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niryo_moveit package from unity-robotics-hub repo

niryo_one_urdf niryo_moveit unity_robotics_demo unity_robotics_demo_msgs

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.
Checkout URI https://github.com/unity-technologies/unity-robotics-hub.git
VCS Type git
VCS Version main
Last Updated 2024-11-26
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags robot unity simulation tutorials motion-planning ros planning trajectory-generation manipulation urdf physics-simulation robotics-control physics-3d autonomy robotics-simulation autonomous-robots robot-simulation robot-manipulator unity-robotics robotics-development
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.
tutorials/pick_and_place/ROS/src/niryo_moveit/README.md

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.

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged niryo_moveit at Robotics Stack Exchange

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