mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
more tutorial demos
This commit is contained in:
parent
facdc8e278
commit
ff297d2929
@ -19,6 +19,12 @@ include_directories(
|
||||
${catkin_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
add_executable(cartesian src/cartesian.cpp)
|
||||
target_link_libraries(cartesian ${catkin_LIBRARIES})
|
||||
|
||||
add_executable(modular src/modular.cpp)
|
||||
target_link_libraries(modular ${catkin_LIBRARIES})
|
||||
|
||||
add_library(${PROJECT_NAME}_lib src/pick_place_task.cpp)
|
||||
set_target_properties(${PROJECT_NAME}_lib PROPERTIES OUTPUT_NAME moveit_task_constructor_demo_pick_place)
|
||||
add_dependencies(${PROJECT_NAME}_lib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
@ -5,7 +5,6 @@ Panels:
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Motion Planning Tasks1
|
||||
- /Motion Planning Tasks1/Markers1
|
||||
Splitter Ratio: 0.5393258333206177
|
||||
Tree Height: 533
|
||||
- Class: rviz/Help
|
||||
@ -22,20 +21,20 @@ Panels:
|
||||
Name: Motion Planning Tasks
|
||||
Tasks View:
|
||||
property_splitter:
|
||||
- 541
|
||||
- 540
|
||||
- 0
|
||||
solution_sorting:
|
||||
column: 0
|
||||
order: 1
|
||||
column: 1
|
||||
order: 0
|
||||
solutions_splitter:
|
||||
- 328
|
||||
- 76
|
||||
- 306
|
||||
- 98
|
||||
solutions_view_columns:
|
||||
- 38
|
||||
- 0
|
||||
- 52
|
||||
- 0
|
||||
tasks_view_columns:
|
||||
- 250
|
||||
- 226
|
||||
- 38
|
||||
- 38
|
||||
Preferences:
|
||||
@ -70,7 +69,8 @@ Visualization Manager:
|
||||
Markers:
|
||||
All at once?: false
|
||||
Value: true
|
||||
approach_object: true
|
||||
x +0.2: true
|
||||
y -0.3: true
|
||||
Name: Motion Planning Tasks
|
||||
Robot:
|
||||
Fixed Robot Color: 150; 50; 150
|
||||
@ -132,14 +132,14 @@ Visualization Manager:
|
||||
Value: true
|
||||
panda_link8:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Axes: true
|
||||
Show Trail: false
|
||||
panda_rightfinger:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Robot Alpha: 0.5
|
||||
Robot Alpha: 1
|
||||
Show Robot Collision: false
|
||||
Show Robot Visual: true
|
||||
Use Fixed Robot Color: false
|
||||
@ -154,9 +154,9 @@ Visualization Manager:
|
||||
Voxel Rendering: Occupied Voxels
|
||||
Show Trail: false
|
||||
State Display Time: 0.05 s
|
||||
Task Solution Topic: /moveit_task_constructor_demo/pick_place_task/solution
|
||||
Task Solution Topic: /mtc_tutorial/solution
|
||||
Tasks:
|
||||
pick_place_task: 10
|
||||
Cartesian Path: 1
|
||||
Trail Step Size: 1
|
||||
Value: true
|
||||
Enabled: true
|
||||
@ -175,25 +175,25 @@ Visualization Manager:
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/XYOrbit
|
||||
Distance: 1.9269260168075562
|
||||
Distance: 1.3878222703933716
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Field of View: 0.7853981852531433
|
||||
Focal Point:
|
||||
X: 0.8292451500892639
|
||||
Y: -0.2452867180109024
|
||||
Z: 2.2351800055275817e-7
|
||||
X: 0.30880630016326904
|
||||
Y: -0.1259305477142334
|
||||
Z: 1.3560062370743253e-6
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.3197975158691406
|
||||
Pitch: 0.264797568321228
|
||||
Target Frame: panda_link0
|
||||
Value: XYOrbit (rviz)
|
||||
Yaw: 6.239960670471191
|
||||
Yaw: 4.939944744110107
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
@ -207,9 +207,9 @@ Window Geometry:
|
||||
collapsed: false
|
||||
Motion Planning Tasks - Slider:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd000000020000000000000166000002a6fc020000000efb000000100044006900730070006c006100790073010000003d000002a6000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000026d000000b5000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000294000002410000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c0073004700750069000000027d0000004b0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb000000120020002d00200053006c00690064006500720000000000ffffffff00000000000000000000000100000198000002a6fc0200000002fb0000002a004d006f00740069006f006e00200050006c0061006e006e0069006e00670020005400610073006b0073010000003d00000254000000e500fffffffb0000003c004d006f00740069006f006e00200050006c0061006e006e0069006e00670020005400610073006b00730020002d00200053006c006900640065007201000002970000004c0000004100ffffff0000028f000002a600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
QMainWindow State: 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
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1433
|
||||
X: 472
|
||||
Width: 1621
|
||||
X: 249
|
||||
Y: 25
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
<arg name="load_robot_description" value="true"/>
|
||||
</include>
|
||||
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" />
|
||||
<node pkg="tf2_ros" type="static_transform_publisher" name="$(anon virtual_joint_broadcaster)" args="0 0 0 0 0 0 world panda_link0" />
|
||||
|
||||
<!-- We do not have a robot connected, so publish fake joint states -->
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
|
||||
@ -30,10 +30,4 @@
|
||||
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_task_constructor_demo)/config/mtc.rviz">
|
||||
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
|
||||
</node>
|
||||
|
||||
<!-- Run MTC pick and place -->
|
||||
<node name="moveit_task_constructor_demo" pkg="moveit_task_constructor_demo" type="moveit_task_constructor_demo" output="screen">
|
||||
<param name="execute" value="true" />
|
||||
<rosparam command="load" file="$(find moveit_task_constructor_demo)/config/panda_config.yaml" />
|
||||
</node>
|
||||
</launch>
|
||||
|
||||
8
demo/launch/pickplace.launch
Normal file
8
demo/launch/pickplace.launch
Normal file
@ -0,0 +1,8 @@
|
||||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- Run MTC pick and place -->
|
||||
<node name="mtc_tutorial" pkg="moveit_task_constructor_demo" type="moveit_task_constructor_demo" output="screen">
|
||||
<param name="execute" value="true" />
|
||||
<rosparam command="load" file="$(find moveit_task_constructor_demo)/config/panda_config.yaml" />
|
||||
</node>
|
||||
</launch>
|
||||
132
demo/src/cartesian.cpp
Normal file
132
demo/src/cartesian.cpp
Normal file
@ -0,0 +1,132 @@
|
||||
/*********************************************************************
|
||||
* Copyright (c) 2019 Bielefeld University
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* * Redistributions of source code must retain the above copyright notice, this
|
||||
* list of conditions and the following disclaimer.
|
||||
*
|
||||
* * Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
*
|
||||
* * Neither the name of the copyright holder nor the names of its
|
||||
* contributors may be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*********************************************************************/
|
||||
|
||||
/* Author: Robert Haschke
|
||||
Desc: Planning a simple sequence of Cartesian motions
|
||||
*/
|
||||
|
||||
#include <moveit/task_constructor/task.h>
|
||||
|
||||
#include <moveit/task_constructor/stages/fixed_state.h>
|
||||
#include <moveit/task_constructor/solvers/cartesian_path.h>
|
||||
#include <moveit/task_constructor/solvers/joint_interpolation.h>
|
||||
#include <moveit/task_constructor/stages/move_to.h>
|
||||
#include <moveit/task_constructor/stages/move_relative.h>
|
||||
#include <moveit/task_constructor/stages/connect.h>
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <moveit/planning_scene/planning_scene.h>
|
||||
|
||||
using namespace moveit::task_constructor;
|
||||
|
||||
Task createTask() {
|
||||
Task t;
|
||||
t.stages()->setName("Cartesian Path");
|
||||
|
||||
const std::string group = "panda_arm";
|
||||
|
||||
// create Cartesian interpolation "planner" to be used in stages
|
||||
auto cartesian = std::make_shared<solvers::CartesianPath>();
|
||||
|
||||
// start from a fixed robot state
|
||||
t.loadRobotModel();
|
||||
auto scene = std::make_shared<planning_scene::PlanningScene>(t.getRobotModel());
|
||||
{
|
||||
auto& state = scene->getCurrentStateNonConst();
|
||||
state.setToDefaultValues(state.getJointModelGroup(group), "ready");
|
||||
|
||||
auto fixed = std::make_unique<stages::FixedState>("initial state");
|
||||
fixed->setState(scene);
|
||||
t.add(std::move(fixed));
|
||||
}
|
||||
|
||||
{
|
||||
auto stage = std::make_unique<stages::MoveRelative>("x +0.2", cartesian);
|
||||
stage->setGroup(group);
|
||||
geometry_msgs::Vector3Stamped direction;
|
||||
direction.header.frame_id = "world";
|
||||
direction.vector.x = 0.2;
|
||||
stage->setDirection(direction);
|
||||
t.add(std::move(stage));
|
||||
}
|
||||
|
||||
{
|
||||
auto stage = std::make_unique<stages::MoveRelative>("y -0.3", cartesian);
|
||||
stage->setGroup(group);
|
||||
geometry_msgs::Vector3Stamped direction;
|
||||
direction.header.frame_id = "world";
|
||||
direction.vector.y = -0.3;
|
||||
stage->setDirection(direction);
|
||||
t.add(std::move(stage));
|
||||
}
|
||||
|
||||
{ // rotate about TCP
|
||||
auto stage = std::make_unique<stages::MoveRelative>("rz +45°", cartesian);
|
||||
stage->setGroup(group);
|
||||
geometry_msgs::TwistStamped twist;
|
||||
twist.header.frame_id = "world";
|
||||
twist.twist.angular.z = M_PI / 4.;
|
||||
stage->setDirection(twist);
|
||||
t.add(std::move(stage));
|
||||
}
|
||||
|
||||
{ // move from reached state back to the original state, using joint interpolation
|
||||
auto joint_interpolation = std::make_shared<solvers::JointInterpolationPlanner>();
|
||||
stages::Connect::GroupPlannerVector planners = { { group, joint_interpolation } };
|
||||
auto connect = std::make_unique<stages::Connect>("connect", planners);
|
||||
t.add(std::move(connect));
|
||||
}
|
||||
|
||||
{ // final state is original state again
|
||||
auto fixed = std::make_unique<stages::FixedState>("final state");
|
||||
fixed->setState(scene);
|
||||
t.add(std::move(fixed));
|
||||
}
|
||||
|
||||
return t;
|
||||
}
|
||||
|
||||
int main(int argc, char** argv) {
|
||||
ros::init(argc, argv, "mtc_tutorial");
|
||||
// run an asynchronous spinner to communicate with the move_group node and rviz
|
||||
ros::AsyncSpinner spinner(1);
|
||||
spinner.start();
|
||||
|
||||
auto task = createTask();
|
||||
try {
|
||||
if (task.plan())
|
||||
task.introspection().publishSolution(*task.solutions().front());
|
||||
} catch (const InitStageException& ex) {
|
||||
std::cerr << "planning failed with exception" << std::endl << ex << task;
|
||||
}
|
||||
|
||||
ros::waitForShutdown(); // keep alive for interactive inspection in rviz
|
||||
return 0;
|
||||
}
|
||||
124
demo/src/modular.cpp
Normal file
124
demo/src/modular.cpp
Normal file
@ -0,0 +1,124 @@
|
||||
/*********************************************************************
|
||||
* Copyright (c) 2019 Bielefeld University
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
* * Redistributions of source code must retain the above copyright notice, this
|
||||
* list of conditions and the following disclaimer.
|
||||
*
|
||||
* * Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
*
|
||||
* * Neither the name of the copyright holder nor the names of its
|
||||
* contributors may be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*********************************************************************/
|
||||
|
||||
/* Author: Robert Haschke
|
||||
Desc: Planning a simple sequence of Cartesian motions
|
||||
*/
|
||||
|
||||
#include <moveit/task_constructor/task.h>
|
||||
|
||||
#include <moveit/task_constructor/stages/current_state.h>
|
||||
#include <moveit/task_constructor/solvers/cartesian_path.h>
|
||||
#include <moveit/task_constructor/solvers/joint_interpolation.h>
|
||||
#include <moveit/task_constructor/stages/move_to.h>
|
||||
#include <moveit/task_constructor/stages/move_relative.h>
|
||||
#include <moveit/task_constructor/stages/connect.h>
|
||||
#include <moveit/task_constructor/container.h>
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <moveit/planning_scene/planning_scene.h>
|
||||
|
||||
using namespace moveit::task_constructor;
|
||||
|
||||
std::unique_ptr<SerialContainer> createModule(const std::string& group) {
|
||||
auto c = std::make_unique<SerialContainer>("Cartesian Path");
|
||||
c->setProperty("group", group);
|
||||
|
||||
// create Cartesian interpolation "planner" to be used in stages
|
||||
auto cartesian = std::make_shared<solvers::CartesianPath>();
|
||||
|
||||
{
|
||||
auto stage = std::make_unique<stages::MoveRelative>("x +0.2", cartesian);
|
||||
stage->properties().configureInitFrom(Stage::PARENT, { "group" });
|
||||
geometry_msgs::Vector3Stamped direction;
|
||||
direction.header.frame_id = "world";
|
||||
direction.vector.x = 0.2;
|
||||
stage->setDirection(direction);
|
||||
c->insert(std::move(stage));
|
||||
}
|
||||
|
||||
{
|
||||
auto stage = std::make_unique<stages::MoveRelative>("y -0.3", cartesian);
|
||||
stage->properties().configureInitFrom(Stage::PARENT);
|
||||
geometry_msgs::Vector3Stamped direction;
|
||||
direction.header.frame_id = "world";
|
||||
direction.vector.y = -0.3;
|
||||
stage->setDirection(direction);
|
||||
c->insert(std::move(stage));
|
||||
}
|
||||
|
||||
{ // rotate about TCP
|
||||
auto stage = std::make_unique<stages::MoveRelative>("rz +45°", cartesian);
|
||||
stage->properties().configureInitFrom(Stage::PARENT);
|
||||
geometry_msgs::TwistStamped twist;
|
||||
twist.header.frame_id = "world";
|
||||
twist.twist.angular.z = M_PI / 4.;
|
||||
stage->setDirection(twist);
|
||||
c->insert(std::move(stage));
|
||||
}
|
||||
|
||||
{ // move back to ready pose
|
||||
auto stage = std::make_unique<stages::MoveTo>("moveTo ready", cartesian);
|
||||
stage->properties().configureInitFrom(Stage::PARENT);
|
||||
stage->setGoal("ready");
|
||||
c->insert(std::move(stage));
|
||||
}
|
||||
return c;
|
||||
}
|
||||
|
||||
Task createTask() {
|
||||
Task t;
|
||||
t.stages()->setName("Reusable Containers");
|
||||
t.add(std::make_unique<stages::CurrentState>("current"));
|
||||
|
||||
const std::string group = "panda_arm";
|
||||
t.add(createModule(group));
|
||||
t.add(createModule(group));
|
||||
|
||||
return t;
|
||||
}
|
||||
|
||||
int main(int argc, char** argv) {
|
||||
ros::init(argc, argv, "mtc_tutorial");
|
||||
// run an asynchronous spinner to communicate with the move_group node and rviz
|
||||
ros::AsyncSpinner spinner(1);
|
||||
spinner.start();
|
||||
|
||||
auto task = createTask();
|
||||
try {
|
||||
if (task.plan())
|
||||
task.introspection().publishSolution(*task.solutions().front());
|
||||
} catch (const InitStageException& ex) {
|
||||
std::cerr << "planning failed with exception" << std::endl << ex << task;
|
||||
}
|
||||
|
||||
ros::waitForShutdown(); // keep alive for interactive inspection in rviz
|
||||
return 0;
|
||||
}
|
||||
@ -89,8 +89,10 @@ void PickPlaceTask::init() {
|
||||
// Reset ROS introspection before constructing the new object
|
||||
// TODO(henningkayser): verify this is a bug, fix if possible
|
||||
task_.reset();
|
||||
task_.reset(new moveit::task_constructor::Task(task_name_));
|
||||
task_.reset(new moveit::task_constructor::Task());
|
||||
|
||||
Task& t = *task_;
|
||||
t.stages()->setName(task_name_);
|
||||
t.loadRobotModel();
|
||||
|
||||
// Sampling planner
|
||||
|
||||
Loading…
Reference in New Issue
Block a user