From b1d3c73cc4d06b5a11aca0ad0d757257ef59a571 Mon Sep 17 00:00:00 2001
From: Shaun Edwards <shaun.edwards@gmail.com>
Date: Sat, 25 May 2013 23:15:26 -0500
Subject: [PATCH] Removed ur5_joint_limited_moveit_config. ur5_moveit_config
now has limited joint ranges to plus/minus 180 degrees.
---
.../.setup_assistant | 8 -
.../CMakeLists.txt | 9 -
.../config/joint_limits.yaml | 31 ---
.../config/kinematics.yaml | 5 -
.../config/ompl_planning.yaml | 31 ---
.../config/ur5.srdf | 41 ----
.../default_warehouse_mongo_db/mongod.lock | 0
.../launch/default_warehouse_db.launch | 13 --
.../launch/demo.launch | 25 ---
.../launch/move_group.launch | 57 -----
.../launch/moveit.rviz | 203 ------------------
.../launch/moveit_rviz.launch | 16 --
.../launch/ompl_planning_pipeline.launch | 23 --
.../launch/planning_context.launch | 16 --
.../launch/planning_pipeline.launch | 10 -
.../launch/run_benchmark_ompl.launch | 22 --
.../launch/sensor_manager.launch | 9 -
.../launch/setup_assistant.launch | 15 --
.../launch/trajectory_execution.launch | 13 --
.../ur5_moveit_controller_manager.launch | 3 -
.../launch/ur5_moveit_sensor_manager.launch | 3 -
.../launch/warehouse.launch | 15 --
.../launch/warehouse_settings.launch | 15 --
ur5_joint_limited_moveit_config/package.xml | 22 --
ur5_moveit_config/.setup_assistant | 4 +-
.../launch/planning_context.launch | 2 +-
26 files changed, 3 insertions(+), 608 deletions(-)
delete mode 100644 ur5_joint_limited_moveit_config/.setup_assistant
delete mode 100644 ur5_joint_limited_moveit_config/CMakeLists.txt
delete mode 100644 ur5_joint_limited_moveit_config/config/joint_limits.yaml
delete mode 100644 ur5_joint_limited_moveit_config/config/kinematics.yaml
delete mode 100644 ur5_joint_limited_moveit_config/config/ompl_planning.yaml
delete mode 100644 ur5_joint_limited_moveit_config/config/ur5.srdf
delete mode 100755 ur5_joint_limited_moveit_config/default_warehouse_mongo_db/mongod.lock
delete mode 100644 ur5_joint_limited_moveit_config/launch/default_warehouse_db.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/demo.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/move_group.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/moveit.rviz
delete mode 100644 ur5_joint_limited_moveit_config/launch/moveit_rviz.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/ompl_planning_pipeline.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/planning_context.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/planning_pipeline.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/run_benchmark_ompl.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/sensor_manager.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/setup_assistant.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/trajectory_execution.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/ur5_moveit_controller_manager.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/ur5_moveit_sensor_manager.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/warehouse.launch
delete mode 100644 ur5_joint_limited_moveit_config/launch/warehouse_settings.launch
delete mode 100644 ur5_joint_limited_moveit_config/package.xml
diff --git a/ur5_joint_limited_moveit_config/.setup_assistant b/ur5_joint_limited_moveit_config/.setup_assistant
deleted file mode 100644
index ebd93ed..0000000
--- a/ur5_joint_limited_moveit_config/.setup_assistant
+++ /dev/null
@@ -1,8 +0,0 @@
-moveit_setup_assistant_config:
- URDF:
- package:
- relative_path: /home/sedwards/ros/groovy_dev/universal_robot/ur_description/urdf/ur5_joint_limited_robot.urdf
- SRDF:
- relative_path: config/ur5.srdf
- CONFIG:
- generated_timestamp: 1369363902
\ No newline at end of file
diff --git a/ur5_joint_limited_moveit_config/CMakeLists.txt b/ur5_joint_limited_moveit_config/CMakeLists.txt
deleted file mode 100644
index 4a17ee4..0000000
--- a/ur5_joint_limited_moveit_config/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(ur5_joint_limited_moveit_config)
-
-find_package(catkin REQUIRED)
-
-catkin_package()
-
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/ur5_joint_limited_moveit_config/config/joint_limits.yaml b/ur5_joint_limited_moveit_config/config/joint_limits.yaml
deleted file mode 100644
index 801a5e1..0000000
--- a/ur5_joint_limited_moveit_config/config/joint_limits.yaml
+++ /dev/null
@@ -1,31 +0,0 @@
-joint_limits:
- elbow_joint:
- has_velocity_limits: true
- max_velocity: 1.0
- has_acceleration_limits: true
- max_acceleration: 1.0
- shoulder_lift_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
- wrist_1_joint:
- has_velocity_limits: true
- max_velocity: 1.0
- has_acceleration_limits: true
- max_acceleration: 1.0
- wrist_2_joint:
- has_velocity_limits: true
- max_velocity: 1.0
- has_acceleration_limits: true
- max_acceleration: 1.0
- wrist_3_joint:
- has_velocity_limits: true
- max_velocity: 1.0
- has_acceleration_limits: true
- max_acceleration: 1.0
\ No newline at end of file
diff --git a/ur5_joint_limited_moveit_config/config/kinematics.yaml b/ur5_joint_limited_moveit_config/config/kinematics.yaml
deleted file mode 100644
index 5d492ac..0000000
--- a/ur5_joint_limited_moveit_config/config/kinematics.yaml
+++ /dev/null
@@ -1,5 +0,0 @@
-manipulator:
- kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
- kinematics_solver_search_resolution: 0.005
- kinematics_solver_timeout: 0.005
- kinematics_solver_attempts: 3
diff --git a/ur5_joint_limited_moveit_config/config/ompl_planning.yaml b/ur5_joint_limited_moveit_config/config/ompl_planning.yaml
deleted file mode 100644
index 4267589..0000000
--- a/ur5_joint_limited_moveit_config/config/ompl_planning.yaml
+++ /dev/null
@@ -1,31 +0,0 @@
-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
-manipulator:
- planner_configs:
- - SBLkConfigDefault
- - LBKPIECEkConfigDefault
- - RRTkConfigDefault
- - RRTConnectkConfigDefault
- - ESTkConfigDefault
- - KPIECEkConfigDefault
- - BKPIECEkConfigDefault
- - RRTStarkConfigDefault
- projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
- longest_valid_segment_fraction: 0.05
\ No newline at end of file
diff --git a/ur5_joint_limited_moveit_config/config/ur5.srdf b/ur5_joint_limited_moveit_config/config/ur5.srdf
deleted file mode 100644
index f47d58b..0000000
--- a/ur5_joint_limited_moveit_config/config/ur5.srdf
+++ /dev/null
@@ -1,41 +0,0 @@
-<?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="ur5">
- <!--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="manipulator">
- <link name="base_link" />
- <link name="shoulder_link" />
- <link name="upper_arm_link" />
- <link name="forearm_link" />
- <link name="wrist_1_link" />
- <link name="wrist_2_link" />
- <link name="wrist_3_link" />
- <link name="ee_link" />
- </group>
- <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
- <group_state name="home" group="manipulator">
- <joint name="elbow_joint" value="0" />
- <joint name="shoulder_lift_joint" value="0" />
- <joint name="shoulder_pan_joint" value="0" />
- <joint name="wrist_1_joint" value="0" />
- <joint name="wrist_2_joint" value="0" />
- <joint name="wrist_3_joint" value="0" />
- </group_state>
- <!--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="FixedBase" type="fixed" parent_frame="world" 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="shoulder_link" reason="Adjacent" />
- <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
- <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
- <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
- <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent" />
- <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never" />
- <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent" />
-</robot>
diff --git a/ur5_joint_limited_moveit_config/default_warehouse_mongo_db/mongod.lock b/ur5_joint_limited_moveit_config/default_warehouse_mongo_db/mongod.lock
deleted file mode 100755
index e69de29..0000000
diff --git a/ur5_joint_limited_moveit_config/launch/default_warehouse_db.launch b/ur5_joint_limited_moveit_config/launch/default_warehouse_db.launch
deleted file mode 100644
index a246c6a..0000000
--- a/ur5_joint_limited_moveit_config/launch/default_warehouse_db.launch
+++ /dev/null
@@ -1,13 +0,0 @@
-<launch>
-
- <arg name="reset" default="false"/>
-
- <!-- Launch the warehouse with a default database location -->
- <include file="$(find ur5_joint_limited_moveit_config)/launch/warehouse.launch">
- <arg name="moveit_warehouse_database_path" value="$(find ur5_joint_limited_moveit_config)/default_warehouse_mongo_db" />
- </include>
-
- <!-- If we want to reset the database, run this node -->
- <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/demo.launch b/ur5_joint_limited_moveit_config/launch/demo.launch
deleted file mode 100644
index 5a43cd3..0000000
--- a/ur5_joint_limited_moveit_config/launch/demo.launch
+++ /dev/null
@@ -1,25 +0,0 @@
-<launch>
-
- <include file="$(find ur5_joint_limited_moveit_config)/launch/planning_context.launch">
- <arg name="load_robot_description" value="true"/>
- </include>
-
-
-
- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
- <param name="/use_gui" value="false"/>
- </node>
-
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
-
- <include file="$(find ur5_joint_limited_moveit_config)/launch/move_group.launch">
- <arg name="allow_trajectory_execution" value="false"/>
- </include>
-
- <include file="$(find ur5_joint_limited_moveit_config)/launch/moveit_rviz.launch">
- <arg name="config" value="true"/>
- </include>
-
- <include file="$(find ur5_joint_limited_moveit_config)/launch/default_warehouse_db.launch" />
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/move_group.launch b/ur5_joint_limited_moveit_config/launch/move_group.launch
deleted file mode 100644
index 5179fdc..0000000
--- a/ur5_joint_limited_moveit_config/launch/move_group.launch
+++ /dev/null
@@ -1,57 +0,0 @@
-<launch>
-
- <include file="$(find ur5_joint_limited_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 name="info" default="$(arg debug)" />
- <arg unless="$(arg info)" name="command_args" value="" />
- <arg if="$(arg info)" name="command_args" value="--debug" />
-
- <arg name="allow_trajectory_execution" default="true"/>
- <arg name="max_safe_path_cost" default="1"/>
- <arg name="jiggle_fraction" default="0.05" />
- <arg name="publish_monitored_planning_scene" default="false"/>
-
- <include ns="move_group" file="$(find ur5_joint_limited_moveit_config)/launch/planning_pipeline.launch">
- <arg name="pipeline" value="ompl" />
- </include>
-
- <include ns="move_group" file="$(find ur5_joint_limited_moveit_config)/launch/trajectory_execution.launch" if="$(arg allow_trajectory_execution)">
- <arg name="moveit_controller_manager" value="ur5" />
- <arg name="moveit_manage_controllers" value="true" />
- </include>
-
- <include ns="move_group" file="$(find ur5_joint_limited_moveit_config)/launch/sensor_manager.launch" if="$(arg allow_trajectory_execution)">
- <arg name="moveit_sensor_manager" value="ur5" />
- </include>
-
- <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
- <!-- Set the display variable, in case OpenGL code is used internally -->
- <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
-
- <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
- <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
- <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
-
- <!-- MoveGroup capabilities to load -->
- <param name="capabilities" value="move_group/MoveGroupCartesianPathService
- move_group/MoveGroupExecuteService
- move_group/MoveGroupKinematicsService
- move_group/MoveGroupMoveAction
- move_group/MoveGroupPickPlaceAction
- move_group/MoveGroupPlanService
- move_group/MoveGroupQueryPlannersService
- move_group/MoveGroupStateValidationService
- " />
-
- <!-- 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>
diff --git a/ur5_joint_limited_moveit_config/launch/moveit.rviz b/ur5_joint_limited_moveit_config/launch/moveit.rviz
deleted file mode 100644
index ad9bda9..0000000
--- a/ur5_joint_limited_moveit_config/launch/moveit.rviz
+++ /dev/null
@@ -1,203 +0,0 @@
-Panels:
- - Class: rviz/Displays
- Help Height: 84
- Name: Displays
- Property Tree Widget:
- Expanded:
- - /Global Options1
- - /MotionPlanning1
- - /MotionPlanning1/Planning Request1
- - /MotionPlanning1/Planned Path1
- Splitter Ratio: 0.74256
- Tree Height: 379
- - Class: rviz/Help
- Name: Help
- - Class: rviz/Views
- Expanded:
- - /Current View1
- Name: Views
- Splitter Ratio: 0.5
-Visualization Manager:
- Class: ""
- Displays:
- - Alpha: 0.5
- Cell Size: 1
- Class: rviz/Grid
- Color: 160; 160; 164
- Enabled: true
- Line Style:
- Line Width: 0.03
- 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
- - Class: moveit_rviz_plugin/MotionPlanning
- Enabled: true
- MoveIt_Goal_Tolerance: 0
- MoveIt_Planning_Time: 5
- MoveIt_Use_Constraint_Aware_IK: true
- MoveIt_Warehouse_Host: 127.0.0.1
- MoveIt_Warehouse_Port: 33829
- Name: MotionPlanning
- Planned Path:
- Links:
- base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- forearm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- shoulder_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- upper_arm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wrist_1_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wrist_2_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wrist_3_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- Loop Animation: false
- Robot Alpha: 0.5
- Show Robot Collision: false
- Show Robot Visual: true
- Show Trail: false
- State Display Time: 0.05 s
- Trajectory Topic: /move_group/display_planned_path
- Planning Metrics:
- Payload: 1
- Show Joint Torques: false
- Show Manipulability: false
- Show Manipulability Index: false
- Show Weight Limit: false
- TextHeight: 0.08
- 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: manipulator
- Query Goal State: true
- Query Start State: false
- Show Workspace: false
- Start State Alpha: 1
- Start State Color: 0; 255; 0
- Planning Scene Topic: /move_group/monitored_planning_scene
- Robot Description: robot_description
- Scene Geometry:
- Scene Alpha: 0.9
- Scene Color: 50; 230; 50
- Scene Display Time: 0.2
- Show Scene Geometry: true
- Voxel Coloring: Z-Axis
- Voxel Rendering: Occupied Voxels
- Scene Robot:
- Attached Body Color: 150; 50; 150
- Links:
- base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- forearm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- shoulder_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- upper_arm_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wrist_1_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wrist_2_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wrist_3_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- Robot Alpha: 0.5
- Show Scene Robot: true
- Value: true
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Fixed Frame: /base_link
- Name: root
- Tools:
- - Class: rviz/MoveCamera
- - Class: rviz/Select
- - Class: rviz/Interact
- Hide Inactive Objects: true
- Value: true
- Views:
- Current:
- Class: rviz/XYOrbit
- Distance: 4.85948
- Focal Point:
- X: 0.113567
- Y: 0.10592
- Z: 2.23518e-07
- Name: Current View
- Near Clip Distance: 0.01
- Pitch: 0.219797
- Target Frame: /base_link
- Value: XYOrbit (rviz)
- Yaw: 1.72177
- Saved: ~
-Window Geometry:
- Displays:
- collapsed: false
- Height: 1000
- Help:
- collapsed: false
- Hide Left Dock: false
- Hide Right Dock: false
- Motion Planning:
- collapsed: false
- QMainWindow State: 000000ff00000000fd0000000100000000000002a2000003a2fc0200000005fb000000100044006900730070006c006100790073010000002800000210000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e0067010000023e0000018c0000017400ffffff00000258000003a200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
- Views:
- collapsed: false
- Width: 1280
- X: 1
- Y: 53
diff --git a/ur5_joint_limited_moveit_config/launch/moveit_rviz.launch b/ur5_joint_limited_moveit_config/launch/moveit_rviz.launch
deleted file mode 100644
index d1f5dc3..0000000
--- a/ur5_joint_limited_moveit_config/launch/moveit_rviz.launch
+++ /dev/null
@@ -1,16 +0,0 @@
-<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 name="config" default="false" />
- <arg unless="$(arg config)" name="command_args" value="" />
- <arg if="$(arg config)" name="command_args" value="-d $(find ur5_joint_limited_moveit_config)/launch/moveit.rviz" />
-
- <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
- args="$(arg command_args)" output="screen">
- <rosparam command="load" file="$(find ur5_joint_limited_moveit_config)/config/kinematics.yaml"/>
- </node>
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/ompl_planning_pipeline.launch b/ur5_joint_limited_moveit_config/launch/ompl_planning_pipeline.launch
deleted file mode 100644
index accbb5b..0000000
--- a/ur5_joint_limited_moveit_config/launch/ompl_planning_pipeline.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-<launch>
-
- <!-- OMPL Plugin for MoveIt! -->
- <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
-
- <!-- The request adapters (plugins) used when planning with OMPL.
- ORDER MATTERS -->
- <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
- default_planner_request_adapters/FixWorkspaceBounds
- default_planner_request_adapters/FixStartStateBounds
- default_planner_request_adapters/FixStartStateCollision
- default_planner_request_adapters/FixStartStatePathConstraints" />
-
- <arg name="start_state_max_bounds_error" value="0.1" />
-
- <param name="planning_plugin" value="$(arg planning_plugin)" />
- <param name="request_adapters" value="$(arg planning_adapters)" />
- <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
-
- <rosparam command="load" file="$(find ur5_joint_limited_moveit_config)/config/kinematics.yaml"/>
- <rosparam command="load" file="$(find ur5_joint_limited_moveit_config)/config/ompl_planning.yaml"/>
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/planning_context.launch b/ur5_joint_limited_moveit_config/launch/planning_context.launch
deleted file mode 100644
index 3871712..0000000
--- a/ur5_joint_limited_moveit_config/launch/planning_context.launch
+++ /dev/null
@@ -1,16 +0,0 @@
-<launch>
- <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
- <arg name="load_robot_description" default="false"/>
-
- <!-- Load universal robotic description format (URDF) -->
- <param if="$(arg load_robot_description)" name="robot_description" textfile="/home/sedwards/ros/groovy_dev/universal_robot/ur_description/urdf/ur5_joint_limited_robot.urdf" />
-
- <!-- The semantic description that corresponds to the URDF -->
- <param name="robot_description_semantic" textfile="$(find ur5_joint_limited_moveit_config)/config/ur5.srdf" />
-
- <!-- Load to the parameter server yaml files -->
- <group ns="robot_description_planning">
- <rosparam command="load" file="$(find ur5_joint_limited_moveit_config)/config/joint_limits.yaml"/>
- </group>
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/planning_pipeline.launch b/ur5_joint_limited_moveit_config/launch/planning_pipeline.launch
deleted file mode 100644
index 092b64d..0000000
--- a/ur5_joint_limited_moveit_config/launch/planning_pipeline.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
- <!-- This file makes it easy to include different planning pipelines;
- It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
-
- <arg name="pipeline" default="ompl" />
-
- <include file="$(find ur5_joint_limited_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch" />
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/run_benchmark_ompl.launch b/ur5_joint_limited_moveit_config/launch/run_benchmark_ompl.launch
deleted file mode 100644
index d67abc4..0000000
--- a/ur5_joint_limited_moveit_config/launch/run_benchmark_ompl.launch
+++ /dev/null
@@ -1,22 +0,0 @@
-<launch>
-
- <!-- This argument must specify the list of .cfg files to process for benchmarking -->
- <arg name="cfg" />
-
- <!-- Load URDF -->
- <include file="$(find ur5_joint_limited_moveit_config)/launch/planning_context.launch">
- <arg name="load_robot_description" value="true"/>
- </include>
-
- <!-- Start the database -->
- <include file="$(find ur5_joint_limited_moveit_config)/launch/warehouse.launch">
- <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
- </include>
-
- <!-- Start Benchmark Executable -->
- <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
- <rosparam command="load" file="$(find ur5_joint_limited_moveit_config)/config/kinematics.yaml"/>
- <rosparam command="load" file="$(find ur5_joint_limited_moveit_config)/config/ompl_planning.yaml"/>
- </node>
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/sensor_manager.launch b/ur5_joint_limited_moveit_config/launch/sensor_manager.launch
deleted file mode 100644
index b1b2038..0000000
--- a/ur5_joint_limited_moveit_config/launch/sensor_manager.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-<launch>
-
- <!-- This file makes it easy to include the settings for sensor managers -->
-
- <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
- <arg name="moveit_sensor_manager" default="ur5" />
- <include file="$(find ur5_joint_limited_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch" />
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/setup_assistant.launch b/ur5_joint_limited_moveit_config/launch/setup_assistant.launch
deleted file mode 100644
index a97957a..0000000
--- a/ur5_joint_limited_moveit_config/launch/setup_assistant.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
-<launch>
-
- <!-- Debug Info -->
- <arg name="debug" default="false" />
- <arg unless="$(arg debug)" name="launch_prefix" value="" />
- <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
-
- <!-- Run -->
- <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
- args="--config_pkg=ur5_joint_limited_moveit_config"
- launch-prefix="$(arg launch_prefix)"
- output="screen" />
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/trajectory_execution.launch b/ur5_joint_limited_moveit_config/launch/trajectory_execution.launch
deleted file mode 100644
index 1bc818f..0000000
--- a/ur5_joint_limited_moveit_config/launch/trajectory_execution.launch
+++ /dev/null
@@ -1,13 +0,0 @@
-<launch>
-
- <!-- This file makes it easy to include the settings for trajectory execution -->
-
- <!-- Flag indicating whether MoveIt! is allowed to load/unload or switch controllers -->
- <arg name="moveit_manage_controllers" default="true"/>
- <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
-
- <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
- <arg name="moveit_controller_manager" default="ur5" />
- <include file="$(find ur5_joint_limited_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch" />
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/ur5_moveit_controller_manager.launch b/ur5_joint_limited_moveit_config/launch/ur5_moveit_controller_manager.launch
deleted file mode 100644
index 5d02698..0000000
--- a/ur5_joint_limited_moveit_config/launch/ur5_moveit_controller_manager.launch
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/ur5_moveit_sensor_manager.launch b/ur5_joint_limited_moveit_config/launch/ur5_moveit_sensor_manager.launch
deleted file mode 100644
index 5d02698..0000000
--- a/ur5_joint_limited_moveit_config/launch/ur5_moveit_sensor_manager.launch
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/warehouse.launch b/ur5_joint_limited_moveit_config/launch/warehouse.launch
deleted file mode 100644
index ee02d30..0000000
--- a/ur5_joint_limited_moveit_config/launch/warehouse.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-<launch>
-
- <!-- The path to the database must be specified -->
- <arg name="moveit_warehouse_database_path" />
-
- <!-- Load warehouse parameters -->
- <include file="$(find ur5_joint_limited_moveit_config)/launch/warehouse_settings.launch" />
-
- <!-- Run the DB server -->
- <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros">
- <param name="overwrite" value="false"/>
- <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
- </node>
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/launch/warehouse_settings.launch b/ur5_joint_limited_moveit_config/launch/warehouse_settings.launch
deleted file mode 100644
index d11aaeb..0000000
--- a/ur5_joint_limited_moveit_config/launch/warehouse_settings.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-<launch>
- <!-- Set the parameters for the warehouse and run the mongodb server. -->
-
- <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
- <arg name="moveit_warehouse_port" default="33829" />
-
- <!-- The default DB host for moveit -->
- <arg name="moveit_warehouse_host" default="localhost" />
-
- <!-- Set parameters for the warehouse -->
- <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
- <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
- <param name="warehouse_exec" value="mongod" />
-
-</launch>
diff --git a/ur5_joint_limited_moveit_config/package.xml b/ur5_joint_limited_moveit_config/package.xml
deleted file mode 100644
index edc0ef5..0000000
--- a/ur5_joint_limited_moveit_config/package.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<package>
-
- <name>ur5_joint_limited_moveit_config</name>
- <version>0.2.0</version>
- <description>
- An automatically generated package with all the configuration and launch files for using the ur5 with the MoveIt Motion Planning Framework
- </description>
- <author email="assistant@moveit.ros.org">MoveIt Setup Assistant</author>
- <maintainer email="assistant@moveit.ros.org">MoveIt Setup Assistant</maintainer>
-
- <license>BSD</license>
-
- <url type="website">http://moveit.ros.org/</url>
- <url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
- <url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
-
- <run_depend>moveit_ros_move_group</run_depend>
- ]
-
- <buildtool_depend>catkin</buildtool_depend>
-
-</package>
diff --git a/ur5_moveit_config/.setup_assistant b/ur5_moveit_config/.setup_assistant
index 24d21cd..7b3c50b 100644
--- a/ur5_moveit_config/.setup_assistant
+++ b/ur5_moveit_config/.setup_assistant
@@ -1,8 +1,8 @@
moveit_setup_assistant_config:
URDF:
package: ur_description
- relative_path: urdf/ur5_robot.urdf.xacro
+ relative_path: urdf/ur5_joint_limited_robot.urdf
SRDF:
relative_path: config/ur5.srdf
CONFIG:
- generated_timestamp: 1369283055
+ generated_timestamp: 1369541351
\ No newline at end of file
diff --git a/ur5_moveit_config/launch/planning_context.launch b/ur5_moveit_config/launch/planning_context.launch
index 21aa0b0..1f6ada3 100644
--- a/ur5_moveit_config/launch/planning_context.launch
+++ b/ur5_moveit_config/launch/planning_context.launch
@@ -3,7 +3,7 @@
<arg name="load_robot_description" default="false"/>
<!-- Load universal robotic description format (URDF) -->
- <param if="$(arg load_robot_description)" name="robot_description" textfile="$(find ur_description)/urdf/ur5_robot.urdf" />
+ <param if="$(arg load_robot_description)" name="robot_description" textfile="$(find ur_description)/urdf/ur5_joint_limited_robot.urdf" />
<!-- The semantic description that corresponds to the URDF -->
<param name="robot_description_semantic" textfile="$(find ur5_moveit_config)/config/ur5.srdf" />
--
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