merge

ur5_moveit/CMakeLists.txt

+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+
+rosbuild_add_library(universal_robot_kinematics_lib
+  src/universal_robot_arm_ikfast_plugin.cpp
+  )
\ No newline at end of file

ur5_moveit/Makefile

+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file

ur5_moveit/config/collision_matrix.yaml

+default_collision_operations:
+  - object1: base_link
+    object2: shoulder_link
+    operation: disable  # Adjacent in collision
+  - object1: shoulder_link
+    object2: upper_arm_link
+    operation: disable  # Adjacent in collision
+  - object1: upper_arm_link
+    object2: elbow_collision_link
+    operation: disable  # Adjacent in collision
+  - object1: upper_arm_link
+    object2: forearm_link
+    operation: disable  # Adjacent in collision
+  - object1: forearm_link
+    object2: wrist_1_link
+    operation: disable  # Adjacent in collision
+  - object1: wrist_1_link
+    object2: wrist_2_link
+    operation: disable  # Adjacent in collision
+  - object1: wrist_2_link
+    object2: wrist_3_link
+    operation: disable  # Adjacent in collision
+  - object1: wrist_3_link
+    object2: ee_link
+    operation: disable  # Adjacent in collision
+  - object1: upper_arm_link
+    object2: shoulder_collision_link
+    operation: disable  # Adjacent in collision
+  - object1: base_link
+    object2: elbow_collision_link
+    operation: disable  # Never in collision
+  - object1: base_link
+    object2: shoulder_collision_link
+    operation: disable  # Never in collision
+  - object1: base_link
+    object2: upper_arm_link
+    operation: disable  # Never in collision
+  - object1: elbow_collision_link
+    object2: forearm_link
+    operation: disable  # Never in collision
+  - object1: elbow_collision_link
+    object2: shoulder_collision_link
+    operation: disable  # Never in collision
+  - object1: elbow_collision_link
+    object2: shoulder_link
+    operation: disable  # Never in collision
+  - object1: elbow_collision_link
+    object2: wrist_1_link
+    operation: disable  # Never in collision
+  - object1: elbow_collision_link
+    object2: wrist_2_link
+    operation: disable  # Never in collision
+  - object1: elbow_collision_link
+    object2: wrist_3_link
+    operation: disable  # Never in collision
+  - object1: forearm_link
+    object2: shoulder_collision_link
+    operation: disable  # Never in collision
+  - object1: forearm_link
+    object2: shoulder_link
+    operation: disable  # Never in collision
+  - object1: forearm_link
+    object2: wrist_2_link
+    operation: disable  # Never in collision
+  - object1: forearm_link
+    object2: wrist_3_link
+    operation: disable  # Never in collision
+  - object1: shoulder_collision_link
+    object2: shoulder_link
+    operation: disable  # Never in collision
+  - object1: shoulder_collision_link
+    object2: wrist_1_link
+    operation: disable  # Never in collision
+  - object1: shoulder_collision_link
+    object2: wrist_2_link
+    operation: disable  # Never in collision
+  - object1: shoulder_collision_link
+    object2: wrist_3_link
+    operation: disable  # Never in collision
+  - object1: shoulder_link
+    object2: wrist_1_link
+    operation: disable  # Never in collision
+  - object1: shoulder_link
+    object2: wrist_2_link
+    operation: disable  # Never in collision
+  - object1: shoulder_link
+    object2: wrist_3_link
+    operation: disable  # Never in collision
+  - object1: upper_arm_link
+    object2: wrist_1_link
+    operation: disable  # Never in collision
+  - object1: upper_arm_link
+    object2: wrist_2_link
+    operation: disable  # Never in collision
+  - object1: upper_arm_link
+    object2: wrist_3_link
+    operation: disable  # Never in collision
+  - object1: wrist_1_link
+    object2: wrist_3_link
+    operation: disable  # Never in collision
\ No newline at end of file

ur5_moveit/config/joint_limits.yaml

+joint_limits:
+  shoulder_pan_joint:
+    has_position_limits: true
+    has_velocity_limits: true
+    max_velocity: 3.14159265
+    has_acceleration_limits: true
+    max_acceleration: 1
+    angle_wraparound: false
+  shoulder_lift_joint:
+    has_position_limits: true
+    has_velocity_limits: true
+    max_velocity: 3.14159265
+    has_acceleration_limits: true
+    max_acceleration: 1
+    angle_wraparound: false
+  elbow_joint:
+    has_position_limits: true
+    has_velocity_limits: true
+    max_velocity: 3.14159265
+    has_acceleration_limits: true
+    max_acceleration: 1
+    angle_wraparound: false
+  wrist_1_joint:
+    has_position_limits: true
+    has_velocity_limits: true
+    max_velocity: 3.14159265
+    has_acceleration_limits: true
+    max_acceleration: 1
+    angle_wraparound: false
+  wrist_2_joint:
+    has_position_limits: true
+    has_velocity_limits: true
+    max_velocity: 3.14159265
+    has_acceleration_limits: true
+    max_acceleration: 1
+    angle_wraparound: false
+  wrist_3_joint:
+    has_position_limits: true
+    has_velocity_limits: true
+    max_velocity: 3.14159265
+    has_acceleration_limits: true
+    max_acceleration: 1
+    angle_wraparound: false
\ No newline at end of file

ur5_moveit/config/kinematics.yaml

+arm:
+  kinematics_solver: universal_robot_arm_kinematics/IKFastKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  tip_name: link0
+  root_name: link6

ur5_moveit/config/ompl_planning.yaml

+manipulator:
+  planner_configs:
+    - SBLkConfigDefault
+    - LBKPIECEkConfigDefault
+  projection_evaluator: joints(shoulder_lift_link)
+  longest_valid_segment_fraction: 0.05
+
+planner_configs:
+
+  SBLkConfigDefault:
+    type: geometric::SBL
+
+  LBKPIECEkConfigDefault:
+    type: geometric::LBKPIECE

ur5_moveit/config/ur5.srdf

+<?xml version="1.0"?>
+
+<robot name="universal_robot">
+
+   <virtual_joint name="world_joint" type="floating" parent_frame="odom_combined" child_link="base_link"/> 
+
+   <group name="arm">
+      <chain base_link="base_link" tip_link="wrist_3_link"/>
+   </group>
+
+</robot>

ur5_moveit/config/ur5_or.srdf

+<?xml version="1.0"?>
+
+<robot name="universal_robot">
+
+   <group name="arm">
+      <chain base_link="link0" tip_link="link6"/>
+   </group>
+
+</robot>

ur5_moveit/kinematics_plugins.xml

+<?xml version='1.0' encoding='ASCII'?>
+<library path="lib/libuniversal_robot_kinematics_lib">
+  <class name="universal_robot_arm_kinematics/IKFastKinematicsPlugin" type="universal_robot_arm_kinematics::IKFastKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
+    <description>A plugin created by using OpenRAVE's IK Fast component</description>
+  </class>
+</library>

ur5_moveit/launch/ur5_moveit_visualization.launch

+<launch>
+  <param name="robot_description" textfile="$(find ur5_description)/urdf/robot.urdf.xml" />
+  <!--<param name="robot_description" textfile="$(find ur5_description)/urdf/universal_or.dae" /-->
+  <param name="robot_description_semantic" textfile="$(find ur5_moveit)/config/ur5.srdf" />
+
+  <group ns="robot_description_planning">
+    <rosparam command="load" file="$(find ur5_moveit)/config/collision_matrix.yaml"/>
+    <rosparam command="load" file="$(find ur5_moveit)/config/joint_limits.yaml"/>
+  </group>
+  
+  <node pkg="robot_state_publisher" type="state_publisher" name="rob_st_pub" />
+  <node pkg="moveit_visualization_ros" name="wall_clock_server" type="fake_time.py" />
+
+  <node pkg="moveit_visualization_ros" type="moveit_visualizer" name="moveit_visualizer" output="screen">
+    <rosparam command="load" file="$(find ur5_moveit)/config/ompl_planning.yaml"/>
+    <rosparam command="load" file="$(find ur5_moveit)/config/kinematics.yaml"/>
+  </node>
+
+</launch>

ur5_moveit/mainpage.dox

+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b ur5_moveit 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/

ur5_moveit/manifest.xml

+<package>
+  <description brief="ur5_moveit">
+
+     ur5_moveit
+
+  </description>
+  <author>Gil Jones</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/ur5_moveit</url>
+  <depend package="kinematics_base"/>
+  <depend package="moveit_configuration_tools"/>
+  <depend package="pluginlib"/>
+  <depend package="ur5_description"/>
+  <export>
+    <kinematics_base plugin="${prefix}/kinematics_plugins.xml"/>
+  </export>
+
+</package>
+
+