move stuff to new stacks: universal_robot_moveit and picking_application

stack.xml

@@ -6,8 +6,5 @@
   <url>http://ros.org/wiki/universal_robot</url>
 
   <depend stack="robot_model" /> 
-  <depend stack="pluginlib" /> 
-  <depend stack="arm_navigation" /> 
-  <depend stack="arm_navigation" /> 
   
 </stack>

ur5_base/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})

ur5_base/Makefile

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

ur5_base/launch/load.launch

-<launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find ur5_base)/urdf/base.urdf.xacro'" />
-</launch>
\ No newline at end of file

ur5_base/launch/test.launch

-<launch>
-  <include file="$(find ur5_base)/launch/load.launch" />
-  <param name="use_gui" value="true"/>
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.vcg" />
-</launch>

ur5_base/mainpage.dox

-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b ur5_base 
-
-<!-- 
-Provide an overview of your package.
--->
-
--->
-
-
-*/

ur5_base/manifest.xml

-<package>
-  <description brief="ur5_base">
-
-     ur5_base
-
-  </description>
-  <author>Wim Meeussen</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/ur5_base</url>
-
-</package>
-
-

ur5_base/urdf/base.urdf.xacro

-<?xml version="1.0"?>
-
-<robot name="ur5_with_base">
-  <include filename="$(find ur5_description)/urdf/model.urdf.xacro" />
-  
-  <link name="world_link" />
-  <joint name="base_1_joint" type="fixed" >
-    <parent link="world_link" />
-    <child link= "base_1_link" />
-  </joint>
-  <joint name="base_2_joint" type="fixed" >
-    <parent link="base_1_link" />
-    <child link= "base_2_link" />
-  </joint>
-  <joint name="base_3_joint" type="fixed" >
-    <parent link="base_2_link" />
-    <child link= "base_3_link" />
-  </joint>
-  <joint name="base_4_joint" type="fixed" >
-    <parent link="base_3_link" />
-    <child link= "base_4_link" />
-  </joint>
-  <joint name="base_5_joint" type="fixed" >
-    <parent link="base_4_link" />
-    <child link= "base_5_link" />
-  </joint>
-  <joint name="robot_joint" type="fixed" >
-    <parent link="base_5_link" />
-    <child link= "base_link" />
-    <origin xyz="0.0 0.50 0.55" rpy="0.0 0.0 0.0" />
-  </joint>
-
-  <link name="base_1_link">
-    <visual>
-      <geometry>
-        <box size="0.25 0.50 0.10" />
-      </geometry>
-      <origin xyz="0.0 0.25 0.05" rpy="0.0 0.0 0.0" />
-    </visual>
-  </link>
-
-  <link name="base_2_link">
-    <visual>
-      <geometry>
-        <box size="0.25 0.45 0.80" />
-      </geometry>
-      <origin xyz="0.0 -0.225 0.40" rpy="0.0 0.0 0.0" />
-    </visual>
-  </link>
-
-  <link name="base_3_link">
-    <visual>
-      <geometry>
-        <box size="0.25 0.60 0.05" />
-      </geometry>
-      <origin xyz="0.0 0.25 0.525" rpy="0.0 0.0 0.0" />
-    </visual>
-  </link>
-
-  <link name="base_4_link">
-    <visual>
-      <geometry>
-        <box size="0.25 0.05 0.65" />
-      </geometry>
-      <origin xyz="0.0 0.075 0.695" rpy="0.0 0.0 0.0" />
-    </visual>
-  </link>
-
-  <link name="base_5_link">
-    <visual>
-      <geometry>
-        <box size="0.45 0.25 0.30" />
-      </geometry>
-      <origin xyz="0.0 -0.325 1.00" rpy="0.0 0.0 0.0" />
-    </visual>
-  </link>
-
-</robot>

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: world_link
-    object2: base_1_link
-    operation: disable  # Adjacent in collision
-  - object1: base_1_link
-    object2: base_2_link
-    operation: disable  # Adjacent in collision
-  - object1: base_2_link
-    object2: base_3_link
-    operation: disable  # Adjacent in collision
-  - object1: base_3_link
-    object2: base_4_link
-    operation: disable  # Adjacent in collision
-  - object1: base_4_link
-    object2: base_5_link
-    operation: disable  # Adjacent in collision
-  - object1: base_5_link
-    object2: base_link
-    operation: disable  # Adjacent in collision
-  - 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_3_link
-    object2: base_link
-    operation: disable  # Always in collision
-  - object1: shoulder_collision_link
-    object2: shoulder_link
-    operation: disable  # Always in collision
-  - object1: base_1_link
-    object2: base_3_link
-    operation: disable  # Never in collision
-  - object1: base_1_link
-    object2: base_4_link
-    operation: disable  # Never in collision
-  - object1: base_1_link
-    object2: base_5_link
-    operation: disable  # Never in collision
-  - object1: base_1_link
-    object2: base_link
-    operation: disable  # Never in collision
-  - object1: base_1_link
-    object2: elbow_collision_link
-    operation: disable  # Never in collision
-  - object1: base_1_link
-    object2: shoulder_collision_link
-    operation: disable  # Never in collision
-  - object1: base_1_link
-    object2: shoulder_link
-    operation: disable  # Never in collision
-  - object1: base_1_link
-    object2: upper_arm_link
-    operation: disable  # Never in collision
-  - object1: base_2_link
-    object2: base_4_link
-    operation: disable  # Never in collision
-  - object1: base_2_link
-    object2: base_5_link
-    operation: disable  # Never in collision
-  - object1: base_2_link
-    object2: base_link
-    operation: disable  # Never in collision
-  - object1: base_2_link
-    object2: shoulder_collision_link
-    operation: disable  # Never in collision
-  - object1: base_2_link
-    object2: shoulder_link
-    operation: disable  # Never in collision
-  - object1: base_3_link
-    object2: base_5_link
-    operation: disable  # Never in collision
-  - object1: base_3_link
-    object2: shoulder_collision_link
-    operation: disable  # Never in collision
-  - object1: base_3_link
-    object2: shoulder_link
-    operation: disable  # Never in collision
-  - object1: base_4_link
-    object2: base_link
-    operation: disable  # Never in collision
-  - object1: base_4_link
-    object2: shoulder_collision_link
-    operation: disable  # Never in collision
-  - object1: base_4_link
-    object2: shoulder_link
-    operation: disable  # Never in collision
-  - object1: base_5_link
-    object2: elbow_collision_link
-    operation: disable  # Never in collision
-  - object1: base_5_link
-    object2: shoulder_collision_link
-    operation: disable  # Never in collision
-  - object1: base_5_link
-    object2: shoulder_link
-    operation: disable  # Never in collision
-  - object1: base_5_link
-    object2: upper_arm_link
-    operation: disable  # Never 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: wrist_2_link
-    operation: disable  # Never in collision
-  - object1: forearm_link
-    object2: wrist_3_link
-    operation: disable  # Never in collision
-  - object1: shoulder_link
-    object2: wrist_1_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

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: 3
-    angle_wraparound: false
-  shoulder_lift_joint:
-    has_position_limits: true
-    has_velocity_limits: true
-    max_velocity: 3.14159265
-    has_acceleration_limits: true
-    max_acceleration: 3
-    angle_wraparound: false
-  elbow_joint:
-    has_position_limits: true
-    has_velocity_limits: true
-    max_velocity: 3.14159265
-    has_acceleration_limits: true
-    max_acceleration: 3
-    angle_wraparound: false
-  wrist_1_joint:
-    has_position_limits: true
-    has_velocity_limits: true
-    max_velocity: 3.14159265
-    has_acceleration_limits: true
-    max_acceleration: 3
-    angle_wraparound: false
-  wrist_2_joint:
-    has_position_limits: true
-    has_velocity_limits: true
-    max_velocity: 3.14159265
-    has_acceleration_limits: true
-    max_acceleration: 3
-    angle_wraparound: false
-  wrist_3_joint:
-    has_position_limits: true
-    has_velocity_limits: true
-    max_velocity: 3.14159265
-    has_acceleration_limits: true
-    max_acceleration: 3
-    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">
-
-   <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>
-  <arg name="monitor_robot_state" default="false"/>
-  <arg name="allow_trajectory_execution" default="false"/>
-
-  <!--include file="$(find ur5_description)/launch/load.launch" /-->
-  <include file="$(find ur5_base)/launch/load.launch" />  <!-- model with base -->
-
-  <!--<param name="robot_description" textfile="$(find ur5_description)/urdf/universal_or.dae" /-->
-  <param name="robot_description_semantic" textfile="$(find ur5_moveit)/config/ur5.srdf" />
-
-  <node pkg="robot_state_publisher" type="state_publisher" name="rob_st_pub" />
-  <node unless="$(arg monitor_robot_state)" pkg="moveit_visualization_ros" name="wall_clock_server" type="fake_time.py" />
-
-  <rosparam if="$(arg allow_trajectory_execution)" command="load" file="$(find ur5_moveit)/config/controllers.yaml" />
-
-  <group ns="robot_description_planning">
-    <rosparam command="load" file="$(find ur5_moveit)/config/collision_matrix.yaml"/>
-    <rosparam command="load" file="$(find ur5_moveit)/config/joint_limits.yaml"/>
-  </group>
-  
-  <node pkg="moveit_visualization_ros" type="moveit_visualizer" name="moveit_visualizer" output="screen">
-    <rosparam command="load" file="$(find ur5_moveit)/config/ompl_planning.yaml"/>
-    <rosparam command="load" file="$(find ur5_moveit)/config/kinematics.yaml"/>
-    <rosparam if="$(arg allow_trajectory_execution)" file="$(find ur5_moveit)/config/controllers.yaml"/>
-    <param name="monitor_robot_state" value="$(arg monitor_robot_state)"/>
-    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
-    <param if="$(arg allow_trajectory_execution)" name="manage_controllers" value="false"/>
-  </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>
-
-