moved moveit related files to hexapod_moveit package

.setup_assistant

@@ -1,10 +0,0 @@
-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

config/hexapod_robot.rviz

@@ -1,669 +0,0 @@
-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

config/hexapod_robot.srdf

@@ -1,21 +0,0 @@
-<?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>

config/joint_limits.yaml

@@ -1,7 +0,0 @@
-# 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
-

config/kinematics.yaml

@@ -1,77 +0,0 @@
-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

config/moveit_controllers.yaml

@@ -1,81 +0,0 @@
-# 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
-
-
-    

config/pilz_cartesian_limits.yaml

@@ -1,6 +0,0 @@
-# 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

launch/move_group.launch.py

@@ -1,85 +0,0 @@
-from launch import LaunchDescription
-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():
-
-    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()
-    )
-
-    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 = [moveit_config.robot_description],
-        output = "both"
-    )            
-
-    ros2_control_node = Node(
-        package = "controller_manager",
-        executable = "ros2_control_node",
-        parameters = [moveit_config.robot_description, ros2_controllers],
-        output="both"
-    )
-
-    joint_state_broadcaster_spawner = Node (
-        package = "controller_manager",
-        executable = "spawner",
-        arguments = ["joint_state_broadcaster", "--controller-manager", "/controller_manager"]
-    )
-
-    joint_trajectory_controller_spawner = Node(
-        package = "controller_manager",
-        executable = "spawner",
-        arguments = ["e1_group_controller", "e2_group_controller", "e3_group_controller", "e4_group_controller", "e5_group_controller", "e6_group_controller", "--controller-manager", "/controller_manager"]
-    )
-
-
-    delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
-        event_handler = OnProcessExit(
-            target_action = joint_state_broadcaster_spawner,
-            on_exit = [rviz_node]
-        )
-    )
-
-
-    delay_joint_trajectory_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
-        event_handler = OnProcessExit(
-            target_action = joint_state_broadcaster_spawner,
-            on_exit = [joint_trajectory_controller_spawner]
-        )
-    )
-
-
-    nodes = [
-        robot_state_publisher_node,
-        move_group_node,
-        ros2_control_node,
-        joint_state_broadcaster_spawner,
-        delay_joint_trajectory_controller_spawner_after_joint_state_broadcaster_spawner
-    ]
-            
-    return LaunchDescription(nodes)
-            

launch/move_group_gui.launch.py

@@ -1,96 +0,0 @@
-from launch import LaunchDescription
-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():
-
-    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()
-    )
-
-    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 = [moveit_config.robot_description],
-        output = "both"
-    )            
-
-    ros2_control_node = Node(
-        package = "controller_manager",
-        executable = "ros2_control_node",
-        parameters = [moveit_config.robot_description, ros2_controllers],
-        output="both"
-    )
-
-    rviz_node = Node(
-        package = "rviz2",
-        executable = "rviz2",
-        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 (
-        package = "controller_manager",
-        executable = "spawner",
-        arguments = ["joint_state_broadcaster", "--controller-manager", "/controller_manager"]
-    )
-
-    joint_trajectory_controller_spawner = Node(
-        package = "controller_manager",
-        executable = "spawner",
-        arguments = ["e1_group_controller", "e2_group_controller", "e3_group_controller", "e4_group_controller", "e5_group_controller", "e6_group_controller", "--controller-manager", "/controller_manager"]
-    )
-
-
-    delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
-        event_handler = OnProcessExit(
-            target_action = joint_state_broadcaster_spawner,
-            on_exit = [rviz_node]
-        )
-    )
-
-
-    delay_joint_trajectory_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
-        event_handler = OnProcessExit(
-            target_action = joint_state_broadcaster_spawner,
-            on_exit = [joint_trajectory_controller_spawner]
-        )
-    )
-
-
-    nodes = [
-        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,
-        delay_joint_trajectory_controller_spawner_after_joint_state_broadcaster_spawner
-    ]
-            
-    return LaunchDescription(nodes)
-            

launch/rviz.launch.py

@@ -1,37 +0,0 @@
-from launch import LaunchDescription
-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():
-
-    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()
-    )
-
-    rviz_node = Node(
-        package = "rviz2",
-        executable = "rviz2",
-        arguments = ['-d', PathJoinSubstitution([FindPackageShare("hexapod_robot"), "config", "hexapod_robot.rviz"])],
-        name = "rviz2",
-        output = "screen",
-        parameters = [moveit_config.planning_pipelines, moveit_config.robot_description_kinematics]
-    )
-    nodes = [
-        rviz_node
-    ]
-            
-    return LaunchDescription(nodes)
-