__parameters:
joints:
- c4_joint
- f4_joint
- t4_joint
command_interfaces:
- position
state_interfaces:
- position

e5_group_controller:
ros__parameters:
joints:
- c5_joint
- f5_joint
- t5_joint
command_interfaces:
- position
state_interfaces:
- position

e6_group_controller:
ros__parameters:
joints:
- c6_joint
- f6_joint
- t6_joint
command_interfaces:
- position
state_interfaces:
- position

description/urdf/hexapod_robot.urdf.xacro → config/urdf/hexapod_robot.urdf.xacro View File

@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hexapod_robot">
<xacro:include filename="$(find hexapod_robot)/description/urdf/hexapod_robot_materials.xacro"/>
<xacro:include filename="$(find hexapod_robot)/description/urdf/hexapod_robot_macros.xacro"/>
<xacro:include filename="$(find hexapod_robot)/config/urdf/hexapod_robot_materials.xacro"/>
<xacro:include filename="$(find hexapod_robot)/config/urdf/hexapod_robot_macros.xacro"/>

<link name="base_link">
<xacro:create_frame_plate z_offset="-0.034"/>
@@ -23,6 +23,6 @@
<xacro:create_leg number="5" side="r" xy_offset=" 0.060 0.000"/>
<xacro:create_leg number="6" side="r" xy_offset=" 0.040 0.080"/>
<xacro:include filename="$(find hexapod_robot)/description/urdf/hexapod_robot_ros2_control.xacro"/>
<xacro:include filename="$(find hexapod_robot)/config/urdf/hexapod_robot_ros2_control.xacro"/>

</robot>

description/urdf/hexapod_robot_macros.xacro → config/urdf/hexapod_robot_macros.xacro View File

@@ -60,7 +60,7 @@
<child link="${name}_link"/>
<origin xyz="${xy_offset} 0"/>
<axis xyz="0 0 1"/>
<limit effort="30" velocity="100" lower="-1" upper="1"/>
<limit effort="30" velocity="100" lower="-1.57" upper="1.57"/>
</joint>
</xacro:macro>

@@ -91,7 +91,7 @@
<xacro:if value="${side == 'l'}"><origin xyz="-0.020 0.03 -0.0075"/></xacro:if>
<xacro:if value="${side == 'r'}"><origin xyz=" 0.020 0.03 -0.0075"/></xacro:if>
<axis xyz="0 -1 0"/>
<limit effort="30" velocity="100" lower="-1" upper="1"/>
<limit effort="30" velocity="100" lower="-1.57" upper="1.57"/>
</joint>
</xacro:macro>

@@ -149,7 +149,7 @@
<xacro:if value="${side == 'l'}"><origin xyz="-0.080 -0.03 0"/></xacro:if>
<xacro:if value="${side == 'r'}"><origin xyz=" 0.080 -0.03 0"/></xacro:if>
<axis xyz="0 1 0"/>
<limit effort="30" velocity="100" lower="-1" upper="1"/>
<limit effort="30" velocity="100" lower="-1.57" upper="1.57"/>
</joint>
</xacro:macro>


description/urdf/hexapod_robot_materials.xacro → config/urdf/hexapod_robot_materials.xacro View File


description/urdf/hexapod_robot_ros2_control.xacro → config/urdf/hexapod_robot_ros2_control.xacro View File

@@ -5,23 +5,23 @@

<joint name="c${number}_joint">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
<param name="min">-1.57</param>
<param name="max">1.57</param>
</command_interface>
<state_interface name="position"/>
</joint>

<joint name="f${number}_joint">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
<param name="min">-1.57</param>
<param name="max">1.57</param>
</command_interface>
<state_interface name="position"/>
</joint>
<joint name="t${number}_joint">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
<param name="min">-1.57</param>
<param name="max">1.57</param>
</command_interface>
<state_interface name="position"/>
</joint>

+ 2
- 2
kinematics/hexapod_robot_ik_service.cpp View File

@@ -6,8 +6,8 @@
void ik(const std::shared_ptr<hexapod_robot::srv::HexapodRobotInverseKinematics::Request> request,
std::shared_ptr<hexapod_robot::srv::HexapodRobotInverseKinematics::Response> response) {

response -> bar = request -> foo;
response -> angles.push_back(42);
}

int main(int argc, char **argv) {


bringup/launch/hexapod_robot.launch.py → launch/hexapod_robot.launch.py View File

@@ -7,6 +7,9 @@ from launch.event_handlers import OnProcessExit
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

from moveit_configs_utils import MoveItConfigsBuilder


def generate_launch_description():

robot_description_content = Command([
@@ -15,7 +18,7 @@ def generate_launch_description():
PathJoinSubstitution(
[
FindPackageShare("hexapod_robot"),
"description",
"config",
"urdf",
"hexapod_robot.urdf.xacro"
]
@@ -24,7 +27,7 @@ def generate_launch_description():
)
robot_description = {"robot_description": robot_description_content}

robot_controllers = PathJoinSubstitution([FindPackageShare("hexapod_robot"), "config", "controllers.yaml"])
ros2_controllers = PathJoinSubstitution([FindPackageShare("hexapod_robot"), "config", "ros2_controllers.yaml"])

robot_state_publisher_node = Node(
package = "robot_state_publisher",
@@ -33,10 +36,10 @@ def generate_launch_description():
output = "both"
)

control_node = Node(
ros2_control_node = Node(
package = "controller_manager",
executable = "ros2_control_node",
parameters = [robot_description, robot_controllers],
parameters = [robot_description, ros2_controllers],
output="both"
)

@@ -63,7 +66,7 @@ def generate_launch_description():
joint_trajectory_controller_spawner = Node(
package = "controller_manager",
executable = "spawner",
arguments = ["joint_trajectory_controller", "--controller-manager", "/controller_manager"]
arguments = ["e1_group_controller", "--controller-manager", "/controller_manager"]
)


@@ -90,7 +93,7 @@ def generate_launch_description():


nodes = [
control_node,
ros2_control_node,
robot_state_publisher_node,
joint_state_broadcaster_spawner,
#delay_rviz_after_joint_state_broadcaster_spawner,

bringup/launch/hexapod_robot_gui.launch.py → launch/hexapod_robot_gui.launch.py View File

@@ -3,40 +3,44 @@ from launch.actions import RegisterEventHandler
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch.event_handlers import OnProcessExit


from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

from moveit_configs_utils import MoveItConfigsBuilder


def generate_launch_description():

robot_description_content = Command([
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[
FindPackageShare("hexapod_robot"),
"description",
"urdf",
"hexapod_robot.urdf.xacro"
]
)
]
moveit_config = (
MoveItConfigsBuilder("hexapod_robot", package_name = "hexapod_robot")

.planning_scene_monitor(
publish_robot_description=True, publish_robot_description_semantic=True
)
.planning_pipelines(pipelines = ["ompl"])
.to_moveit_configs()
)
robot_description = {"robot_description": robot_description_content}

robot_controllers = PathJoinSubstitution([FindPackageShare("hexapod_robot"), "config", "controllers.yaml"])
move_group_node = Node(
package = "moveit_ros_move_group",
executable = "move_group",
output = "screen",
parameters = [moveit_config.to_dict()]
)

ros2_controllers = PathJoinSubstitution([FindPackageShare("hexapod_robot"), "config", "ros2_controllers.yaml"])

robot_state_publisher_node = Node(
package = "robot_state_publisher",
executable = "robot_state_publisher",
parameters = [robot_description],
parameters = [moveit_config.robot_description],
output = "both"
)

control_node = Node(
ros2_control_node = Node(
package = "controller_manager",
executable = "ros2_control_node",
parameters = [robot_description, robot_controllers],
parameters = [moveit_config.robot_description, ros2_controllers],
output="both"
)

@@ -46,6 +50,7 @@ def generate_launch_description():
arguments = ['-d', PathJoinSubstitution([FindPackageShare("hexapod_robot"), "config", "hexapod_robot.rviz"])],
name = "rviz2",
output = "screen",
parameters = [moveit_config.planning_pipelines, moveit_config.robot_description_kinematics]
)

joint_state_broadcaster_spawner = Node (
@@ -53,17 +58,11 @@ def generate_launch_description():
executable = "spawner",
arguments = ["joint_state_broadcaster", "--controller-manager", "/controller_manager"]
)
# forward_position_controller_spawner = Node(
# package = "controller_manager",
# executable = "spawner",
# arguments = ["forward_position_controller", "--controller-manager", "/controller_manager"]
# )

joint_trajectory_controller_spawner = Node(
package = "controller_manager",
executable = "spawner",
arguments = ["joint_trajectory_controller", "--controller-manager", "/controller_manager"]
arguments = ["e1_group_controller", "e2_group_controller", "e3_group_controller", "e4_group_controller", "e5_group_controller", "e6_group_controller", "--controller-manager", "/controller_manager"]
)


@@ -73,13 +72,7 @@ def generate_launch_description():
on_exit = [rviz_node]
)
)
# delay_forward_position_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
# event_handler = OnProcessExit(
# target_action = joint_state_broadcaster_spawner,
# on_exit = [forward_position_controller_spawner]
# )
# )


delay_joint_trajectory_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
event_handler = OnProcessExit(
@@ -90,8 +83,9 @@ def generate_launch_description():


nodes = [
control_node,
robot_state_publisher_node,
move_group_node,
ros2_control_node,
joint_state_broadcaster_spawner,
delay_rviz_after_joint_state_broadcaster_spawner,
# delay_forward_position_controller_spawner_after_joint_state_broadcaster_spawner,

+ 4
- 0
package.xml View File

@@ -9,7 +9,11 @@

<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>

<build_depend>geometry_msgs</build_depend>

<exec_depend>rosidl_default_runtime</exec_depend>
<exec_depend>geometry_msgs</exec_depend>

<member_of_group>rosidl_interface_packages</member_of_group>



+ 3
- 2
srv/HexapodRobotInverseKinematics.srv View File

@@ -1,3 +1,4 @@
int64 foo
geometry_msgs/Pose body
geometry_msgs/Vector3[] leg_tips
---
int64 bar
float64[] angles

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