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panda_moveit_config package from panda_moveit_config repopanda_moveit_config |
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Package Summary
| Tags | No category tags. |
| Version | 0.8.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-planning/panda_moveit_config.git |
| VCS Type | git |
| VCS Version | noetic-devel |
| Last Updated | 2023-11-29 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An automatically generated package with all the configuration and launch files for using the panda with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- MoveIt maintainer team
Authors
- MoveIt maintainer team
Franka Emika Panda MoveIt Config Package
The Panda robot is the flagship MoveIt integration robot used in the MoveIt tutorials.
Any changes to MoveIt need to be propagated into this config fast, so this package
is co-located under the ros-planning Github organization here.
CHANGELOG
Changelog for package panda_moveit_config
0.8.1 (2022-09-11)
- Update to franka_description 0.10.0 (#119)
- Example use of ns parameter in sensors.yaml (#88)
- Drop link8 from ACM as this link doesn't have any collision model anymore
- srdf: Use loop macros to reduce code redundancy
- Unify calls to xacro
- Contributors: Matt Droter, Robert Haschke, Tim Redick
0.8.0 (2022-09-01)
- Thorough rework based on franka_description 0.9.1 (using fine and coarse collision models) The internal robot controller uses coarse collision models for self-collision checking. In MoveIt, these coarse models should be used for self-collision checking only as well. Particularly, these coarse models should not be used for collision checking with the environment.
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
| Name | Deps |
|---|---|
| serl_franka_controllers |
Launch files
- launch/demo_lerp.launch
- launch/franka_control.launch
-
- robot_ip
- load_gripper
- transmission [default: position]
- launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- pipeline [default: ompl]
- allow_trajectory_execution [default: true]
- moveit_controller_manager [default: simple]
- fake_execution_type [default: interpolate]
- max_safe_path_cost [default: 1]
- publish_monitored_planning_scene [default: true]
- capabilities [default: ]
- disable_capabilities [default: ]
- load_gripper [default: true]
- transmission [default: effort]
- arm_id [default: panda]
- load_robot_description [default: true]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/moveit_rviz.launch
-
- debug [default: false]
- rviz_tutorial [default: false]
- rviz_config [default: $(dirname)/moveit.rviz]
- launch/demo.launch
-
- arm_id [default: panda]
- pipeline [default: ompl]
- db [default: false]
- db_path [default: $(find panda_moveit_config)/default_warehouse_mongo_db]
- debug [default: false]
- load_gripper [default: true]
- load_robot_description [default: true]
- moveit_controller_manager [default: fake]
- fake_execution_type [default: interpolate]
- transmission
- use_gui [default: false]
- use_rviz [default: true]
- rviz_tutorial [default: false]
- launch/demo_gazebo.launch
-
- pipeline [default: ompl] — Planning pipeline to use with MoveIt
- load_gripper [default: true]
- transmission [default: effort]
- gazebo_gui [default: true] — Start Gazebo GUI
- paused [default: false] — Start Gazebo paused
- use_gripper [default: $(arg load_gripper)]
- controller [default: $(arg transmission)_joint_trajectory_controller]
- launch/demo_chomp.launch
- launch/run_benchmark_trajopt.launch
-
- cfg
- launch/ros_controllers.launch
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- launch/default_warehouse_db.launch
-
- reset [default: false]
- moveit_warehouse_database_path [default: $(find panda_moveit_config)/default_warehouse_mongo_db]
- launch/planning_context.launch
-
- load_gripper [default: true]
- load_robot_description [default: false]
- arm_id [default: panda]
- robot_description [default: robot_description]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/demo_stomp.launch
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/lerp_planning_pipeline.launch.xml
- launch/chomp_planning_pipeline.launch.xml
-
- start_state_max_bounds_error [default: 0.1]
- jiggle_fraction [default: 0.05]
- planning_adapters [default: default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/ResolveConstraintFrames default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints]
- launch/sensor_manager.launch.xml
-
- sensor_type [default: ]
- moveit_sensor_manager [default: panda]
- launch/ompl-chomp_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- arm_id [default: panda]
- launch/ros_control_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
-
- planning_adapters [default: default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/ResolveConstraintFrames default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints]
- start_state_max_bounds_error [default: 0.1]
- jiggle_fraction [default: 0.05]
- arm_id [default: panda]
- launch/fake_moveit_controller_manager.launch.xml
-
- fake_execution_type [default: interpolate]
- launch/panda_moveit_sensor_manager.launch.xml
- launch/simple_moveit_controller_manager.launch.xml
- launch/stomp_planning_pipeline.launch.xml
-
- planning_adapters [default: 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]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
-
- planning_adapters [default: ]
- launch/trajopt_planning_pipeline.launch.xml
-
- capabilities [default: ]
- disable_capabilities [default: ]
- planning_adapters [default: 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]
- start_state_max_bounds_error [default: 0.1]
- jiggle_fraction [default: 0.05]
- launch/trajectory_execution.launch.xml
-
- moveit_controller_manager
- fake_execution_type [default: interpolate]
- moveit_manage_controllers [default: true]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged panda_moveit_config at Robotics Stack Exchange
No version for distro galactic. Known supported distros are highlighted in the buttons above.
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|
panda_moveit_config package from panda_moveit_config repopanda_moveit_config |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.7.8 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-planning/panda_moveit_config.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2022-09-11 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An automatically generated package with all the configuration and launch files for using the panda with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- MoveIt maintainer team
Authors
- MoveIt maintainer team
Franka Emika Panda MoveIt Config Package
The Panda robot is the flagship MoveIt integration robot used in the MoveIt tutorials.
Any changes to MoveIt need to be propagated into this config fast, so this package
is co-located under the ros-planning Github organization here.
CHANGELOG
Changelog for package panda_moveit_config
0.7.8 (2022-09-11)
- Update to franka_description 0.10.0 (#119)
- Contributors: Matt Droter, Robert Haschke
0.7.7 (2022-09-01)
- Thorough rework based on franka_description 0.9.1 (using fine and coarse collision models) The internal robot controller uses coarse collision models for self-collision checking. In MoveIt, these coarse models should be used for self-collision checking only as well. Particularly, these coarse models should not be used for collision checking with the environment.
- Adapt ACM configuration to Melodic Melodic's srdfdom/MoveIt don't support tags <disable_default_collisions> and <enable_collisions>.
- Remove adapter ResolveConstraintFrames as it's not implemented in Melodic
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
| Name | Deps |
|---|---|
| moveit_tutorials |
Launch files
- launch/demo_lerp.launch
- launch/franka_control.launch
-
- robot_ip
- load_gripper
- transmission [default: position]
- launch/move_group.launch
-
- debug [default: false]
- info [default: $(arg debug)]
- pipeline [default: ompl]
- allow_trajectory_execution [default: true]
- moveit_controller_manager [default: simple]
- fake_execution_type [default: interpolate]
- max_safe_path_cost [default: 1]
- publish_monitored_planning_scene [default: true]
- capabilities [default: ]
- disable_capabilities [default: ]
- load_gripper [default: true]
- transmission [default: effort]
- arm_id [default: panda]
- load_robot_description [default: true]
- launch/warehouse.launch
-
- moveit_warehouse_database_path
- launch/moveit_rviz.launch
-
- debug [default: false]
- rviz_tutorial [default: false]
- rviz_config [default: $(dirname)/moveit.rviz]
- launch/demo.launch
-
- arm_id [default: panda]
- pipeline [default: ompl]
- db [default: false]
- db_path [default: $(find panda_moveit_config)/default_warehouse_mongo_db]
- debug [default: false]
- load_gripper [default: true]
- load_robot_description [default: true]
- moveit_controller_manager [default: fake]
- fake_execution_type [default: interpolate]
- transmission
- use_gui [default: false]
- use_rviz [default: true]
- rviz_tutorial [default: false]
- launch/demo_gazebo.launch
-
- pipeline [default: ompl]
- load_gripper [default: true]
- transmission [default: effort]
- gazebo_gui [default: true]
- paused [default: false]
- use_gripper [default: $(arg load_gripper)]
- controller [default: $(arg transmission)_joint_trajectory_controller]
- launch/demo_chomp.launch
- launch/run_benchmark_trajopt.launch
-
- cfg
- launch/ros_controllers.launch
- launch/joystick_control.launch
-
- dev [default: /dev/input/js0]
- launch/default_warehouse_db.launch
-
- reset [default: false]
- moveit_warehouse_database_path [default: $(find panda_moveit_config)/default_warehouse_mongo_db]
- launch/planning_context.launch
-
- load_gripper [default: true]
- load_robot_description [default: false]
- arm_id [default: panda]
- robot_description [default: robot_description]
- launch/run_benchmark_ompl.launch
-
- cfg
- launch/demo_stomp.launch
- launch/setup_assistant.launch
- Re-launch the MoveIt Setup Assistant with this configuration package already loaded
-
- debug [default: false]
- launch/lerp_planning_pipeline.launch.xml
- launch/chomp_planning_pipeline.launch.xml
-
- start_state_max_bounds_error [default: 0.1]
- jiggle_fraction [default: 0.05]
- planning_adapters [default: 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]
- launch/sensor_manager.launch.xml
-
- sensor_type [default: ]
- moveit_sensor_manager [default: panda]
- launch/ompl-chomp_planning_pipeline.launch.xml
- launch/planning_pipeline.launch.xml
-
- pipeline [default: ompl]
- arm_id [default: panda]
- launch/ros_control_moveit_controller_manager.launch.xml
- launch/ompl_planning_pipeline.launch.xml
-
- planning_adapters [default: 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]
- start_state_max_bounds_error [default: 0.1]
- jiggle_fraction [default: 0.05]
- arm_id [default: panda]
- launch/fake_moveit_controller_manager.launch.xml
-
- fake_execution_type [default: interpolate]
- launch/panda_moveit_sensor_manager.launch.xml
- launch/simple_moveit_controller_manager.launch.xml
- launch/stomp_planning_pipeline.launch.xml
-
- planning_adapters [default: 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]
- launch/warehouse_settings.launch.xml
-
- moveit_warehouse_port [default: 33829]
- moveit_warehouse_host [default: localhost]
- launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
-
- planning_adapters [default: ]
- launch/trajopt_planning_pipeline.launch.xml
-
- capabilities [default: ]
- disable_capabilities [default: ]
- planning_adapters [default: 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]
- start_state_max_bounds_error [default: 0.1]
- jiggle_fraction [default: 0.05]
- launch/trajectory_execution.launch.xml
-
- moveit_controller_manager
- fake_execution_type [default: interpolate]
- moveit_manage_controllers [default: true]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.