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Jazzy harmonic devel #27

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Jazzy harmonic devel #27

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95b6ee5
changes for gz-sim: from ign-gazebo to gz-sim
Kaiser1401 Jun 5, 2024
d303218
Joint2 was in collision. Found a Problem with wait_for_execution: Doe…
Kaiser1401 Jun 10, 2024
a8eeea0
remove unused import
Kaiser1401 Jun 11, 2024
7c233a0
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Kaiser1401 Jun 11, 2024
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5 changes: 2 additions & 3 deletions examples/py/ex_throw_object.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
#!/usr/bin/env python3

from copy import deepcopy
from threading import Thread

Expand Down Expand Up @@ -64,7 +63,7 @@ def throw(self):
position=position_above_object,
quat_xyzw=default_quat,
)
self._moveit2.wait_until_executed()
self._moveit2.wait_until_executed() #TODO: "wait_until_executed" does not wait when path is still planned!!

# Move to grasp position
self._moveit2.move_to_pose(
Expand All @@ -89,7 +88,7 @@ def throw(self):
self._moveit2.wait_until_executed()

# Move to pre-throw configuration
joint_configuration_pre_throw = [0.0, -1.75, 0.0, -0.1, 0.0, 3.6, 0.8]
joint_configuration_pre_throw = [0.0, -1.5, 0.0, -0.2, 0.0, 3.6, 0.8]
self._moveit2.move_to_configuration(joint_configuration_pre_throw)
self._moveit2.wait_until_executed()

Expand Down
2 changes: 1 addition & 1 deletion launch/default.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ def generate_launch_description() -> LaunchDescription:
)
),
launch_arguments=[
("ros2_control_plugin", "ign"),
("ros2_control_plugin", "gz"),
("ros2_control_command_interface", "effort"),
# TODO: Re-enable colligion geometry for manipulator arm once spawning with specific joint configuration is enabled
("collision_arm", "false"),
Expand Down
13 changes: 10 additions & 3 deletions launch/robots/robot_panda.launch.py
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Original file line number Diff line number Diff line change
@@ -1,15 +1,19 @@
#!/usr/bin/env -S ros2 launch
"""Launch script for spawning Franka Emika Panda into Ignition Gazebo world"""

from os import path
from typing import List

from ament_index_python.packages import get_package_share_directory

from launch_ros.actions import Node

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration



def generate_launch_description() -> LaunchDescription:
# Declare all launch arguments
declared_arguments = generate_declared_arguments()
Expand All @@ -23,7 +27,7 @@ def generate_launch_description() -> LaunchDescription:
nodes = [
# ros_ign_gazebo_create
Node(
package="ros_ign_gazebo",
package="ros_gz_sim",
executable="create",
output="log",
arguments=["-file", model, "--ros-args", "--log-level", log_level],
Expand All @@ -43,8 +47,11 @@ def generate_declared_arguments() -> List[DeclareLaunchArgument]:
# Model for Ignition Gazebo
DeclareLaunchArgument(
"model",
default_value="panda",
description="Name or filepath of model to load.",
default_value=path.join(
get_package_share_directory("panda_description"),
"panda",
"model.sdf",
),
Comment on lines -46 to +54
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Is this necessary? The path was intended to be updated to include this model via this CMake hook: https://github.com/AndrejOrsula/panda_ign_moveit2/blob/be5704c5b8ede1ae3998db8285473e6da300cfc0/panda_description/cmake/environment_hooks/sdf_path.bash

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I was a bit suprised cause everything looked like it should have been working at some time, though i could not ifgure why :)
Had not seen the script or environment hooks prior, will have to check it out. Maybe it's because I'm using zsh and I'd have to have a corresponding zsh hook there. Will try to check

),
# Miscellaneous
DeclareLaunchArgument(
Expand Down
6 changes: 3 additions & 3 deletions launch/worlds/world_default.launch.py
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Expand Up @@ -29,9 +29,9 @@ def generate_launch_description() -> LaunchDescription:
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
FindPackageShare("ros_ign_gazebo"),
FindPackageShare("ros_gz_sim"),
"launch",
"ign_gazebo.launch.py",
"gz_sim.launch.py",
]
)
),
Expand All @@ -43,7 +43,7 @@ def generate_launch_description() -> LaunchDescription:
nodes = [
# ros_ign_bridge (clock -> ROS 2)
Node(
package="ros_ign_bridge",
package="ros_gz_bridge",
executable="parameter_bridge",
output="log",
arguments=[
Expand Down
8 changes: 4 additions & 4 deletions launch/worlds/world_follow_target.launch.py
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Expand Up @@ -31,9 +31,9 @@ def generate_launch_description() -> LaunchDescription:
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
FindPackageShare("ros_ign_gazebo"),
FindPackageShare("ros_gz_sim"),
"launch",
"ign_gazebo.launch.py",
"gz_sim.launch.py",
]
)
),
Expand All @@ -45,7 +45,7 @@ def generate_launch_description() -> LaunchDescription:
nodes = [
# ros_ign_bridge (clock -> ROS 2)
Node(
package="ros_ign_bridge",
package="ros_gz_bridge",
executable="parameter_bridge",
output="log",
arguments=[
Expand All @@ -58,7 +58,7 @@ def generate_launch_description() -> LaunchDescription:
),
# ros_ign_bridge (target pose -> ROS 2)
Node(
package="ros_ign_bridge",
package="ros_gz_bridge",
executable="parameter_bridge",
output="log",
arguments=[
Expand Down
6 changes: 3 additions & 3 deletions launch/worlds/world_throw_object.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,9 +31,9 @@ def generate_launch_description() -> LaunchDescription:
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
FindPackageShare("ros_ign_gazebo"),
FindPackageShare("ros_gz_sim"),
"launch",
"ign_gazebo.launch.py",
"gz_sim.launch.py",
]
)
),
Expand All @@ -45,7 +45,7 @@ def generate_launch_description() -> LaunchDescription:
nodes = [
# ros_ign_bridge (clock -> ROS 2)
Node(
package="ros_ign_bridge",
package="ros_gz_bridge",
executable="parameter_bridge",
output="log",
arguments=[
Expand Down
9 changes: 5 additions & 4 deletions package.xml
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Expand Up @@ -2,9 +2,10 @@
<package format="3">
<name>ign_moveit2_examples</name>
<version>1.0.0</version>
<description>C++ and Python examples of using MoveIt 2 for planning motions that are executed inside Ignition Gazebo simulation environment</description>
<description>C++ and Python examples of using MoveIt 2 for planning motions that are executed inside GazeboSim simulation environment</description>
<maintainer email="[email protected]">Andrej Orsula</maintainer>
<author>Andrej Orsula</author>
Kaiser1401 marked this conversation as resolved.
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<author>Klaus Ening</author>
<license>BSD</license>

<buildtool_depend>ament_cmake</buildtool_depend>
Expand All @@ -13,12 +14,12 @@
<depend>geometry_msgs</depend>
<depend>moveit_ros_planning_interface</depend>

<exec_depend>ign_ros2_control</exec_depend>
<exec_depend>gz_ros2_control</exec_depend>
<exec_depend>moveit</exec_depend>
<exec_depend>pymoveit2</exec_depend>
<exec_depend>rclpy</exec_depend>
<exec_depend>ros_ign_bridge</exec_depend>
<exec_depend>ros_ign_gazebo</exec_depend>
<exec_depend>ros_gz_bridge</exec_depend>
<exec_depend>ros_gz_sim</exec_depend>
<exec_depend>rviz2</exec_depend>

<exec_depend>panda_description</exec_depend>
Expand Down
10 changes: 5 additions & 5 deletions worlds/follow_target.sdf
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Expand Up @@ -3,9 +3,9 @@
<world name="ign_moveit2_follow_target_world">

<!-- Physics -->
<plugin filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics">
<plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics">
<engine>
<filename>ignition-physics-dartsim-plugin</filename>
<filename>gz-physics-dartsim-plugin</filename>
</engine>
<dart>
<collision_detector>bullet</collision_detector>
Expand All @@ -17,15 +17,15 @@
</physics>

<!-- Scene -->
<plugin filename="ignition-gazebo-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster">
<plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster">
</plugin>
<scene>
<ambient>0.8 0.8 0.8</ambient>
<grid>false</grid>
</scene>

<!-- User Commands (transform control) -->
<plugin filename="ignition-gazebo-user-commands-system" name="ignition::gazebo::systems::UserCommands">
<plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands">
</plugin>


Expand Down Expand Up @@ -96,7 +96,7 @@
</visual>
</link>
<!-- Pose publisher plugin, used to determine the target pose to reach -->
<plugin filename="ignition-gazebo-pose-publisher-system" name="ignition::gazebo::systems::PosePublisher">
<plugin filename="gz-sim-pose-publisher-system" name="gz::sim::systems::PosePublisher">
<publish_nested_model_pose>true</publish_nested_model_pose>
<publish_link_pose>false</publish_link_pose>
<publish_collision_pose>false</publish_collision_pose>
Expand Down
8 changes: 4 additions & 4 deletions worlds/throw_object.sdf
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Expand Up @@ -3,9 +3,9 @@
<world name="ign_moveit2_follow_target_world">

<!-- Physics -->
<plugin filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics">
<plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics">
<engine>
<filename>ignition-physics-dartsim-plugin</filename>
<filename>gz-physics-dartsim-plugin</filename>
</engine>
<dart>
<collision_detector>bullet</collision_detector>
Expand All @@ -17,15 +17,15 @@
</physics>

<!-- Scene -->
<plugin filename="ignition-gazebo-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster">
<plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster">
</plugin>
<scene>
<ambient>0.8 0.8 0.8</ambient>
<grid>false</grid>
</scene>

<!-- User Commands (transform control) -->
<plugin filename="ignition-gazebo-user-commands-system" name="ignition::gazebo::systems::UserCommands">
<plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands">
</plugin>


Expand Down