Added the ClamArm MoveIt config package

README.md

@@ -2,3 +2,12 @@ moveit_robots
 =============
 
 This repository contains configuration packages for different robots using MoveIt!
+
+GUIDELINES
+---------
+
+Add your robot's MoveIt configuration package to the root of this repository. 
+
+Name the package YOURROBOT_moveit_config... for example 'pr2_moveit_config'
+
+Add a README.md file inside your robot's config package that explains where and how to get your robot's URDF file - i.e. where to download the corresponding YOURROBOT_description package that contains your robot's URDF file.

clam_moveit_config/.setup_assistant

@@ -0,0 +1,6 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: clam_description
+    relative_path: urdf/clam.urdf
+  SRDF:
+    relative_path: config/clam.srdf

clam_moveit_config/CMakeLists.txt

@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(clam_moveit_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

clam_moveit_config/README.md

@@ -0,0 +1,24 @@
+ClamArm Manipulator
+==========
+* Author: Dave Coleman <davetcoleman.com>
+* Website: [correll.cs.colorado.edu/clam](http://correll.cs.colorado.edu/clam)
+* License: GNU General Public License, version 3 (GPL-3.0)
+* Inception Date: 12/27/2011
+* Version: 2.0.0
+
+MoveIt configuration package for the 7-dof robotic arm in the Correll Lab at the University of Colorado Boulder. 
+
+
+PACKAGE DEPENDENCIES
+---------
+To use the clam_moveit_config package you need the clam_description package that contains the robot's URDF. To download that package use the following repo:
+
+   git clone [email protected]:davetcoleman/clam_catkin.git
+
+
+DOCUMENTATION
+---------
+
+See [Documentation](http://correll.cs.colorado.edu/clam/?page_id=28)
+
+

clam_moveit_config/config/clam.srdf

@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="clam">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm">
+        <chain base_link="base_link" tip_link="gripper_roll_link" />
+    </group>
+    <group name="gripper">
+        <joint name="gripper_fixed_finger_joint" />
+        <joint name="gripper_finger_joint" />
+        <joint name="gripper_roll_joint" />
+    </group>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="gripper_ee" parent_link="gripper_roll_link" group="gripper" parent_group="arm" />
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="vjoint1" type="fixed" parent_frame="vframe1" child_link="base_link" />
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="base_link" link2="elbow_pitch_link" reason="Never" />
+    <disable_collisions link1="base_link" link2="elbow_roll_link" reason="Never" />
+    <disable_collisions link1="base_link" link2="gripper_fake_tip_link" reason="Never" />
+    <disable_collisions link1="base_link" link2="gripper_finger_link" reason="Never" />
+    <disable_collisions link1="base_link" link2="gripper_roll_link" reason="Never" />
+    <disable_collisions link1="base_link" link2="shoulder_pan_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="tabletop_link" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="wrist_pitch_link" reason="Never" />
+    <disable_collisions link1="base_link" link2="wrist_roll_link" reason="Never" />
+    <disable_collisions link1="elbow_pitch_link" link2="elbow_roll_link" reason="Adjacent" />
+    <disable_collisions link1="elbow_pitch_link" link2="gripper_fake_tip_link" reason="Never" />
+    <disable_collisions link1="elbow_pitch_link" link2="gripper_finger_link" reason="Never" />
+    <disable_collisions link1="elbow_pitch_link" link2="gripper_fixed_finger_link" reason="Never" />
+    <disable_collisions link1="elbow_pitch_link" link2="gripper_roll_link" reason="Never" />
+    <disable_collisions link1="elbow_pitch_link" link2="shoulder_pan_link" reason="Never" />
+    <disable_collisions link1="elbow_pitch_link" link2="wrist_roll_link" reason="Adjacent" />
+    <disable_collisions link1="elbow_roll_link" link2="gripper_fake_tip_link" reason="Never" />
+    <disable_collisions link1="elbow_roll_link" link2="gripper_finger_link" reason="Never" />
+    <disable_collisions link1="elbow_roll_link" link2="gripper_fixed_finger_link" reason="Never" />
+    <disable_collisions link1="elbow_roll_link" link2="gripper_roll_link" reason="Never" />
+    <disable_collisions link1="elbow_roll_link" link2="shoulder_pan_link" reason="Never" />
+    <disable_collisions link1="elbow_roll_link" link2="shoulder_pitch_link" reason="Adjacent" />
+    <disable_collisions link1="elbow_roll_link" link2="tabletop_link" reason="Never" />
+    <disable_collisions link1="elbow_roll_link" link2="wrist_pitch_link" reason="Never" />
+    <disable_collisions link1="elbow_roll_link" link2="wrist_roll_link" reason="Never" />
+    <disable_collisions link1="gripper_fake_tip_link" link2="gripper_finger_link" reason="Never" />
+    <disable_collisions link1="gripper_fake_tip_link" link2="gripper_fixed_finger_link" reason="Never" />
+    <disable_collisions link1="gripper_fake_tip_link" link2="gripper_roll_link" reason="Adjacent" />
+    <disable_collisions link1="gripper_fake_tip_link" link2="shoulder_pan_link" reason="Never" />
+    <disable_collisions link1="gripper_fake_tip_link" link2="shoulder_pitch_link" reason="Never" />
+    <disable_collisions link1="gripper_fake_tip_link" link2="wrist_pitch_link" reason="Never" />
+    <disable_collisions link1="gripper_fake_tip_link" link2="wrist_roll_link" reason="Never" />
+    <disable_collisions link1="gripper_finger_link" link2="gripper_fixed_finger_link" reason="Never" />
+    <disable_collisions link1="gripper_finger_link" link2="gripper_roll_link" reason="Adjacent" />
+    <disable_collisions link1="gripper_finger_link" link2="shoulder_pan_link" reason="Never" />
+    <disable_collisions link1="gripper_finger_link" link2="shoulder_pitch_link" reason="Never" />
+    <disable_collisions link1="gripper_finger_link" link2="wrist_pitch_link" reason="Never" />
+    <disable_collisions link1="gripper_finger_link" link2="wrist_roll_link" reason="Never" />
+    <disable_collisions link1="gripper_fixed_finger_link" link2="gripper_roll_link" reason="Adjacent" />
+    <disable_collisions link1="gripper_fixed_finger_link" link2="shoulder_pan_link" reason="Never" />
+    <disable_collisions link1="gripper_fixed_finger_link" link2="shoulder_pitch_link" reason="Never" />
+    <disable_collisions link1="gripper_fixed_finger_link" link2="wrist_pitch_link" reason="Never" />
+    <disable_collisions link1="gripper_fixed_finger_link" link2="wrist_roll_link" reason="Never" />
+    <disable_collisions link1="gripper_roll_link" link2="shoulder_pan_link" reason="Never" />
+    <disable_collisions link1="gripper_roll_link" link2="shoulder_pitch_link" reason="Never" />
+    <disable_collisions link1="gripper_roll_link" link2="wrist_pitch_link" reason="Adjacent" />
+    <disable_collisions link1="gripper_roll_link" link2="wrist_roll_link" reason="Never" />
+    <disable_collisions link1="shoulder_pan_link" link2="shoulder_pitch_link" reason="Adjacent" />
+    <disable_collisions link1="shoulder_pan_link" link2="tabletop_link" reason="Never" />
+    <disable_collisions link1="shoulder_pan_link" link2="wrist_pitch_link" reason="Never" />
+    <disable_collisions link1="shoulder_pan_link" link2="wrist_roll_link" reason="Never" />
+    <disable_collisions link1="shoulder_pitch_link" link2="tabletop_link" reason="Never" />
+    <disable_collisions link1="shoulder_pitch_link" link2="wrist_pitch_link" reason="Never" />
+    <disable_collisions link1="shoulder_pitch_link" link2="wrist_roll_link" reason="Never" />
+    <disable_collisions link1="wrist_pitch_link" link2="wrist_roll_link" reason="Adjacent" />
+</robot>

clam_moveit_config/config/joint_limits.yaml

@@ -0,0 +1,36 @@
+joint_limits:
+  elbow_pitch_joint:
+    has_velocity_limits: true
+    max_velocity: 1.0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+  elbow_roll_joint:
+    has_velocity_limits: true
+    max_velocity: 1.0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+  gripper_roll_joint:
+    has_velocity_limits: true
+    max_velocity: 1.0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+  shoulder_pan_joint:
+    has_velocity_limits: true
+    max_velocity: 1.0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+  shoulder_pitch_joint:
+    has_velocity_limits: true
+    max_velocity: 1.0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+  wrist_pitch_joint:
+    has_velocity_limits: true
+    max_velocity: 1.0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
+  wrist_roll_joint:
+    has_velocity_limits: true
+    max_velocity: 1.0
+    has_acceleration_limits: true
+    max_acceleration: 1.0

clam_moveit_config/config/kinematics.yaml

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

clam_moveit_config/config/ompl_planning.yaml

@@ -0,0 +1,39 @@
+planner_configs:
+  SBLkConfigDefault:
+    type: geometric::SBL
+  LBKPIECEkConfigDefault:
+    type: geometric::LBKPIECE
+  RRTkConfigDefault:
+    type: geometric::RRT
+  RRTConnectkConfigDefault:
+    type: geometric::RRTConnect
+  LazyRRTkConfigDefault:
+    type: geometric::LazyRRT
+  ESTkConfigDefault:
+    type: geometric::EST
+  KPIECEkConfigDefault:
+    type: geometric::KPIECE
+  RRTStarkConfigDefault:
+    type: geometric::RRTstar
+  BKPIECEkConfigDefault:
+    type: geometric::BKPIECE
+arm:
+  planner_configs:
+    - SBLkConfigDefault
+    - LBKPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - ESTkConfigDefault
+    - KPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - RRTStarkConfigDefault
+gripper:
+  planner_configs:
+    - SBLkConfigDefault
+    - LBKPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - ESTkConfigDefault
+    - KPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - RRTStarkConfigDefault

clam_moveit_config/launch/clam_moveit_controller_manager.launch

@@ -0,0 +1,3 @@
+<launch>
+
+</launch>

clam_moveit_config/launch/clam_moveit_sensor_manager.launch

@@ -0,0 +1,3 @@
+<launch>
+
+</launch>

clam_moveit_config/launch/move_group.launch

@@ -0,0 +1,40 @@
+<launch>
+
+  <include file="$(find clam_moveit_config)/launch/planning_context.launch" />
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg unless="$(arg debug)" name="command_args" value="" />
+  <arg     if="$(arg debug)" name="command_args" value="--debug" />
+
+  <arg name="allow_trajectory_execution" default="false"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="publish_monitored_planning_scene" default="false"/>
+
+  <include ns="move_group" file="$(find clam_moveit_config)/launch/planning_pipeline.launch">
+    <arg name="pipeline" value="ompl" />
+  </include>
+
+  <include ns="move_group" file="$(find clam_moveit_config)/launch/trajectory_execution.launch">
+    <arg name="moveit_controller_manager" value="clam" /> 
+    <arg name="moveit_manage_controllers" value="false" />
+  </include>
+
+  <include ns="move_group" file="$(find clam_moveit_config)/launch/sensor_manager.launch">
+    <arg name="moveit_sensor_manager" value="clam" /> 
+  </include>
+
+  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group_action_server" respawn="false" output="screen" args="$(arg command_args)">
+    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+  </node>
+
+</launch>