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niryo_moveit package from unity-robotics-hub reponiryo_one_urdf niryo_moveit unity_robotics_demo unity_robotics_demo_msgs |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/unity-technologies/unity-robotics-hub.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-11-26 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The niryo_moveit package
Additional Links
No additional links.
Maintainers
- Unity Robotics
Authors
No additional authors.
Prerequisites
Ensure physics solver is set to Temporal Gauss Seidel in Physics Manager
ROS & Simulated Arm Only
–
Terminal 1
roscore &
rosparam set ROS_IP 192.168.50.149
rosparam set ROS_TCP_PORT 10000
rosparam set UNITY_IP 192.168.50.13
rosparam set UNITY_SERVER_PORT 5005
rosrun niryo_moveit server_endpoint.py
Terminal 2
rosrun niryo_moveit mover.py
Terminal 3
roslaunch niryo_moveit demo.launch
Unity
Press play in the Editor and press Send Joint Angles button in scene.
Converting to Niryo One & Simulated Arm:
–
Convert the mover service to publish to the “niryo_one/commander/robot_action topic of a RobotMoveCommand message type.
RobotMoveCommand.msg
int32 cmd_type
float64[] joints
geometry_msgs/Point position
niryo_one_msgs/RPY rpy
niryo_one_msgs/ShiftPose shift
niryo_one_msgs/TrajectoryPlan Trajectory
geometry_msgs/Pose pose_quat
string saved_position_name
int32 saved_trajectory_id
TrajectoryPlan.msg
moveit_msgs/RobotState trajectory_start
string group_name
moveit_msgs/RobotTrajectory trajectory
ROS Side
The current mover.py returns a plan with a RobotTrajectory and RobotState so it is likely that we will be able to convert our service to return the success of planning a trajectory while also publishing the trajectories to the corresponding topic.
Unity Side
Convert the current service call into a publisher and subscriber. Subscribe to the same topic as the real robot and move the simulated robot accordiingly.
Creating Tutorials
–
- Be sure to update all URDFs to include gripper
Resources Used
–
- MoveIt
- All of the launch and config files used in this package were copied from Niryo One ROS Stack and edited to suit our reduced use case.
Questions:
- Why does trajectory planning fail when the target pose is about halfway up the robot? Are there constraints being enforced somewhere?
Notes:
Changing from Unity coords to ROS coords:
Unity: (x, y z)
ROS: (z, -x, y)
0 0.249 0
0, 0, 0.249
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/part_3.launch
-
- tcp_ip [default: 0.0.0.0]
- tcp_port [default: 10000]
- launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
- launch/controllers.launch
-
- simulation_mode [default: false]
- disable_can_for_debug [default: false]
- disable_dxl_for_debug [default: false]
- launch/demo.launch
-
- urdf_without_meshes [default: false]
- launch/part_2.launch
-
- tcp_ip [default: 0.0.0.0]
- tcp_port [default: 10000]
- launch/part_4.launch
-
- tcp_ip [default: 0.0.0.0]
- tcp_port [default: 10000]
- launch/planning_context.launch
-
- load_robot_description [default: false]
- robot_description [default: robot_description]
- launch/niryo_one_base.launch
-
- hardware_version [default: 2]
- niryo_one_sim_mode [default: false]
- launch/niryo_one_moveit_controller_manager.launch.xml
-
- moveit_controller_manager [default: moveit_simple_controller_manager/MoveItSimpleControllerManager]
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- launch/ompl_planning_pipeline.launch.xml
- launch/trajectory_execution.launch.xml
-
- moveit_manage_controllers [default: true]
- moveit_controller_manager [default: niryo_one]
Services
Plugins
No plugins found.
Recent questions tagged niryo_moveit at Robotics Stack Exchange
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