From dd73bd2a7b4b5981c86b7f5dd4366d810358d078 Mon Sep 17 00:00:00 2001 From: Anthony Baker Date: Tue, 5 Sep 2023 08:36:32 -0600 Subject: [PATCH] remove unused panda files (#730) Co-authored-by: Sebastian Jahr --- ...llo_moveit_kinova.cpp => hello_moveit.cpp} | 0 .../hello_moveit_panda.cpp | 124 ----- .../planning_around_objects.rst | 2 +- .../launch/panda_demo.launch.py | 138 ----- .../launch/panda_hello_moveit.rviz | 518 ------------------ .../launch/panda_moveit_config_demo.rviz | 497 ----------------- .../panda_moveit_config_demo_empty.rviz | 123 ----- ...nova_hello_moveit.cpp => hello_moveit.cpp} | 0 .../panda_hello_moveit.cpp | 91 --- 9 files changed, 1 insertion(+), 1492 deletions(-) rename doc/tutorials/planning_around_objects/{hello_moveit_kinova.cpp => hello_moveit.cpp} (100%) delete mode 100644 doc/tutorials/planning_around_objects/hello_moveit_panda.cpp delete mode 100644 doc/tutorials/quickstart_in_rviz/launch/panda_demo.launch.py delete mode 100644 doc/tutorials/quickstart_in_rviz/launch/panda_hello_moveit.rviz delete mode 100644 doc/tutorials/quickstart_in_rviz/launch/panda_moveit_config_demo.rviz delete mode 100644 doc/tutorials/quickstart_in_rviz/launch/panda_moveit_config_demo_empty.rviz rename doc/tutorials/visualizing_in_rviz/{kinova_hello_moveit.cpp => hello_moveit.cpp} (100%) delete mode 100644 doc/tutorials/visualizing_in_rviz/panda_hello_moveit.cpp diff --git a/doc/tutorials/planning_around_objects/hello_moveit_kinova.cpp b/doc/tutorials/planning_around_objects/hello_moveit.cpp similarity index 100% rename from doc/tutorials/planning_around_objects/hello_moveit_kinova.cpp rename to doc/tutorials/planning_around_objects/hello_moveit.cpp diff --git a/doc/tutorials/planning_around_objects/hello_moveit_panda.cpp b/doc/tutorials/planning_around_objects/hello_moveit_panda.cpp deleted file mode 100644 index 28f8923f78..0000000000 --- a/doc/tutorials/planning_around_objects/hello_moveit_panda.cpp +++ /dev/null @@ -1,124 +0,0 @@ -#include -#include -#include - -#include -#include -#include - -int main(int argc, char* argv[]) -{ - // Initialize ROS and create the Node - rclcpp::init(argc, argv); - auto const node = std::make_shared( - "hello_moveit", rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)); - - // Create a ROS logger - auto const logger = rclcpp::get_logger("hello_moveit"); - - // We spin up a SingleThreadedExecutor for the current state monitor to get - // information about the robot's state. - rclcpp::executors::SingleThreadedExecutor executor; - executor.add_node(node); - auto spinner = std::thread([&executor]() { executor.spin(); }); - - // Create the MoveIt MoveGroup Interface - using moveit::planning_interface::MoveGroupInterface; - auto move_group_interface = MoveGroupInterface(node, "panda_arm"); - - // Construct and initialize MoveItVisualTools - auto moveit_visual_tools = - moveit_visual_tools::MoveItVisualTools{ node, "panda_link0", rviz_visual_tools::RVIZ_MARKER_TOPIC, - move_group_interface.getRobotModel() }; - moveit_visual_tools.deleteAllMarkers(); - moveit_visual_tools.loadRemoteControl(); - - // Create a closure for updating the text in rviz - auto const draw_title = [&moveit_visual_tools](auto text) { - auto const text_pose = [] { - auto msg = Eigen::Isometry3d::Identity(); - msg.translation().z() = 1.0; - return msg; - }(); - moveit_visual_tools.publishText(text_pose, text, rviz_visual_tools::WHITE, rviz_visual_tools::XLARGE); - }; - auto const prompt = [&moveit_visual_tools](auto text) { moveit_visual_tools.prompt(text); }; - auto const draw_trajectory_tool_path = - [&moveit_visual_tools, jmg = move_group_interface.getRobotModel()->getJointModelGroup("panda_arm")]( - auto const trajectory) { moveit_visual_tools.publishTrajectoryLine(trajectory, jmg); }; - - // Set a target Pose - auto const target_pose = [] { - geometry_msgs::msg::Pose msg; - msg.orientation.w = 1.0; - msg.position.x = 0.28; - msg.position.y = 0.4; // <---- This value was changed - msg.position.z = 0.5; - return msg; - }(); - move_group_interface.setPoseTarget(target_pose); - - // Create collision object for the robot to avoid - auto const collision_object = [frame_id = move_group_interface.getPlanningFrame()] { - moveit_msgs::msg::CollisionObject collision_object; - collision_object.header.frame_id = frame_id; - collision_object.id = "box1"; - shape_msgs::msg::SolidPrimitive primitive; - - // Define the size of the box in meters - primitive.type = primitive.BOX; - primitive.dimensions.resize(3); - primitive.dimensions[primitive.BOX_X] = 0.5; - primitive.dimensions[primitive.BOX_Y] = 0.1; - primitive.dimensions[primitive.BOX_Z] = 0.5; - - // Define the pose of the box (relative to the frame_id) - geometry_msgs::msg::Pose box_pose; - box_pose.orientation.w = 1.0; - box_pose.position.x = 0.2; - box_pose.position.y = 0.2; - box_pose.position.z = 0.25; - - collision_object.primitives.push_back(primitive); - collision_object.primitive_poses.push_back(box_pose); - collision_object.operation = collision_object.ADD; - - return collision_object; - }(); - - // Add the collision object to the scene - moveit::planning_interface::PlanningSceneInterface planning_scene_interface; - planning_scene_interface.applyCollisionObject(collision_object); - - // Create a plan to that target pose - prompt("Press 'next' in the RvizVisualToolsGui window to plan"); - draw_title("Planning"); - moveit_visual_tools.trigger(); - auto const [success, plan] = [&move_group_interface] { - moveit::planning_interface::MoveGroupInterface::Plan msg; - auto const ok = static_cast(move_group_interface.plan(msg)); - return std::make_pair(ok, msg); - }(); - - // Execute the plan - if (success) - { - draw_trajectory_tool_path(plan.trajectory_); - moveit_visual_tools.trigger(); - prompt("Press 'next' in the RvizVisualToolsGui window to execute"); - draw_title("Executing"); - moveit_visual_tools.trigger(); - move_group_interface.execute(plan); - } - else - { - draw_title("Planning Failed!"); - moveit_visual_tools.trigger(); - RCLCPP_ERROR(logger, "Planning failed!"); - } - - // Shutdown ROS - rclcpp::shutdown(); - spinner.join(); - return 0; -} diff --git a/doc/tutorials/planning_around_objects/planning_around_objects.rst b/doc/tutorials/planning_around_objects/planning_around_objects.rst index 5c073592bf..7b506edd64 100644 --- a/doc/tutorials/planning_around_objects/planning_around_objects.rst +++ b/doc/tutorials/planning_around_objects/planning_around_objects.rst @@ -108,7 +108,7 @@ Summary ------- - You extended the program you wrote with MoveIt to plan around an object in the scene. -- :codedir:`Here is a copy of the full hello_moveit.cpp source`. +- :codedir:`Here is a copy of the full hello_moveit.cpp source`. Further Reading --------------- diff --git a/doc/tutorials/quickstart_in_rviz/launch/panda_demo.launch.py b/doc/tutorials/quickstart_in_rviz/launch/panda_demo.launch.py deleted file mode 100644 index 3ff3cf583a..0000000000 --- a/doc/tutorials/quickstart_in_rviz/launch/panda_demo.launch.py +++ /dev/null @@ -1,138 +0,0 @@ -import os -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, OpaqueFunction -from launch.substitutions import LaunchConfiguration, PathJoinSubstitution -from launch.conditions import IfCondition, UnlessCondition -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare -from launch.actions import ExecuteProcess -from ament_index_python.packages import get_package_share_directory -from moveit_configs_utils import MoveItConfigsBuilder - - -def generate_launch_description(): - - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "rviz_config", - default_value="panda_moveit_config_demo.rviz", - description="RViz configuration file", - ) - ) - - return LaunchDescription( - declared_arguments + [OpaqueFunction(function=launch_setup)] - ) - - -def launch_setup(context, *args, **kwargs): - - moveit_config = ( - MoveItConfigsBuilder("moveit_resources_panda") - .robot_description(file_path="config/panda.urdf.xacro") - .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml") - .planning_scene_monitor( - publish_robot_description=True, publish_robot_description_semantic=True - ) - .planning_pipelines( - pipelines=["ompl", "chomp", "pilz_industrial_motion_planner"] - ) - .to_moveit_configs() - ) - - # Start the actual move_group node/action server - run_move_group_node = Node( - package="moveit_ros_move_group", - executable="move_group", - output="screen", - parameters=[moveit_config.to_dict()], - ) - - rviz_base = LaunchConfiguration("rviz_config") - rviz_config = PathJoinSubstitution( - [FindPackageShare("moveit2_tutorials"), "launch", rviz_base] - ) - - # RViz - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config], - parameters=[ - moveit_config.robot_description, - moveit_config.robot_description_semantic, - moveit_config.robot_description_kinematics, - moveit_config.planning_pipelines, - moveit_config.joint_limits, - ], - ) - - # Static TF - static_tf = Node( - package="tf2_ros", - executable="static_transform_publisher", - name="static_transform_publisher", - output="log", - arguments=["--frame-id", "world", "--child-frame-id", "panda_link0"], - ) - - # Publish TF - robot_state_publisher = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - name="robot_state_publisher", - output="both", - parameters=[moveit_config.robot_description], - ) - - # ros2_control using FakeSystem as hardware - ros2_controllers_path = os.path.join( - get_package_share_directory("moveit_resources_panda_moveit_config"), - "config", - "ros2_controllers.yaml", - ) - ros2_control_node = Node( - package="controller_manager", - executable="ros2_control_node", - parameters=[moveit_config.robot_description, ros2_controllers_path], - output="both", - ) - - joint_state_broadcaster_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[ - "joint_state_broadcaster", - "--controller-manager-timeout", - "300", - "--controller-manager", - "/controller_manager", - ], - ) - - arm_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["panda_arm_controller", "-c", "/controller_manager"], - ) - - hand_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["panda_hand_controller", "-c", "/controller_manager"], - ) - nodes_to_start = [ - rviz_node, - static_tf, - robot_state_publisher, - run_move_group_node, - ros2_control_node, - joint_state_broadcaster_spawner, - arm_controller_spawner, - hand_controller_spawner, - ] - - return nodes_to_start diff --git a/doc/tutorials/quickstart_in_rviz/launch/panda_hello_moveit.rviz b/doc/tutorials/quickstart_in_rviz/launch/panda_hello_moveit.rviz deleted file mode 100644 index 8457f960be..0000000000 --- a/doc/tutorials/quickstart_in_rviz/launch/panda_hello_moveit.rviz +++ /dev/null @@ -1,518 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /PlanningScene1 - - /Trajectory1 - - /MarkerArray1 - Splitter Ratio: 0.5 - Tree Height: 114 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz_visual_tools/RvizVisualToolsGui - Name: RvizVisualToolsGui -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: - Value: true - - Class: moveit_rviz_plugin/PlanningScene - Enabled: true - Move Group Namespace: "" - Name: PlanningScene - Planning Scene Topic: /monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 0.8999999761581421 - Scene Color: 50; 230; 50 - Scene Display Time: 0.20000000298023224 - 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 - panda_hand: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_leftfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - panda_rightfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: true - - 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 - panda_hand: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_leftfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - panda_rightfinger: - 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: 0.05 s - Trail Step Size: 1 - Trajectory Topic: /display_planned_path - Use Sim Time: false - 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: true - 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 - panda_hand: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_leftfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - panda_rightfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Loop Animation: false - 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 - Joint Violation Color: 255; 0; 255 - Planning Group: panda_arm - 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: 0.8999999761581421 - 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 - panda_hand: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_leftfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - panda_rightfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: true - Velocity_Scaling_Factor: 0.1 - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: MarkerArray - Namespaces: - Path: true - Sphere: true - Text: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: rviz_visual_tools - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: panda_link0 - 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 - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 3.8008623123168945 - 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: 0.5753980278968811 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.4903981685638428 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 812 - Hide Left Dock: false - Hide Right Dock: false - MotionPlanning: - collapsed: false - MotionPlanning - Trajectory Slider: - collapsed: false - QMainWindow State: 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 - RvizVisualToolsGui: - collapsed: false - Selection: - collapsed: false - Tool Properties: - collapsed: false - Trajectory - Trajectory Slider: - collapsed: false - Views: - collapsed: false - Width: 1533 - X: 1994 diff --git a/doc/tutorials/quickstart_in_rviz/launch/panda_moveit_config_demo.rviz b/doc/tutorials/quickstart_in_rviz/launch/panda_moveit_config_demo.rviz deleted file mode 100644 index c66fdd9f83..0000000000 --- a/doc/tutorials/quickstart_in_rviz/launch/panda_moveit_config_demo.rviz +++ /dev/null @@ -1,497 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /PlanningScene1 - - /Trajectory1 - Splitter Ratio: 0.5 - Tree Height: 137 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - 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: - Value: true - - Class: moveit_rviz_plugin/PlanningScene - Enabled: true - Move Group Namespace: "" - Name: PlanningScene - Planning Scene Topic: /monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 0.8999999761581421 - Scene Color: 50; 230; 50 - Scene Display Time: 0.20000000298023224 - 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 - panda_hand: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_leftfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - panda_rightfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: true - - 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 - panda_hand: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_leftfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - panda_rightfinger: - 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: 0.05 s - Trail Step Size: 1 - Trajectory Topic: /display_planned_path - 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: true - MoveIt_Warehouse_Host: 127.0.0.1 - MoveIt_Warehouse_Port: 33829 - 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 - panda_hand: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_leftfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - panda_rightfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Loop Animation: false - 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 - 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 - Joint Violation Color: 255; 0; 255 - Planning Group: panda_arm - 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: 0.8999999761581421 - 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 - panda_hand: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_leftfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - panda_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - panda_rightfinger: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: true - Velocity_Scaling_Factor: 0.1 - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: panda_link0 - 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 - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 3.8008623123168945 - 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: 0.5753980278968811 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.4903981685638428 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 812 - Hide Left Dock: false - Hide Right Dock: false - MotionPlanning: - collapsed: false - MotionPlanning - Trajectory Slider: - collapsed: false - QMainWindow State: 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 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Trajectory - Trajectory Slider: - collapsed: false - Views: - collapsed: false - Width: 1533 - X: 1992 - Y: 231 diff --git a/doc/tutorials/quickstart_in_rviz/launch/panda_moveit_config_demo_empty.rviz b/doc/tutorials/quickstart_in_rviz/launch/panda_moveit_config_demo_empty.rviz deleted file mode 100644 index a2e56fb300..0000000000 --- a/doc/tutorials/quickstart_in_rviz/launch/panda_moveit_config_demo_empty.rviz +++ /dev/null @@ -1,123 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 865 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - 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: - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: panda_link0 - 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 - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 3.8008623123168945 - 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: 0.5753980278968811 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.4903981685638428 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1016 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1848 - X: 1992 - Y: 27 diff --git a/doc/tutorials/visualizing_in_rviz/kinova_hello_moveit.cpp b/doc/tutorials/visualizing_in_rviz/hello_moveit.cpp similarity index 100% rename from doc/tutorials/visualizing_in_rviz/kinova_hello_moveit.cpp rename to doc/tutorials/visualizing_in_rviz/hello_moveit.cpp diff --git a/doc/tutorials/visualizing_in_rviz/panda_hello_moveit.cpp b/doc/tutorials/visualizing_in_rviz/panda_hello_moveit.cpp deleted file mode 100644 index 6cd14bce46..0000000000 --- a/doc/tutorials/visualizing_in_rviz/panda_hello_moveit.cpp +++ /dev/null @@ -1,91 +0,0 @@ -#include -#include - -#include -#include -#include - -int main(int argc, char* argv[]) -{ - // Initialize ROS and create the Node - rclcpp::init(argc, argv); - auto const node = std::make_shared( - "hello_moveit", rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)); - - // Create a ROS logger - auto const logger = rclcpp::get_logger("hello_moveit"); - - // We spin up a SingleThreadedExecutor for the current state monitor to get - // information about the robot's state. - rclcpp::executors::SingleThreadedExecutor executor; - executor.add_node(node); - auto spinner = std::thread([&executor]() { executor.spin(); }); - - // Create the MoveIt MoveGroup Interface - using moveit::planning_interface::MoveGroupInterface; - auto move_group_interface = MoveGroupInterface(node, "panda_arm"); - - // Construct and initialize MoveItVisualTools - auto moveit_visual_tools = - moveit_visual_tools::MoveItVisualTools{ node, "panda_link0", rviz_visual_tools::RVIZ_MARKER_TOPIC, - move_group_interface.getRobotModel() }; - moveit_visual_tools.deleteAllMarkers(); - moveit_visual_tools.loadRemoteControl(); - - // Create a closure for updating the text in rviz - auto const draw_title = [&moveit_visual_tools](auto text) { - auto const text_pose = [] { - auto msg = Eigen::Isometry3d::Identity(); - msg.translation().z() = 1.0; // Place text 1m above the base link - return msg; - }(); - moveit_visual_tools.publishText(text_pose, text, rviz_visual_tools::WHITE, rviz_visual_tools::XLARGE); - }; - auto const prompt = [&moveit_visual_tools](auto text) { moveit_visual_tools.prompt(text); }; - auto const draw_trajectory_tool_path = - [&moveit_visual_tools, jmg = move_group_interface.getRobotModel()->getJointModelGroup("panda_arm")]( - auto const trajectory) { moveit_visual_tools.publishTrajectoryLine(trajectory, jmg); }; - - // Set a target Pose - auto const target_pose = [] { - geometry_msgs::msg::Pose msg; - msg.orientation.w = 1.0; - msg.position.x = 0.28; - msg.position.y = -0.2; - msg.position.z = 0.5; - return msg; - }(); - move_group_interface.setPoseTarget(target_pose); - - // Create a plan to that target pose - prompt("Press 'next' in the RvizVisualToolsGui window to plan"); - draw_title("Planning"); - moveit_visual_tools.trigger(); - auto const [success, plan] = [&move_group_interface] { - moveit::planning_interface::MoveGroupInterface::Plan msg; - auto const ok = static_cast(move_group_interface.plan(msg)); - return std::make_pair(ok, msg); - }(); - - // Execute the plan - if (success) - { - draw_trajectory_tool_path(plan.trajectory); - moveit_visual_tools.trigger(); - prompt("Press 'next' in the RvizVisualToolsGui window to execute"); - draw_title("Executing"); - moveit_visual_tools.trigger(); - move_group_interface.execute(plan); - } - else - { - draw_title("Planning Failed!"); - moveit_visual_tools.trigger(); - RCLCPP_ERROR(logger, "Planning failed!"); - } - - // Shutdown ROS - rclcpp::shutdown(); - spinner.join(); - return 0; -}