MoveIt Servo

Quick Start Guide for UR5 example

Clone the universal_robot repo into your catkin workspace:

git clone https://github.com/ros-industrial/universal_robot.git

Run rosdep install from the src folder to install dependencies.

rosdep install --from-paths . --ignore-src -y

Build and subsequently source the catkin workspace. Startup the robot and MoveIt:

roslaunch ur_gazebo ur5.launch

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.

Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.

rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"

Launch the servo node. This example uses commands from a SpaceNavigator joystick-like device:

roslaunch moveit_servo spacenav_cpp.launch

If you dont have a SpaceNavigator, send commands like this:

rostopic pub -r 100 /servo_server/delta_twist_cmds geometry_msgs/TwistStamped "header: auto
twist:
  linear:
    x: 0.0
    y: 0.01
    z: -0.01
  angular:
    x: 0.0
    y: 0.0
    z: 0.0"

If you see a warning about “close to singularity”, try changing the direction of motion.

Running Tests

Run tests from the moveit_servo folder:

catkin run_tests --no-deps --this

Changelog for package moveit_servo

1.1.16 (2024-10-07)

1.1.15 (2024-09-09)

• Init joint trajectory with actual robot pose (#3642)
• Use ACM consistently (#3641)
• Contributors: Davide Torielli, Michael Görner

1.1.14 (2024-05-27)

1.1.13 (2023-07-28)

1.1.12 (2023-05-13)

• Simplify servo config + reusable launch files (#3326)
• Contributors: Robert Haschke

1.1.11 (2022-12-21)

1.1.10 (2022-09-13)

1.1.9 (2022-03-06)

1.1.8 (2022-01-30)

1.1.7 (2021-12-31)

1.1.6 (2021-11-06)

• Backport position limit enforcement from MoveIt2 (#2898)
• Use newly introduced cmake macro moveit_build_options() from moveit_core
• Minor fixups (#2759)
• Remove gtest include from non-testing source (#2747)
• Fix an off-by-one error in servo_calcs.cpp (#2740)
• Refactor moveit_servo::LowPassFilter to be assignable (#2722)
• Contributors: Griswald Brooks, Michael Görner, Michael Wiznitzer, Robert Haschke, luisrayas3, toru-kuga

1.1.5 (2021-05-23)

1.1.4 (2021-05-12)

1.1.3 (2021-04-29)

• Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
• Contributors: Nathan Brooks

1.1.2 (2021-04-08)

• Fix formatting errors
• Halt Servo command on Pose Tracking stop (#2501)
• stop_requested_ flag clearing fix (#2537)
• Add missing include (#2519)
• Refactor Servo velocity bounds enforcement (#2471)
• Protect paused_ flag, for thread safety (#2494)
• Do not break out of loop -- need to update low pass filters (#2496)
• Fix initial angle error is always 0 (#2464)
• Add an important sleep in Servo pose tracking (#2463)
• Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
• Low latency mode (#2401)
• Move timer initialization down to fix potential race condition
• Fix pose tracking race condition (#2395)
• Cleanup current state handling in servo (#2372)
• Change servo namespacing logic (#2354)
• Fix servo trajectory point timestamping (#2375)
• Fix ordering of windup args to control_toolbox::Pid (#2370)
• Contributors: AdamPettinger, AndyZe, Jere Liukkonen, Michael Görner, Nathan Brooks, Tyler Weaver, parunapu

1.1.1 (2020-10-13)

• [feature] A library for servoing toward a moving pose (#2203)
• [feature] Refactor velocity limit enforcement and add a unit test (#2260)
• [fix] Servo thread interruption (#2314)
• [fix] Servo heap-buffer-overflow bug (#2307)
• [maint] Cleanup MSA includes (#2351)
• Contributors: AndyZe, Robert Haschke, Tyler Weaver

1.1.0 (2020-09-04)

• [feature] Update last_sent_command_ at ServoCalcs start (#2249)
• [feature] Add a utility to print collision pairs (#2275)
• [fix] Various fixes for upcoming Noetic release (#2180)
• [maint] add soname version to moveit_servo (#2266)
• [maint] delete python integration tests (#2186)
• Contributors: AdamPettinger, AndyZe, Robert Haschke, Ruofan Xu, Tyler Weaver, v4hn

1.0.6 (2020-08-19)

• [feature] A ROS service to reset the Servo status (#2246)
• [feature] Check collisions during joint motions, too (#2204)
• [fix] Correctly set velocities to zero when stale (#2255)
• [maint] Remove unused yaml param (#2232)
• [maint] Adapt repository for splitted moveit_resources layout (#2199)
• [maint] Migrate to clang-format-10
• Contributors: AndyZe, Robert Haschke, Ruofan Xu, Michael Görner

1.0.5 (2020-07-08)

• [maint] Minor moveit_servo header cleanup (#2173)
• [maint] Move and rename to moveit_ros/moveit_servo (#2165)
• [maint] Changes before porting to ROS2 (#2151)
  • throttle warning logs
  • ROS1 Basic improvements and changes
  • Fixes to drift dimensions, singularity velocity scaling
  • tf name changes, const fixes, slight logic changes
  • Move ROS_LOG_THROTTLE_PERIOD to cpp files
  • Track staleness of joint and twist seperately
  • Ensure joint_trajectory output is always populated with something, even when no jog
  • Fix joint trajectory redundant points for gazebo pub
  • Fix crazy joint jog from bad Eigen init
  • Fix variable type in addJointIncrements()
  • Initialize last sent command in constructor
  • More explicit joint_jog_cmdand twist_stamped_cmdnames
  • Add comment clarying transform calculation / use
• [fix] Fix access past end of array bug (#2155)
• [maint] Remove duplicate line (#2154)
• [maint] pragma once in jog_arm.h (#2152)
• [feature] Simplify communication between threads (#2103)
  • get latest joint state c++ api
  • throttle warning logs
  • publish from jog calcs timer, removing redundant timer and internal messaging to main timer
  • outgoing message as pool allocated shared pointer for zero copy
  • replace jog_arm shared variables with ros pub/sub
  • use built in zero copy message passing instead of spsc_queues
  • use ros timers instead of threads in jog_arm
• [feature] Added throttle to jogarm accel limit warning (#2141)
• [feature] Time-based collision avoidance (#2100)
• [fix] Fix crash on empty jog msgs (#2094)
• [feature] Jog arm dimensions (#1724)
• [maint] Clang-tidy fixes (#2050)
• [feature] Keep updating joints, even while waiting for a valid command (#2027)
• [fix] Fix param logic bug for self- and scene-collision proximity thresholds (#2022)
• [feature] Split collision proximity threshold (#2008)
  • separate proximity threshold values for self-collisions and scene collisions
  • increase default value of scene collision proximity threshold
  • deprecate old parameters
• [fix] Fix valid command flags (#2013)
  • Rename the 'zero command flag' variables for readability
  • Reset flags when incoming commands timeout
  • Remove debug line, clang format
• [maint] Use default move constructor + assignment operators for MoveItCpp. (#2004)
• [fix] Fix low-pass filter initialization (#1982)
  • Pause/stop JogArm threads using shared atomic bool variables
  • Add pause/unpause flags for jog thread
  • Verify valid joints by filtering for active joint models only
  • Remove redundant joint state increments
  • Wait for initial jog commands in main loop
• [fix] Remove duplicate collision check in JogArm (#1986)
• [feature] Add a binary collision check (#1978)
• [feature] Publish more detailed warnings (#1915)
• [feature] Use wait_for_service() to fix flaky tests (#1946)
• [maint] Fix versioning (#1948)
• [feature] SRDF velocity and acceleration limit enforcement (#1863)
• [maint] Replace namespaces robot_state and robot_model with moveit::core (#1924)
• [fix] JogArm C++ API fixes (#1911)
• [feature] A ROS service to enable task redundancy (#1855)
• [fix] Fix segfault with uninitialized JogArm thread (#1882)
• [feature] Add warnings to moveit_jog_arm low pass filter (#1872)
• [maint] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (#1607)
• [fix] Fix initial end effector transform jump (#1871)
• [feature] Rework the halt msg functionality (#1868)
• [fix] Various small fixes (#1859)
• [maint] Improve formatting in comments
• [fix] Prevent a crash at velocity limit (#1837)
• [feature] Remove scale/joint parameter (#1838)
• [feature] Pass planning scene monitor into cpp interface (#1849)
• [maint] Move attribution below license file, standardize with MoveIt (#1847)
• [maint] Reduce console output warnings (#1845)
• [fix] Fix command frame transform computation (#1842)
• [maint] Fix dependencies + catkin_lint issues
• [feature] Update link transforms before calling checkCollision on robot state in jog_arm (#1825)
• [feature] Add atomic bool flags for terminating JogArm threads gracefully (#1816)
• [feature] Get transforms from RobotState instead of TF (#1803)
• [feature] Add a C++ API (#1763)
• [maint] Fix unused parameter warnings (#1773)
• [maint] Update license formatting (#1764)
• [maint] Unify jog_arm package to be C++14 (#1762)
• [fix] Fix jog_arm segfault (#1692)
• [fix] Fix double mutex unlock (#1672)
• [maint] Rename jog_arm->moveit_jog_arm (#1663)
• [feature] Do not wait for command msg to start spinning (#1603)
• [maint] Update jog_arm README with rviz config (#1614)
• [maint] Switch from include guards to pragma once (#1615)
• [maint] Separate moveit_experimental packages (#1606)
• [feature] Use UR5 example (#1605)
• [feature] Sudden stop for critical issues, filtered deceleration otherwise (#1468)
• [feature] Change 2nd order Butterworth low pass filter to 1st order (#1483)
• [maint] Remove ! from MoveIt name (#1590)
• [feature] JogArm: Remove dependency on move_group node (#1569)
• [fix] Fix jog arm CI integration test (#1466)
• [feature] A jogging PR for Melodic. (#1360)
  • Allow for joints in the msg that are not part of the MoveGroup.
  • Switching to the Panda robot model for tests.
  • Blacklist the test as I can't get it to pass Travis (fine locally).
  • Throttling all warnings. Fix build warning re. unit vs int comparison.
  • Continue to publish commands even if stationary
  • Scale for 'unitless' commands is not tied to publish_period.
  • New function name for checkIfJointsWithinBounds()
  • Configure the number of msgs to publish when stationary.
  • Run jog_calcs at the same rate as the publishing thread.
  • Better comments in config file, add spacenav_node dependency
  • Add spacenav_node to CMakeLists.
• Contributors: AdamPettinger, AndyZe, Ayush Garg, Dale Koenig, Dave Coleman, Jonathan Binney, Paul Verhoeckx, Henning Kayser, Jafar Abdi, John Stechschulte, Mike Lautman, Robert Haschke, SansoneG, jschleicher, Tyler Weaver, rfeistenauer

1.0.1 (2019-03-08)

1.0.0 (2019-02-24)

0.10.8 (2018-12-24)

0.10.5 (2018-11-01)

0.10.4 (2018-10-29 19:44)

0.10.3 (2018-10-29 04:12)

0.10.2 (2018-10-24)

0.10.1 (2018-05-25)

0.10.0 (2018-05-22)

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

0.9.9 (2017-08-06)

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

0.9.5 (2017-03-08)

0.9.4 (2017-02-06)

0.9.3 (2016-11-16)

0.9.2 (2016-11-05)

0.9.1 (2016-10-21)