├── .clang-format
├── .clang-tidy
├── .codespell_words
├── .docker
├── .hadolint.yaml
├── README.md
├── ci-testing
│ └── Dockerfile
├── ci
│ └── Dockerfile
├── gui-docker
├── release
│ └── Dockerfile
├── source
│ └── Dockerfile
└── tutorial-source
│ └── Dockerfile
├── .dockerignore
├── .github
├── CODEOWNERS.disabled
├── ISSUE_TEMPLATE
│ ├── bug_report.yml
│ ├── config.yml
│ ├── feature_request.yml
│ └── first_timers_only.md
├── PULL_REQUEST_TEMPLATE.md
├── ccache.conf
├── config.yaml
├── dependabot.yml
├── mergify.yml
└── workflows
│ ├── ci.yaml
│ ├── docker.yaml
│ ├── docker_lint.yaml
│ ├── format.yaml
│ ├── prerelease.yaml
│ ├── sonar.yaml
│ ├── stale.yaml
│ └── tutorial_docker.yaml
├── .gitignore
├── .pre-commit-config.yaml
├── CODE_OF_CONDUCT.md
├── CONTRIBUTING.md
├── Doxyfile
├── LICENSE.txt
├── MIGRATION.md
├── README.md
├── codecov.yaml
├── doc
└── MIGRATION_GUIDE.md
├── moveit
├── CHANGELOG.rst
├── CMakeLists.txt
├── package.xml
└── scripts
│ ├── README.md
│ ├── create_deprecated_headers.py
│ ├── create_maintainer_table.py
│ ├── create_readme_table.py
│ └── maintainer_table_template.html
├── moveit2.repos
├── moveit_common
├── CHANGELOG.rst
├── CMakeLists.txt
├── cmake
│ └── moveit_package.cmake
├── moveit_common-extras.cmake
└── package.xml
├── moveit_configs_utils
├── CHANGELOG.rst
├── default_configs
│ ├── chomp_planning.yaml
│ ├── ompl_defaults.yaml
│ ├── ompl_planning.yaml
│ ├── pilz_industrial_motion_planner_planning.yaml
│ └── stomp_planning.yaml
├── moveit_configs_utils
│ ├── __init__.py
│ ├── launch_utils.py
│ ├── launches.py
│ ├── moveit_configs_builder.py
│ └── substitutions
│ │ ├── __init__.py
│ │ └── xacro.py
├── package.xml
├── resource
│ └── moveit_configs_utils
├── setup.py
└── test
│ ├── robot.urdf.xacro
│ ├── test_moveit_resources_configs.py
│ └── test_xacro.py
├── moveit_core
├── CHANGELOG.rst
├── CMakeLists.txt
├── ConfigExtras.cmake
├── README.md
├── collision_detection
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── collision_detection
│ │ │ ├── allvalid
│ │ │ ├── collision_detector_allocator_allvalid.h
│ │ │ ├── collision_detector_allocator_allvalid.hpp
│ │ │ ├── collision_env_allvalid.h
│ │ │ └── collision_env_allvalid.hpp
│ │ │ ├── collision_common.h
│ │ │ ├── collision_common.hpp
│ │ │ ├── collision_detector_allocator.h
│ │ │ ├── collision_detector_allocator.hpp
│ │ │ ├── collision_env.h
│ │ │ ├── collision_env.hpp
│ │ │ ├── collision_matrix.h
│ │ │ ├── collision_matrix.hpp
│ │ │ ├── collision_octomap_filter.h
│ │ │ ├── collision_octomap_filter.hpp
│ │ │ ├── collision_plugin.h
│ │ │ ├── collision_plugin.hpp
│ │ │ ├── collision_plugin_cache.h
│ │ │ ├── collision_plugin_cache.hpp
│ │ │ ├── collision_tools.h
│ │ │ ├── collision_tools.hpp
│ │ │ ├── occupancy_map.h
│ │ │ ├── occupancy_map.hpp
│ │ │ ├── test_collision_common_panda.h
│ │ │ ├── test_collision_common_panda.hpp
│ │ │ ├── test_collision_common_pr2.h
│ │ │ ├── test_collision_common_pr2.hpp
│ │ │ ├── world.h
│ │ │ ├── world.hpp
│ │ │ ├── world_diff.h
│ │ │ └── world_diff.hpp
│ ├── src
│ │ ├── allvalid
│ │ │ └── collision_env_allvalid.cpp
│ │ ├── collision_common.cpp
│ │ ├── collision_env.cpp
│ │ ├── collision_matrix.cpp
│ │ ├── collision_octomap_filter.cpp
│ │ ├── collision_plugin_cache.cpp
│ │ ├── collision_tools.cpp
│ │ ├── world.cpp
│ │ └── world_diff.cpp
│ └── test
│ │ ├── test_all_valid.cpp
│ │ ├── test_world.cpp
│ │ └── test_world_diff.cpp
├── collision_detection_bullet
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── empty_description.xml
│ ├── include
│ │ └── moveit
│ │ │ └── collision_detection_bullet
│ │ │ ├── bullet_integration
│ │ │ ├── basic_types.h
│ │ │ ├── basic_types.hpp
│ │ │ ├── bullet_bvh_manager.h
│ │ │ ├── bullet_bvh_manager.hpp
│ │ │ ├── bullet_cast_bvh_manager.h
│ │ │ ├── bullet_cast_bvh_manager.hpp
│ │ │ ├── bullet_discrete_bvh_manager.h
│ │ │ ├── bullet_discrete_bvh_manager.hpp
│ │ │ ├── bullet_utils.h
│ │ │ ├── bullet_utils.hpp
│ │ │ ├── contact_checker_common.h
│ │ │ ├── contact_checker_common.hpp
│ │ │ ├── ros_bullet_utils.h
│ │ │ └── ros_bullet_utils.hpp
│ │ │ ├── collision_detector_allocator_bullet.h
│ │ │ ├── collision_detector_allocator_bullet.hpp
│ │ │ ├── collision_detector_bullet_plugin_loader.h
│ │ │ ├── collision_detector_bullet_plugin_loader.hpp
│ │ │ ├── collision_env_bullet.h
│ │ │ └── collision_env_bullet.hpp
│ ├── src
│ │ ├── bullet_integration
│ │ │ ├── bullet_bvh_manager.cpp
│ │ │ ├── bullet_cast_bvh_manager.cpp
│ │ │ ├── bullet_discrete_bvh_manager.cpp
│ │ │ ├── bullet_utils.cpp
│ │ │ ├── contact_checker_common.cpp
│ │ │ └── ros_bullet_utils.cpp
│ │ ├── collision_detector_bullet_plugin_loader.cpp
│ │ └── collision_env_bullet.cpp
│ └── test
│ │ ├── test_bullet_collision_detection_panda.cpp
│ │ ├── test_bullet_collision_detection_pr2.cpp
│ │ └── test_bullet_continuous_collision_checking.cpp
├── collision_detection_fcl
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── collision_detection_fcl
│ │ │ ├── collision_common.h
│ │ │ ├── collision_common.hpp
│ │ │ ├── collision_detector_allocator_fcl.h
│ │ │ ├── collision_detector_allocator_fcl.hpp
│ │ │ ├── collision_detector_fcl_plugin_loader.h
│ │ │ ├── collision_detector_fcl_plugin_loader.hpp
│ │ │ ├── collision_env_fcl.h
│ │ │ ├── collision_env_fcl.hpp
│ │ │ ├── fcl_compat.h
│ │ │ └── fcl_compat.hpp
│ ├── src
│ │ ├── collision_common.cpp
│ │ ├── collision_detector_fcl_plugin_loader.cpp
│ │ └── collision_env_fcl.cpp
│ └── test
│ │ ├── test_fcl_collision_detection_panda.cpp
│ │ ├── test_fcl_collision_detection_pr2.cpp
│ │ └── test_fcl_env.cpp
├── collision_detector_bullet_description.xml
├── collision_detector_fcl_description.xml
├── collision_distance_field
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── collision_distance_field
│ │ │ ├── collision_common_distance_field.h
│ │ │ ├── collision_common_distance_field.hpp
│ │ │ ├── collision_detector_allocator_distance_field.h
│ │ │ ├── collision_detector_allocator_distance_field.hpp
│ │ │ ├── collision_detector_allocator_hybrid.h
│ │ │ ├── collision_detector_allocator_hybrid.hpp
│ │ │ ├── collision_distance_field_types.h
│ │ │ ├── collision_distance_field_types.hpp
│ │ │ ├── collision_env_distance_field.h
│ │ │ ├── collision_env_distance_field.hpp
│ │ │ ├── collision_env_hybrid.h
│ │ │ └── collision_env_hybrid.hpp
│ ├── src
│ │ ├── collision_common_distance_field.cpp
│ │ ├── collision_distance_field_types.cpp
│ │ ├── collision_env_distance_field.cpp
│ │ └── collision_env_hybrid.cpp
│ └── test
│ │ └── test_collision_distance_field.cpp
├── constraint_samplers
│ ├── CMakeLists.txt
│ ├── dox
│ │ └── constraint_samplers.dox
│ ├── include
│ │ └── moveit
│ │ │ └── constraint_samplers
│ │ │ ├── constraint_sampler.h
│ │ │ ├── constraint_sampler.hpp
│ │ │ ├── constraint_sampler_allocator.h
│ │ │ ├── constraint_sampler_allocator.hpp
│ │ │ ├── constraint_sampler_manager.h
│ │ │ ├── constraint_sampler_manager.hpp
│ │ │ ├── constraint_sampler_tools.h
│ │ │ ├── constraint_sampler_tools.hpp
│ │ │ ├── default_constraint_samplers.h
│ │ │ ├── default_constraint_samplers.hpp
│ │ │ ├── union_constraint_sampler.h
│ │ │ └── union_constraint_sampler.hpp
│ ├── src
│ │ ├── constraint_sampler.cpp
│ │ ├── constraint_sampler_manager.cpp
│ │ ├── constraint_sampler_tools.cpp
│ │ ├── default_constraint_samplers.cpp
│ │ └── union_constraint_sampler.cpp
│ └── test
│ │ ├── pr2_arm_ik.cpp
│ │ ├── pr2_arm_ik.hpp
│ │ ├── pr2_arm_kinematics_plugin.cpp
│ │ ├── pr2_arm_kinematics_plugin.hpp
│ │ └── test_constraint_samplers.cpp
├── controller_manager
│ ├── CMakeLists.txt
│ └── include
│ │ └── moveit
│ │ └── controller_manager
│ │ ├── controller_manager.h
│ │ └── controller_manager.hpp
├── distance_field
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── distance_field
│ │ │ ├── distance_field.h
│ │ │ ├── distance_field.hpp
│ │ │ ├── find_internal_points.h
│ │ │ ├── find_internal_points.hpp
│ │ │ ├── propagation_distance_field.h
│ │ │ ├── propagation_distance_field.hpp
│ │ │ ├── voxel_grid.h
│ │ │ └── voxel_grid.hpp
│ ├── src
│ │ ├── distance_field.cpp
│ │ ├── find_internal_points.cpp
│ │ └── propagation_distance_field.cpp
│ └── test
│ │ ├── test_distance_field.cpp
│ │ └── test_voxel_grid.cpp
├── dynamics_solver
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── dynamics_solver
│ │ │ ├── dynamics_solver.h
│ │ │ └── dynamics_solver.hpp
│ └── src
│ │ └── dynamics_solver.cpp
├── exceptions
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── exceptions
│ │ │ ├── exceptions.h
│ │ │ └── exceptions.hpp
│ └── src
│ │ └── exceptions.cpp
├── filter_plugin_acceleration.xml
├── filter_plugin_butterworth.xml
├── filter_plugin_ruckig.xml
├── kinematic_constraints
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── kinematic_constraints
│ │ │ ├── kinematic_constraint.h
│ │ │ ├── kinematic_constraint.hpp
│ │ │ ├── utils.h
│ │ │ └── utils.hpp
│ ├── src
│ │ ├── kinematic_constraint.cpp
│ │ └── utils.cpp
│ └── test
│ │ ├── test_constraints.cpp
│ │ └── test_orientation_constraints.cpp
├── kinematics_base
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── kinematics_base
│ │ │ ├── kinematics_base.h
│ │ │ └── kinematics_base.hpp
│ └── src
│ │ └── kinematics_base.cpp
├── kinematics_metrics
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── kinematics_metrics
│ │ │ ├── kinematics_metrics.h
│ │ │ └── kinematics_metrics.hpp
│ └── src
│ │ └── kinematics_metrics.cpp
├── macros
│ ├── CMakeLists.txt
│ └── include
│ │ └── moveit
│ │ └── macros
│ │ ├── class_forward.h
│ │ ├── class_forward.hpp
│ │ ├── console_colors.h
│ │ ├── console_colors.hpp
│ │ ├── declare_ptr.h
│ │ └── declare_ptr.hpp
├── online_signal_smoothing
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── include
│ │ └── moveit
│ │ │ └── online_signal_smoothing
│ │ │ ├── acceleration_filter.h
│ │ │ ├── acceleration_filter.hpp
│ │ │ ├── butterworth_filter.h
│ │ │ ├── butterworth_filter.hpp
│ │ │ ├── ruckig_filter.h
│ │ │ ├── ruckig_filter.hpp
│ │ │ ├── smoothing_base_class.h
│ │ │ └── smoothing_base_class.hpp
│ ├── res
│ │ └── acceleration_limiting_diagram.png
│ ├── src
│ │ ├── acceleration_filter.cpp
│ │ ├── acceleration_filter_parameters.yaml
│ │ ├── butterworth_filter.cpp
│ │ ├── butterworth_parameters.yaml
│ │ ├── ruckig_filter.cpp
│ │ ├── ruckig_filter_parameters.yaml
│ │ └── smoothing_base_class.cpp
│ └── test
│ │ ├── test_acceleration_filter.cpp
│ │ └── test_butterworth_filter.cpp
├── package.xml
├── planning_interface
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── planning_interface
│ │ │ ├── planning_interface.h
│ │ │ ├── planning_interface.hpp
│ │ │ ├── planning_request.h
│ │ │ ├── planning_request.hpp
│ │ │ ├── planning_request_adapter.h
│ │ │ ├── planning_request_adapter.hpp
│ │ │ ├── planning_response.h
│ │ │ ├── planning_response.hpp
│ │ │ ├── planning_response_adapter.h
│ │ │ └── planning_response_adapter.hpp
│ └── src
│ │ ├── planning_interface.cpp
│ │ └── planning_response.cpp
├── planning_scene
│ ├── CMakeLists.txt
│ ├── dox
│ │ └── planning_scene.dox
│ ├── include
│ │ └── moveit
│ │ │ └── planning_scene
│ │ │ ├── planning_scene.h
│ │ │ └── planning_scene.hpp
│ ├── src
│ │ └── planning_scene.cpp
│ └── test
│ │ ├── test_collision_objects.cpp
│ │ ├── test_multi_threaded.cpp
│ │ └── test_planning_scene.cpp
├── robot_model
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── robot_model
│ │ │ ├── aabb.h
│ │ │ ├── aabb.hpp
│ │ │ ├── fixed_joint_model.h
│ │ │ ├── fixed_joint_model.hpp
│ │ │ ├── floating_joint_model.h
│ │ │ ├── floating_joint_model.hpp
│ │ │ ├── joint_model.h
│ │ │ ├── joint_model.hpp
│ │ │ ├── joint_model_group.h
│ │ │ ├── joint_model_group.hpp
│ │ │ ├── link_model.h
│ │ │ ├── link_model.hpp
│ │ │ ├── planar_joint_model.h
│ │ │ ├── planar_joint_model.hpp
│ │ │ ├── prismatic_joint_model.h
│ │ │ ├── prismatic_joint_model.hpp
│ │ │ ├── revolute_joint_model.h
│ │ │ ├── revolute_joint_model.hpp
│ │ │ ├── robot_model.h
│ │ │ └── robot_model.hpp
│ ├── src
│ │ ├── aabb.cpp
│ │ ├── fixed_joint_model.cpp
│ │ ├── floating_joint_model.cpp
│ │ ├── joint_model.cpp
│ │ ├── joint_model_group.cpp
│ │ ├── link_model.cpp
│ │ ├── order_robot_model_items.inc
│ │ ├── planar_joint_model.cpp
│ │ ├── prismatic_joint_model.cpp
│ │ ├── revolute_joint_model.cpp
│ │ └── robot_model.cpp
│ └── test
│ │ └── test.cpp
├── robot_state
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── robot_state
│ │ │ ├── attached_body.h
│ │ │ ├── attached_body.hpp
│ │ │ ├── cartesian_interpolator.h
│ │ │ ├── cartesian_interpolator.hpp
│ │ │ ├── conversions.h
│ │ │ ├── conversions.hpp
│ │ │ ├── robot_state.h
│ │ │ └── robot_state.hpp
│ ├── src
│ │ ├── attached_body.cpp
│ │ ├── cartesian_interpolator.cpp
│ │ ├── conversions.cpp
│ │ └── robot_state.cpp
│ └── test
│ │ ├── robot_state_benchmark.cpp
│ │ ├── robot_state_test.cpp
│ │ ├── test_aabb.cpp
│ │ ├── test_cartesian_interpolator.cpp
│ │ └── test_kinematic_complex.cpp
├── robot_trajectory
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── robot_trajectory
│ │ │ ├── robot_trajectory.h
│ │ │ └── robot_trajectory.hpp
│ ├── src
│ │ └── robot_trajectory.cpp
│ └── test
│ │ └── test_robot_trajectory.cpp
├── rosdoc.yaml
├── test_big.df
├── test_small.df
├── trajectory_processing
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── trajectory_processing
│ │ │ ├── ruckig_traj_smoothing.h
│ │ │ ├── ruckig_traj_smoothing.hpp
│ │ │ ├── time_optimal_trajectory_generation.h
│ │ │ ├── time_optimal_trajectory_generation.hpp
│ │ │ ├── time_parameterization.h
│ │ │ ├── time_parameterization.hpp
│ │ │ ├── trajectory_tools.h
│ │ │ └── trajectory_tools.hpp
│ ├── src
│ │ ├── ruckig_traj_smoothing.cpp
│ │ ├── time_optimal_trajectory_generation.cpp
│ │ └── trajectory_tools.cpp
│ └── test
│ │ ├── robot_trajectory_benchmark.cpp
│ │ ├── test_ruckig_traj_smoothing.cpp
│ │ └── test_time_optimal_trajectory_generation.cpp
├── transforms
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── transforms
│ │ │ ├── transforms.h
│ │ │ └── transforms.hpp
│ ├── src
│ │ └── transforms.cpp
│ └── test
│ │ └── test_transforms.cpp
├── utils
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── utils
│ │ │ ├── eigen_test_utils.h
│ │ │ ├── eigen_test_utils.hpp
│ │ │ ├── lexical_casts.h
│ │ │ ├── lexical_casts.hpp
│ │ │ ├── logger.h
│ │ │ ├── logger.hpp
│ │ │ ├── message_checks.h
│ │ │ ├── message_checks.hpp
│ │ │ ├── moveit_error_code.h
│ │ │ ├── moveit_error_code.hpp
│ │ │ ├── rclcpp_utils.h
│ │ │ ├── rclcpp_utils.hpp
│ │ │ ├── robot_model_test_utils.h
│ │ │ └── robot_model_test_utils.hpp
│ ├── src
│ │ ├── lexical_casts.cpp
│ │ ├── logger.cpp
│ │ ├── message_checks.cpp
│ │ ├── rclcpp_utils.cpp
│ │ └── robot_model_test_utils.cpp
│ └── test
│ │ ├── CMakeLists.txt
│ │ ├── logger_dut.cpp
│ │ └── rosout_publish_test.py
└── version
│ ├── CMakeLists.txt
│ ├── version.cmake
│ ├── version.cpp
│ └── version.hpp.in
├── moveit_kinematics
├── CHANGELOG.rst
├── CMakeLists.txt
├── ConfigExtras.cmake
├── cached_ik_kinematics_plugin
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── config
│ │ ├── kdl.yaml
│ │ ├── kdl_cached.yaml
│ │ ├── trac.yaml
│ │ ├── trac_cached.yaml
│ │ ├── ur5.yaml
│ │ └── ur5_cached.yaml
│ ├── include
│ │ └── moveit
│ │ │ └── cached_ik_kinematics_plugin
│ │ │ ├── cached_ik_kinematics_parameters.yaml
│ │ │ ├── cached_ik_kinematics_plugin-inl.h
│ │ │ ├── cached_ik_kinematics_plugin-inl.hpp
│ │ │ ├── cached_ik_kinematics_plugin.h
│ │ │ ├── cached_ik_kinematics_plugin.hpp
│ │ │ └── detail
│ │ │ ├── GreedyKCenters.h
│ │ │ ├── GreedyKCenters.hpp
│ │ │ ├── NearestNeighbors.h
│ │ │ ├── NearestNeighbors.hpp
│ │ │ ├── NearestNeighborsGNAT.h
│ │ │ └── NearestNeighborsGNAT.hpp
│ ├── launch
│ │ └── measure_ik_call_cost.launch
│ ├── src
│ │ ├── cached_ik_kinematics_plugin.cpp
│ │ ├── cached_ur_kinematics_plugin.cpp
│ │ └── ik_cache.cpp
│ └── test.sh
├── cached_ik_kinematics_plugin_description.xml
├── ikfast_kinematics_plugin
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── scripts
│ │ ├── auto_create_ikfast_moveit_plugin.sh
│ │ ├── create_ikfast_moveit_plugin.py
│ │ └── round_collada_numbers.py
│ └── templates
│ │ ├── CMakeLists.txt
│ │ ├── ikfast.h
│ │ ├── ikfast61_moveit_plugin_template.cpp
│ │ └── ikfast_kinematics_parameters.yaml
├── kdl_kinematics_plugin
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── kdl_kinematics_plugin
│ │ │ ├── chainiksolver_vel_mimic_svd.h
│ │ │ ├── chainiksolver_vel_mimic_svd.hpp
│ │ │ ├── joint_mimic.h
│ │ │ ├── joint_mimic.hpp
│ │ │ ├── kdl_kinematics_plugin.h
│ │ │ └── kdl_kinematics_plugin.hpp
│ └── src
│ │ ├── chainiksolver_vel_mimic_svd.cpp
│ │ ├── kdl_kinematics_parameters.yaml
│ │ └── kdl_kinematics_plugin.cpp
├── kdl_kinematics_plugin_description.xml
├── package.xml
├── srv_kinematics_plugin
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── srv_kinematics_plugin
│ │ │ ├── srv_kinematics_plugin.h
│ │ │ └── srv_kinematics_plugin.hpp
│ └── src
│ │ ├── srv_kinematics_parameters.yaml
│ │ └── srv_kinematics_plugin.cpp
├── srv_kinematics_plugin_description.xml
└── test
│ ├── CMakeLists.txt
│ ├── benchmark_ik.cpp
│ ├── config
│ ├── fanuc-kdl-singular-test.yaml
│ ├── fanuc-kdl-test.yaml
│ ├── panda-kdl-singular-test.yaml
│ └── panda-kdl-test.yaml
│ ├── launch
│ ├── fanuc-kdl-singular.test.py
│ ├── fanuc-kdl.test.py
│ ├── panda-kdl-singular.test.py
│ └── panda-kdl.test.py
│ ├── test_ikfast_plugins.sh
│ └── test_kinematics_plugin.cpp
├── moveit_planners
├── README.md
├── chomp
│ ├── README.md
│ ├── chomp_interface
│ │ ├── CHANGELOG.rst
│ │ ├── CMakeLists.txt
│ │ ├── chomp_interface_plugin_description.xml
│ │ ├── include
│ │ │ └── chomp_interface
│ │ │ │ ├── chomp_interface.h
│ │ │ │ ├── chomp_interface.hpp
│ │ │ │ ├── chomp_planning_context.h
│ │ │ │ └── chomp_planning_context.hpp
│ │ ├── package.xml
│ │ ├── plugin_description.xml
│ │ ├── src
│ │ │ ├── chomp_interface.cpp
│ │ │ ├── chomp_planning_context.cpp
│ │ │ └── chomp_plugin.cpp
│ │ └── test
│ │ │ ├── chomp_moveit_panda.test
│ │ │ ├── chomp_moveit_rrbot.test
│ │ │ ├── chomp_moveit_test_panda.cpp
│ │ │ ├── chomp_moveit_test_rrbot.cpp
│ │ │ ├── chomp_planning.yaml
│ │ │ ├── joint_limits.yaml
│ │ │ ├── rrbot.srdf
│ │ │ ├── rrbot.xacro
│ │ │ ├── rrbot_chomp_planning_pipeline.launch.xml
│ │ │ └── rrbot_move_group.launch
│ └── chomp_motion_planner
│ │ ├── CHANGELOG.rst
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ └── chomp_motion_planner
│ │ │ ├── chomp_cost.h
│ │ │ ├── chomp_cost.hpp
│ │ │ ├── chomp_optimizer.h
│ │ │ ├── chomp_optimizer.hpp
│ │ │ ├── chomp_parameters.h
│ │ │ ├── chomp_parameters.hpp
│ │ │ ├── chomp_planner.h
│ │ │ ├── chomp_planner.hpp
│ │ │ ├── chomp_trajectory.h
│ │ │ ├── chomp_trajectory.hpp
│ │ │ ├── chomp_utils.h
│ │ │ ├── chomp_utils.hpp
│ │ │ ├── multivariate_gaussian.h
│ │ │ └── multivariate_gaussian.hpp
│ │ ├── package.xml
│ │ └── src
│ │ ├── chomp_cost.cpp
│ │ ├── chomp_optimizer.cpp
│ │ ├── chomp_parameters.cpp
│ │ ├── chomp_planner.cpp
│ │ └── chomp_trajectory.cpp
├── moveit_planners
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ └── package.xml
├── ompl
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── ompl_interface
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── ompl_interface
│ │ │ │ ├── detail
│ │ │ │ ├── constrained_goal_sampler.h
│ │ │ │ ├── constrained_goal_sampler.hpp
│ │ │ │ ├── constrained_sampler.h
│ │ │ │ ├── constrained_sampler.hpp
│ │ │ │ ├── constraint_approximations.h
│ │ │ │ ├── constraint_approximations.hpp
│ │ │ │ ├── constraints_library.h
│ │ │ │ ├── constraints_library.hpp
│ │ │ │ ├── goal_union.h
│ │ │ │ ├── goal_union.hpp
│ │ │ │ ├── ompl_constraints.h
│ │ │ │ ├── ompl_constraints.hpp
│ │ │ │ ├── projection_evaluators.h
│ │ │ │ ├── projection_evaluators.hpp
│ │ │ │ ├── state_validity_checker.h
│ │ │ │ ├── state_validity_checker.hpp
│ │ │ │ ├── threadsafe_state_storage.h
│ │ │ │ └── threadsafe_state_storage.hpp
│ │ │ │ ├── model_based_planning_context.h
│ │ │ │ ├── model_based_planning_context.hpp
│ │ │ │ ├── ompl_interface.h
│ │ │ │ ├── ompl_interface.hpp
│ │ │ │ ├── parameterization
│ │ │ │ ├── joint_space
│ │ │ │ │ ├── constrained_planning_state_space.h
│ │ │ │ │ ├── constrained_planning_state_space.hpp
│ │ │ │ │ ├── constrained_planning_state_space_factory.h
│ │ │ │ │ ├── constrained_planning_state_space_factory.hpp
│ │ │ │ │ ├── joint_model_state_space.h
│ │ │ │ │ ├── joint_model_state_space.hpp
│ │ │ │ │ ├── joint_model_state_space_factory.h
│ │ │ │ │ └── joint_model_state_space_factory.hpp
│ │ │ │ ├── model_based_state_space.h
│ │ │ │ ├── model_based_state_space.hpp
│ │ │ │ ├── model_based_state_space_factory.h
│ │ │ │ ├── model_based_state_space_factory.hpp
│ │ │ │ └── work_space
│ │ │ │ │ ├── pose_model_state_space.h
│ │ │ │ │ ├── pose_model_state_space.hpp
│ │ │ │ │ ├── pose_model_state_space_factory.h
│ │ │ │ │ └── pose_model_state_space_factory.hpp
│ │ │ │ ├── planning_context_manager.h
│ │ │ │ └── planning_context_manager.hpp
│ │ ├── launch
│ │ │ └── generate_state_database.launch
│ │ ├── scripts
│ │ │ └── generate_state_database.cpp
│ │ ├── src
│ │ │ ├── detail
│ │ │ │ ├── constrained_goal_sampler.cpp
│ │ │ │ ├── constrained_sampler.cpp
│ │ │ │ ├── constraints_library.cpp
│ │ │ │ ├── goal_union.cpp
│ │ │ │ ├── ompl_constraints.cpp
│ │ │ │ ├── projection_evaluators.cpp
│ │ │ │ ├── state_validity_checker.cpp
│ │ │ │ └── threadsafe_state_storage.cpp
│ │ │ ├── model_based_planning_context.cpp
│ │ │ ├── ompl_interface.cpp
│ │ │ ├── ompl_planner_manager.cpp
│ │ │ ├── parameterization
│ │ │ │ ├── joint_space
│ │ │ │ │ ├── constrained_planning_state_space.cpp
│ │ │ │ │ ├── constrained_planning_state_space_factory.cpp
│ │ │ │ │ ├── joint_model_state_space.cpp
│ │ │ │ │ └── joint_model_state_space_factory.cpp
│ │ │ │ ├── model_based_state_space.cpp
│ │ │ │ ├── model_based_state_space_factory.cpp
│ │ │ │ └── work_space
│ │ │ │ │ ├── pose_model_state_space.cpp
│ │ │ │ │ └── pose_model_state_space_factory.cpp
│ │ │ └── planning_context_manager.cpp
│ │ └── test
│ │ │ ├── load_test_robot.hpp
│ │ │ ├── test_constrained_planning_state_space.cpp
│ │ │ ├── test_constrained_state_validity_checker.cpp
│ │ │ ├── test_ompl_constraints.cpp
│ │ │ ├── test_planning_context_manager.cpp
│ │ │ ├── test_state_space.cpp
│ │ │ ├── test_state_validity_checker.cpp
│ │ │ └── test_threadsafe_state_storage.cpp
│ ├── ompl_interface_plugin_description.xml
│ └── package.xml
├── pilz_industrial_motion_planner
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── doc
│ │ ├── .gitignore
│ │ ├── MotionBlendAlgorithmDescription.pdf
│ │ ├── MotionBlendAlgorithmDescription.tex
│ │ ├── README.md
│ │ ├── diag_class_capabilities.png
│ │ ├── diag_class_capabilities.uxf
│ │ ├── diag_class_planning_context.png
│ │ ├── diag_class_planning_context.uxf
│ │ ├── figure
│ │ │ ├── blend_case_1.eps
│ │ │ ├── blend_case_2.eps
│ │ │ ├── blend_case_3.eps
│ │ │ ├── blend_radius.png
│ │ │ ├── original_trajectories.eps
│ │ │ ├── ptp.png
│ │ │ ├── ptp.svg
│ │ │ ├── ptp_movement_1.png
│ │ │ ├── ptp_movement_2.png
│ │ │ └── rviz_planner.png
│ │ ├── sequence_processing_overview.png
│ │ └── sequence_processing_overview.uxf
│ ├── include
│ │ ├── joint_limits_copy
│ │ │ ├── joint_limits.h
│ │ │ ├── joint_limits.hpp
│ │ │ ├── joint_limits_rosparam.h
│ │ │ └── joint_limits_rosparam.hpp
│ │ └── pilz_industrial_motion_planner
│ │ │ ├── capability_names.h
│ │ │ ├── capability_names.hpp
│ │ │ ├── cartesian_trajectory.h
│ │ │ ├── cartesian_trajectory.hpp
│ │ │ ├── cartesian_trajectory_point.h
│ │ │ ├── cartesian_trajectory_point.hpp
│ │ │ ├── command_list_manager.h
│ │ │ ├── command_list_manager.hpp
│ │ │ ├── joint_limits_aggregator.h
│ │ │ ├── joint_limits_aggregator.hpp
│ │ │ ├── joint_limits_container.h
│ │ │ ├── joint_limits_container.hpp
│ │ │ ├── joint_limits_extension.h
│ │ │ ├── joint_limits_extension.hpp
│ │ │ ├── joint_limits_interface_extension.h
│ │ │ ├── joint_limits_interface_extension.hpp
│ │ │ ├── joint_limits_validator.h
│ │ │ ├── joint_limits_validator.hpp
│ │ │ ├── limits_container.h
│ │ │ ├── limits_container.hpp
│ │ │ ├── move_group_sequence_action.h
│ │ │ ├── move_group_sequence_action.hpp
│ │ │ ├── move_group_sequence_service.h
│ │ │ ├── move_group_sequence_service.hpp
│ │ │ ├── path_circle_generator.h
│ │ │ ├── path_circle_generator.hpp
│ │ │ ├── pilz_industrial_motion_planner.h
│ │ │ ├── pilz_industrial_motion_planner.hpp
│ │ │ ├── plan_components_builder.h
│ │ │ ├── plan_components_builder.hpp
│ │ │ ├── planning_context_base.h
│ │ │ ├── planning_context_base.hpp
│ │ │ ├── planning_context_circ.h
│ │ │ ├── planning_context_circ.hpp
│ │ │ ├── planning_context_lin.h
│ │ │ ├── planning_context_lin.hpp
│ │ │ ├── planning_context_loader.h
│ │ │ ├── planning_context_loader.hpp
│ │ │ ├── planning_context_loader_circ.h
│ │ │ ├── planning_context_loader_circ.hpp
│ │ │ ├── planning_context_loader_lin.h
│ │ │ ├── planning_context_loader_lin.hpp
│ │ │ ├── planning_context_loader_ptp.h
│ │ │ ├── planning_context_loader_ptp.hpp
│ │ │ ├── planning_context_ptp.h
│ │ │ ├── planning_context_ptp.hpp
│ │ │ ├── planning_exceptions.h
│ │ │ ├── planning_exceptions.hpp
│ │ │ ├── tip_frame_getter.h
│ │ │ ├── tip_frame_getter.hpp
│ │ │ ├── trajectory_blend_request.h
│ │ │ ├── trajectory_blend_request.hpp
│ │ │ ├── trajectory_blend_response.h
│ │ │ ├── trajectory_blend_response.hpp
│ │ │ ├── trajectory_blender.h
│ │ │ ├── trajectory_blender.hpp
│ │ │ ├── trajectory_blender_transition_window.h
│ │ │ ├── trajectory_blender_transition_window.hpp
│ │ │ ├── trajectory_functions.h
│ │ │ ├── trajectory_functions.hpp
│ │ │ ├── trajectory_generation_exceptions.h
│ │ │ ├── trajectory_generation_exceptions.hpp
│ │ │ ├── trajectory_generator.h
│ │ │ ├── trajectory_generator.hpp
│ │ │ ├── trajectory_generator_circ.h
│ │ │ ├── trajectory_generator_circ.hpp
│ │ │ ├── trajectory_generator_lin.h
│ │ │ ├── trajectory_generator_lin.hpp
│ │ │ ├── trajectory_generator_ptp.h
│ │ │ ├── trajectory_generator_ptp.hpp
│ │ │ ├── velocity_profile_atrap.h
│ │ │ └── velocity_profile_atrap.hpp
│ ├── package.xml
│ ├── plugins
│ │ ├── pilz_industrial_motion_planner_plugin_description.xml
│ │ ├── planning_context_plugin_description.xml
│ │ └── sequence_capability_plugin_description.xml
│ ├── rosdoc.yaml
│ ├── src
│ │ ├── cartesian_limits_parameters.yaml
│ │ ├── command_list_manager.cpp
│ │ ├── joint_limits_aggregator.cpp
│ │ ├── joint_limits_container.cpp
│ │ ├── joint_limits_validator.cpp
│ │ ├── limits_container.cpp
│ │ ├── move_group_sequence_action.cpp
│ │ ├── move_group_sequence_service.cpp
│ │ ├── path_circle_generator.cpp
│ │ ├── pilz_industrial_motion_planner.cpp
│ │ ├── plan_components_builder.cpp
│ │ ├── planning_context_loader.cpp
│ │ ├── planning_context_loader_circ.cpp
│ │ ├── planning_context_loader_lin.cpp
│ │ ├── planning_context_loader_ptp.cpp
│ │ ├── trajectory_blender_transition_window.cpp
│ │ ├── trajectory_functions.cpp
│ │ ├── trajectory_generator.cpp
│ │ ├── trajectory_generator_circ.cpp
│ │ ├── trajectory_generator_lin.cpp
│ │ ├── trajectory_generator_ptp.cpp
│ │ └── velocity_profile_atrap.cpp
│ └── test
│ │ ├── CMakeLists.txt
│ │ ├── acceptance_tests
│ │ ├── acceptance_test_lin.md
│ │ ├── acceptance_test_ptp.md
│ │ └── img
│ │ │ ├── acceptance_test_lin_img1.png
│ │ │ ├── acceptance_test_lin_img2.png
│ │ │ ├── acceptance_test_lin_img3.png
│ │ │ ├── acceptance_test_lin_img4.png
│ │ │ ├── acceptance_test_ptp_img1.png
│ │ │ └── acceptance_test_ptp_img2.png
│ │ ├── integration_tests
│ │ ├── CMakeLists.txt
│ │ ├── launch
│ │ │ ├── integrationtest_command_list_manager.test
│ │ │ ├── integrationtest_command_planning.test
│ │ │ ├── integrationtest_command_planning_frankaemika_panda.test
│ │ │ ├── integrationtest_command_planning_with_gripper.test
│ │ │ ├── integrationtest_get_solver_tip_frame.test
│ │ │ ├── integrationtest_plan_components_builder.test
│ │ │ ├── integrationtest_sequence_action.test
│ │ │ ├── integrationtest_sequence_action_capability_frankaemika_panda.test
│ │ │ ├── integrationtest_sequence_action_capability_with_gripper.test
│ │ │ ├── integrationtest_sequence_action_preemption.test
│ │ │ ├── integrationtest_sequence_service_capability.test
│ │ │ ├── integrationtest_sequence_service_capability_frankaemika_panda.test
│ │ │ ├── integrationtest_sequence_service_capability_with_gripper.test
│ │ │ └── python_move_group_planning.test
│ │ └── src
│ │ │ ├── integrationtest_command_list_manager.cpp
│ │ │ ├── integrationtest_command_planning.cpp
│ │ │ ├── integrationtest_get_solver_tip_frame.cpp
│ │ │ ├── integrationtest_plan_components_builder.cpp
│ │ │ ├── integrationtest_sequence_action.cpp
│ │ │ ├── integrationtest_sequence_action_preemption.cpp
│ │ │ ├── integrationtest_sequence_service_capability.cpp
│ │ │ └── python_move_group_planning.py
│ │ ├── test_data
│ │ ├── concept_testdata.odp
│ │ ├── concept_testdata.png
│ │ ├── frankaemika_panda
│ │ │ └── testdata_sequence.xml
│ │ ├── prbt
│ │ │ ├── testdata_deprecated.xml
│ │ │ ├── testdata_sequence.xml
│ │ │ └── testdata_with_gripper.xml
│ │ └── testpoints.py
│ │ ├── test_utils.cpp
│ │ ├── test_utils.hpp
│ │ └── unit_tests
│ │ ├── CMakeLists.txt
│ │ ├── config
│ │ ├── unittest_joint_limit_config.yaml
│ │ ├── unittest_joint_limits_aggregator.yaml
│ │ ├── unittest_trajectory_blender_transition_window.yaml
│ │ ├── unittest_trajectory_functions.yaml
│ │ ├── unittest_trajectory_generator_circ.yaml
│ │ ├── unittest_trajectory_generator_common.yaml
│ │ ├── unittest_trajectory_generator_lin.yaml
│ │ └── unittest_trajectory_generator_ptp.yaml
│ │ ├── launch
│ │ ├── common_parameters.py
│ │ ├── unittest_cartesian_limits_aggregator.test.py
│ │ ├── unittest_joint_limit.test.py
│ │ ├── unittest_joint_limits_aggregator.test.py
│ │ ├── unittest_pilz_industrial_motion_planner.test.py
│ │ ├── unittest_planning_context.test.py
│ │ ├── unittest_planning_context_loaders.test.py
│ │ ├── unittest_trajectory_blender_transition_window.test.py
│ │ ├── unittest_trajectory_functions.test.py
│ │ ├── unittest_trajectory_generator_circ.test.py
│ │ ├── unittest_trajectory_generator_common.test.py
│ │ ├── unittest_trajectory_generator_lin.test.py
│ │ └── unittest_trajectory_generator_ptp.test.py
│ │ └── src
│ │ ├── unittest_get_solver_tip_frame.cpp
│ │ ├── unittest_joint_limit.cpp
│ │ ├── unittest_joint_limits_aggregator.cpp
│ │ ├── unittest_joint_limits_container.cpp
│ │ ├── unittest_joint_limits_validator.cpp
│ │ ├── unittest_pilz_industrial_motion_planner.cpp
│ │ ├── unittest_pilz_industrial_motion_planner_direct.cpp
│ │ ├── unittest_planning_context.cpp
│ │ ├── unittest_planning_context_loaders.cpp
│ │ ├── unittest_trajectory_blender_transition_window.cpp
│ │ ├── unittest_trajectory_functions.cpp
│ │ ├── unittest_trajectory_generator.cpp
│ │ ├── unittest_trajectory_generator_circ.cpp
│ │ ├── unittest_trajectory_generator_common.cpp
│ │ ├── unittest_trajectory_generator_lin.cpp
│ │ ├── unittest_trajectory_generator_ptp.cpp
│ │ └── unittest_velocity_profile_atrap.cpp
├── pilz_industrial_motion_planner_testutils
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── doc
│ │ ├── README.md
│ │ └── diagrams
│ │ │ ├── diag_class_circ_auxiliary.png
│ │ │ ├── diag_class_circ_auxiliary.uxf
│ │ │ ├── diag_class_commands.png
│ │ │ ├── diag_class_commands.uxf
│ │ │ ├── diag_class_robot_configurations.png
│ │ │ ├── diag_class_robot_configurations.uxf
│ │ │ ├── diag_seq_testdataloader_usage.png
│ │ │ └── diag_seq_testdataloader_usage.uxf
│ ├── include
│ │ └── pilz_industrial_motion_planner_testutils
│ │ │ ├── async_test.h
│ │ │ ├── async_test.hpp
│ │ │ ├── basecmd.h
│ │ │ ├── basecmd.hpp
│ │ │ ├── cartesianconfiguration.h
│ │ │ ├── cartesianconfiguration.hpp
│ │ │ ├── cartesianpathconstraintsbuilder.h
│ │ │ ├── cartesianpathconstraintsbuilder.hpp
│ │ │ ├── center.h
│ │ │ ├── center.hpp
│ │ │ ├── checks.h
│ │ │ ├── checks.hpp
│ │ │ ├── circ.h
│ │ │ ├── circ.hpp
│ │ │ ├── circ_auxiliary_types.h
│ │ │ ├── circ_auxiliary_types.hpp
│ │ │ ├── circauxiliary.h
│ │ │ ├── circauxiliary.hpp
│ │ │ ├── command_types_typedef.h
│ │ │ ├── command_types_typedef.hpp
│ │ │ ├── default_values.h
│ │ │ ├── default_values.hpp
│ │ │ ├── exception_types.h
│ │ │ ├── exception_types.hpp
│ │ │ ├── goalconstraintsmsgconvertible.h
│ │ │ ├── goalconstraintsmsgconvertible.hpp
│ │ │ ├── gripper.h
│ │ │ ├── gripper.hpp
│ │ │ ├── interim.h
│ │ │ ├── interim.hpp
│ │ │ ├── jointconfiguration.h
│ │ │ ├── jointconfiguration.hpp
│ │ │ ├── lin.h
│ │ │ ├── lin.hpp
│ │ │ ├── motioncmd.h
│ │ │ ├── motioncmd.hpp
│ │ │ ├── motionplanrequestconvertible.h
│ │ │ ├── motionplanrequestconvertible.hpp
│ │ │ ├── ptp.h
│ │ │ ├── ptp.hpp
│ │ │ ├── robotconfiguration.h
│ │ │ ├── robotconfiguration.hpp
│ │ │ ├── robotstatemsgconvertible.h
│ │ │ ├── robotstatemsgconvertible.hpp
│ │ │ ├── sequence.h
│ │ │ ├── sequence.hpp
│ │ │ ├── testdata_loader.h
│ │ │ ├── testdata_loader.hpp
│ │ │ ├── xml_constants.h
│ │ │ ├── xml_constants.hpp
│ │ │ ├── xml_testdata_loader.h
│ │ │ └── xml_testdata_loader.hpp
│ ├── package.xml
│ └── src
│ │ ├── cartesianconfiguration.cpp
│ │ ├── jointconfiguration.cpp
│ │ ├── robotconfiguration.cpp
│ │ ├── sequence.cpp
│ │ └── xml_testdata_loader.cpp
├── stomp
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── include
│ │ └── stomp_moveit
│ │ │ ├── conversion_functions.h
│ │ │ ├── conversion_functions.hpp
│ │ │ ├── cost_functions.h
│ │ │ ├── cost_functions.hpp
│ │ │ ├── filter_functions.h
│ │ │ ├── filter_functions.hpp
│ │ │ ├── math
│ │ │ ├── multivariate_gaussian.h
│ │ │ └── multivariate_gaussian.hpp
│ │ │ ├── noise_generators.h
│ │ │ ├── noise_generators.hpp
│ │ │ ├── stomp_moveit_planning_context.h
│ │ │ ├── stomp_moveit_planning_context.hpp
│ │ │ ├── stomp_moveit_task.h
│ │ │ ├── stomp_moveit_task.hpp
│ │ │ ├── trajectory_visualization.h
│ │ │ └── trajectory_visualization.hpp
│ ├── package.xml
│ ├── res
│ │ └── stomp_moveit.yaml
│ ├── src
│ │ ├── stomp_moveit_planner_plugin.cpp
│ │ └── stomp_moveit_planning_context.cpp
│ ├── stomp_moveit_plugin_description.xml
│ └── test
│ │ ├── CMakeLists.txt
│ │ ├── test_cost_functions.cpp
│ │ └── test_noise_generator.cpp
└── test_configs
│ ├── prbt_ikfast_manipulator_plugin
│ ├── .clang-format
│ ├── .clang-tidy
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── LICENSE
│ ├── include
│ │ └── ikfast.h
│ ├── package.xml
│ ├── prbt_manipulator_moveit_ikfast_plugin_description.xml
│ └── src
│ │ ├── prbt_ikfast_kinematics_parameters.yaml
│ │ ├── prbt_manipulator_ikfast_moveit_plugin.cpp
│ │ └── prbt_manipulator_ikfast_solver.cpp
│ ├── prbt_moveit_config
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── config
│ │ ├── controllers_manipulator.yaml
│ │ ├── joint_limits.yaml
│ │ ├── joint_names.yaml
│ │ ├── kinematics.yaml
│ │ ├── ompl_planning.yaml
│ │ ├── pilz_cartesian_limits.yaml
│ │ ├── prbt.srdf.xacro
│ │ ├── prbt_controllers.yaml
│ │ ├── prbt_manipulator.srdf.xacro
│ │ └── prbt_ros_controllers.yaml
│ ├── img
│ │ └── prbt_rviz_planning_screenshot.png
│ ├── launch
│ │ ├── demo.launch.py
│ │ └── moveit.rviz
│ └── package.xml
│ ├── prbt_pg70_support
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── config
│ │ ├── controllers_manipulator_gripper.yaml
│ │ ├── fake_controllers.yaml
│ │ ├── gripper_controller.yaml
│ │ ├── gripper_driver_canopen_motor_node.yaml
│ │ ├── joint_limits.yaml
│ │ ├── pg70.srdf.xacro
│ │ └── pg70_tcp_offset.xacro
│ ├── meshes
│ │ └── pg70
│ │ │ ├── pg70.dae
│ │ │ └── pg70.stl
│ ├── package.xml
│ └── urdf
│ │ ├── common.xacro
│ │ ├── pg70.urdf.xacro
│ │ └── pg70
│ │ ├── pg70.gazebo.xacro
│ │ ├── pg70.transmission.xacro
│ │ └── pg70.urdf.xacro
│ └── prbt_support
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── LICENSE
│ ├── README.md
│ ├── config
│ ├── manipulator_controller.yaml
│ ├── manipulator_driver.yaml
│ └── prbt_0_1.dcf
│ ├── img
│ ├── joints.png
│ ├── pilz-logo.png
│ └── prbt.jpg
│ ├── meshes
│ ├── flange.dae
│ ├── flange.stl
│ ├── foot.dae
│ ├── foot.stl
│ ├── link_1.dae
│ ├── link_1.stl
│ ├── link_2.dae
│ ├── link_2.stl
│ ├── link_3.dae
│ ├── link_3.stl
│ ├── link_4.dae
│ ├── link_4.stl
│ ├── link_5.dae
│ └── link_5.stl
│ ├── package.xml
│ └── urdf
│ ├── prbt.ros2_control.xacro
│ ├── prbt.xacro
│ ├── prbt_macro.xacro
│ └── simple_gripper_brackets.urdf.xacro
├── moveit_plugins
├── README.md
├── moveit_plugins
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ └── package.xml
├── moveit_ros_control_interface
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── ConfigExtras.cmake
│ ├── README.md
│ ├── include
│ │ └── moveit_ros_control_interface
│ │ │ ├── ControllerHandle.h
│ │ │ └── ControllerHandle.hpp
│ ├── moveit_core_plugins.xml
│ ├── moveit_ros_control_interface_plugins.xml
│ ├── package.xml
│ ├── src
│ │ ├── controller_manager_plugin.cpp
│ │ ├── empty_controller_plugin.cpp
│ │ ├── gripper_command_controller_plugin.cpp
│ │ ├── joint_trajectory_controller_plugin.cpp
│ │ └── parallel_gripper_command_controller_plugin.cpp
│ └── test
│ │ ├── CMakeLists.txt
│ │ └── test_controller_manager_plugin.cpp
└── moveit_simple_controller_manager
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── ConfigExtras.cmake
│ ├── include
│ └── moveit_simple_controller_manager
│ │ ├── action_based_controller_handle.h
│ │ ├── action_based_controller_handle.hpp
│ │ ├── empty_controller_handle.h
│ │ ├── empty_controller_handle.hpp
│ │ ├── follow_joint_trajectory_controller_handle.h
│ │ ├── follow_joint_trajectory_controller_handle.hpp
│ │ ├── gripper_command_controller_handle.hpp
│ │ ├── gripper_controller_handle.h
│ │ └── parallel_gripper_command_controller_handle.hpp
│ ├── moveit_simple_controller_manager_plugin_description.xml
│ ├── package.xml
│ └── src
│ ├── follow_joint_trajectory_controller_handle.cpp
│ └── moveit_simple_controller_manager.cpp
├── moveit_py
├── CHANGELOG.rst
├── CITATION.cff
├── CMakeLists.txt
├── README.md
├── banner.png
├── docs
│ └── source
│ │ ├── conf.py
│ │ └── index.rst
├── moveit
│ ├── README.md
│ ├── __init__.py
│ ├── core
│ │ ├── __init__.pyi
│ │ ├── collision_detection.pyi
│ │ ├── controller_manager.pyi
│ │ ├── kinematic_constraints.pyi
│ │ ├── planning_interface.pyi
│ │ ├── planning_scene.pyi
│ │ ├── robot_model.pyi
│ │ ├── robot_state.pyi
│ │ └── robot_trajectory.pyi
│ ├── planning.pyi
│ ├── policies
│ │ ├── __init__.py
│ │ ├── __init__.pyi
│ │ ├── policy.py
│ │ └── policy.pyi
│ ├── py.typed
│ ├── servo_client
│ │ ├── README.md
│ │ ├── __init__.py
│ │ ├── __init__.pyi
│ │ ├── devices
│ │ │ ├── __init__.py
│ │ │ ├── __init__.pyi
│ │ │ ├── ps4_dualshock.py
│ │ │ └── ps4_dualshock.pyi
│ │ ├── teleop.py
│ │ └── teleop.pyi
│ ├── utils.py
│ └── utils.pyi
├── package.xml
├── src
│ └── moveit
│ │ ├── README.md
│ │ ├── core.cpp
│ │ ├── moveit_core
│ │ ├── collision_detection
│ │ │ ├── collision_common.cpp
│ │ │ ├── collision_common.hpp
│ │ │ ├── collision_matrix.cpp
│ │ │ ├── collision_matrix.hpp
│ │ │ ├── world.cpp
│ │ │ └── world.hpp
│ │ ├── controller_manager
│ │ │ ├── controller_manager.cpp
│ │ │ └── controller_manager.hpp
│ │ ├── kinematic_constraints
│ │ │ ├── utils.cpp
│ │ │ └── utils.hpp
│ │ ├── planning_interface
│ │ │ ├── planning_response.cpp
│ │ │ └── planning_response.hpp
│ │ ├── planning_scene
│ │ │ ├── planning_scene.cpp
│ │ │ └── planning_scene.hpp
│ │ ├── robot_model
│ │ │ ├── joint_model.cpp
│ │ │ ├── joint_model.hpp
│ │ │ ├── joint_model_group.cpp
│ │ │ ├── joint_model_group.hpp
│ │ │ ├── robot_model.cpp
│ │ │ └── robot_model.hpp
│ │ ├── robot_state
│ │ │ ├── robot_state.cpp
│ │ │ └── robot_state.hpp
│ │ ├── robot_trajectory
│ │ │ ├── robot_trajectory.cpp
│ │ │ └── robot_trajectory.hpp
│ │ └── transforms
│ │ │ ├── transforms.cpp
│ │ │ └── transforms.hpp
│ │ ├── moveit_py_utils
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit_py
│ │ │ │ └── moveit_py_utils
│ │ │ │ ├── copy_ros_msg.h
│ │ │ │ ├── copy_ros_msg.hpp
│ │ │ │ ├── rclpy_time_typecaster.hpp
│ │ │ │ ├── ros_msg_typecasters.h
│ │ │ │ └── ros_msg_typecasters.hpp
│ │ └── src
│ │ │ ├── copy_ros_msg.cpp
│ │ │ └── ros_msg_typecasters.cpp
│ │ ├── moveit_ros
│ │ ├── moveit_cpp
│ │ │ ├── moveit_cpp.cpp
│ │ │ ├── moveit_cpp.hpp
│ │ │ ├── planning_component.cpp
│ │ │ └── planning_component.hpp
│ │ ├── planning_scene_monitor
│ │ │ ├── planning_scene_monitor.cpp
│ │ │ └── planning_scene_monitor.hpp
│ │ └── trajectory_execution_manager
│ │ │ ├── trajectory_execution_manager.cpp
│ │ │ └── trajectory_execution_manager.hpp
│ │ └── planning.cpp
└── test
│ ├── __init__.py
│ ├── integration
│ └── __init__.py
│ └── unit
│ ├── __init__.py
│ ├── fixtures
│ ├── panda.srdf
│ └── panda.urdf
│ ├── test_robot_model.py
│ └── test_robot_state.py
├── moveit_ros
├── README.md
├── benchmarks
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── ConfigExtras.cmake
│ ├── README.md
│ ├── include
│ │ └── moveit
│ │ │ └── benchmarks
│ │ │ ├── BenchmarkExecutor.h
│ │ │ ├── BenchmarkExecutor.hpp
│ │ │ ├── BenchmarkOptions.h
│ │ │ └── BenchmarkOptions.hpp
│ ├── package.xml
│ ├── scripts
│ │ └── moveit_benchmark_statistics.py
│ └── src
│ │ ├── BenchmarkExecutor.cpp
│ │ ├── BenchmarkOptions.cpp
│ │ └── RunBenchmark.cpp
├── hybrid_planning
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── forward_trajectory_plugin.xml
│ ├── global_planner
│ │ ├── CMakeLists.txt
│ │ ├── global_planner_component
│ │ │ ├── CMakeLists.txt
│ │ │ ├── include
│ │ │ │ └── moveit
│ │ │ │ │ └── global_planner
│ │ │ │ │ ├── global_planner_component.h
│ │ │ │ │ ├── global_planner_component.hpp
│ │ │ │ │ ├── global_planner_interface.h
│ │ │ │ │ └── global_planner_interface.hpp
│ │ │ └── src
│ │ │ │ └── global_planner_component.cpp
│ │ └── global_planner_plugins
│ │ │ ├── CMakeLists.txt
│ │ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── global_planner
│ │ │ │ ├── moveit_planning_pipeline.h
│ │ │ │ └── moveit_planning_pipeline.hpp
│ │ │ └── src
│ │ │ └── moveit_planning_pipeline.cpp
│ ├── hybrid_planning_manager
│ │ ├── CMakeLists.txt
│ │ ├── hybrid_planning_manager_component
│ │ │ ├── CMakeLists.txt
│ │ │ ├── include
│ │ │ │ └── moveit
│ │ │ │ │ └── hybrid_planning_manager
│ │ │ │ │ ├── hybrid_planning_events.h
│ │ │ │ │ ├── hybrid_planning_events.hpp
│ │ │ │ │ ├── hybrid_planning_manager.h
│ │ │ │ │ ├── hybrid_planning_manager.hpp
│ │ │ │ │ ├── planner_logic_interface.h
│ │ │ │ │ └── planner_logic_interface.hpp
│ │ │ ├── res
│ │ │ │ └── hp_manager_parameters.yaml
│ │ │ └── src
│ │ │ │ └── hybrid_planning_manager.cpp
│ │ └── planner_logic_plugins
│ │ │ ├── CMakeLists.txt
│ │ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── planner_logic_plugins
│ │ │ │ ├── replan_invalidated_trajectory.h
│ │ │ │ ├── replan_invalidated_trajectory.hpp
│ │ │ │ ├── single_plan_execution.h
│ │ │ │ └── single_plan_execution.hpp
│ │ │ └── src
│ │ │ ├── replan_invalidated_trajectory.cpp
│ │ │ └── single_plan_execution.cpp
│ ├── local_planner
│ │ ├── CMakeLists.txt
│ │ ├── local_constraint_solver_plugins
│ │ │ ├── CMakeLists.txt
│ │ │ ├── include
│ │ │ │ └── moveit
│ │ │ │ │ └── local_constraint_solver_plugins
│ │ │ │ │ ├── forward_trajectory.h
│ │ │ │ │ └── forward_trajectory.hpp
│ │ │ └── src
│ │ │ │ └── forward_trajectory.cpp
│ │ ├── local_planner_component
│ │ │ ├── CMakeLists.txt
│ │ │ ├── include
│ │ │ │ └── moveit
│ │ │ │ │ └── local_planner
│ │ │ │ │ ├── feedback_types.h
│ │ │ │ │ ├── feedback_types.hpp
│ │ │ │ │ ├── local_constraint_solver_interface.h
│ │ │ │ │ ├── local_constraint_solver_interface.hpp
│ │ │ │ │ ├── local_planner_component.h
│ │ │ │ │ ├── local_planner_component.hpp
│ │ │ │ │ ├── trajectory_operator_interface.h
│ │ │ │ │ └── trajectory_operator_interface.hpp
│ │ │ ├── res
│ │ │ │ └── local_planner_parameters.yaml
│ │ │ └── src
│ │ │ │ └── local_planner_component.cpp
│ │ └── trajectory_operator_plugins
│ │ │ ├── CMakeLists.txt
│ │ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── trajectory_operator_plugins
│ │ │ │ ├── simple_sampler.h
│ │ │ │ └── simple_sampler.hpp
│ │ │ └── src
│ │ │ └── simple_sampler.cpp
│ ├── moveit_planning_pipeline_plugin.xml
│ ├── package.xml
│ ├── replan_invalidated_trajectory_plugin.xml
│ ├── simple_sampler_plugin.xml
│ ├── single_plan_execution_plugin.xml
│ └── test
│ │ ├── CMakeLists.txt
│ │ ├── cancel_action.cpp
│ │ ├── config
│ │ ├── demo_controller.yaml
│ │ ├── global_planner.yaml
│ │ ├── hybrid_planning_demo.rviz
│ │ ├── hybrid_planning_manager.yaml
│ │ └── local_planner.yaml
│ │ ├── launch
│ │ ├── hybrid_planning_common.py
│ │ └── test_basic_integration.test.py
│ │ └── test_basic_integration.cpp
├── move_group
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── ConfigExtras.cmake
│ ├── default_capabilities_plugin_description.xml
│ ├── include
│ │ └── moveit
│ │ │ └── move_group
│ │ │ ├── capability_names.h
│ │ │ ├── capability_names.hpp
│ │ │ ├── move_group_capability.h
│ │ │ ├── move_group_capability.hpp
│ │ │ ├── move_group_context.h
│ │ │ └── move_group_context.hpp
│ ├── package.xml
│ ├── scripts
│ │ ├── load_map
│ │ └── save_map
│ ├── src
│ │ ├── default_capabilities
│ │ │ ├── apply_planning_scene_service_capability.cpp
│ │ │ ├── apply_planning_scene_service_capability.hpp
│ │ │ ├── cartesian_path_service_capability.cpp
│ │ │ ├── cartesian_path_service_capability.hpp
│ │ │ ├── clear_octomap_service_capability.cpp
│ │ │ ├── clear_octomap_service_capability.hpp
│ │ │ ├── execute_trajectory_action_capability.cpp
│ │ │ ├── execute_trajectory_action_capability.hpp
│ │ │ ├── get_group_urdf_capability.cpp
│ │ │ ├── get_group_urdf_capability.hpp
│ │ │ ├── get_planning_scene_service_capability.cpp
│ │ │ ├── get_planning_scene_service_capability.hpp
│ │ │ ├── kinematics_service_capability.cpp
│ │ │ ├── kinematics_service_capability.hpp
│ │ │ ├── load_geometry_from_file_service_capability.cpp
│ │ │ ├── load_geometry_from_file_service_capability.hpp
│ │ │ ├── move_action_capability.cpp
│ │ │ ├── move_action_capability.hpp
│ │ │ ├── plan_service_capability.cpp
│ │ │ ├── plan_service_capability.hpp
│ │ │ ├── query_planners_service_capability.cpp
│ │ │ ├── query_planners_service_capability.hpp
│ │ │ ├── save_geometry_to_file_service_capability.cpp
│ │ │ ├── save_geometry_to_file_service_capability.hpp
│ │ │ ├── state_validation_service_capability.cpp
│ │ │ ├── state_validation_service_capability.hpp
│ │ │ ├── tf_publisher_capability.cpp
│ │ │ └── tf_publisher_capability.hpp
│ │ ├── list_capabilities.cpp
│ │ ├── move_group.cpp
│ │ ├── move_group_capability.cpp
│ │ └── move_group_context.cpp
│ └── test
│ │ ├── test_cancel_before_plan_execution.py
│ │ ├── test_cancel_before_plan_execution.test
│ │ ├── test_check_state_validity_in_empty_scene.py
│ │ └── test_check_state_validity_in_empty_scene.test
├── moveit_ros
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ └── package.xml
├── moveit_servo
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── MIGRATION.md
│ ├── README.md
│ ├── config
│ │ ├── demo_rviz_config.rviz
│ │ ├── demo_rviz_config_ros.rviz
│ │ ├── panda_simulated_config.yaml
│ │ ├── servo_parameters.yaml
│ │ └── test_config_panda.yaml
│ ├── demos
│ │ ├── cpp_interface
│ │ │ ├── demo_joint_jog.cpp
│ │ │ ├── demo_pose.cpp
│ │ │ └── demo_twist.cpp
│ │ └── servo_keyboard_input.cpp
│ ├── include
│ │ └── moveit_servo
│ │ │ ├── collision_monitor.h
│ │ │ ├── collision_monitor.hpp
│ │ │ ├── servo.h
│ │ │ ├── servo.hpp
│ │ │ ├── servo_node.h
│ │ │ ├── servo_node.hpp
│ │ │ └── utils
│ │ │ ├── command.h
│ │ │ ├── command.hpp
│ │ │ ├── common.h
│ │ │ ├── common.hpp
│ │ │ ├── datatypes.h
│ │ │ └── datatypes.hpp
│ ├── launch
│ │ ├── demo_joint_jog.launch.py
│ │ ├── demo_pose.launch.py
│ │ ├── demo_ros_api.launch.py
│ │ └── demo_twist.launch.py
│ ├── package.xml
│ ├── src
│ │ ├── collision_monitor.cpp
│ │ ├── servo.cpp
│ │ ├── servo_node.cpp
│ │ └── utils
│ │ │ ├── command.cpp
│ │ │ └── common.cpp
│ └── tests
│ │ ├── launch
│ │ ├── servo_cpp_integration.test.py
│ │ ├── servo_ros_integration.test.py
│ │ └── servo_utils.test.py
│ │ ├── servo_cpp_fixture.hpp
│ │ ├── servo_ros_fixture.hpp
│ │ ├── test_integration.cpp
│ │ ├── test_ros_integration.cpp
│ │ └── test_utils.cpp
├── occupancy_map_monitor
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── occupancy_map_monitor
│ │ │ ├── occupancy_map_monitor.h
│ │ │ ├── occupancy_map_monitor.hpp
│ │ │ ├── occupancy_map_monitor_middleware_handle.h
│ │ │ ├── occupancy_map_monitor_middleware_handle.hpp
│ │ │ ├── occupancy_map_updater.h
│ │ │ └── occupancy_map_updater.hpp
│ ├── package.xml
│ ├── src
│ │ ├── occupancy_map_monitor.cpp
│ │ ├── occupancy_map_monitor_middleware_handle.cpp
│ │ ├── occupancy_map_server.cpp
│ │ └── occupancy_map_updater.cpp
│ └── test
│ │ └── occupancy_map_monitor_tests.cpp
├── perception
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── ConfigExtras.cmake
│ ├── depth_image_octomap_updater
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── depth_image_octomap_updater
│ │ │ │ ├── depth_image_octomap_updater.h
│ │ │ │ └── depth_image_octomap_updater.hpp
│ │ └── src
│ │ │ ├── depth_image_octomap_updater.cpp
│ │ │ └── updater_plugin.cpp
│ ├── depth_image_octomap_updater_plugin_description.xml
│ ├── lazy_free_space_updater
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── lazy_free_space_updater
│ │ │ │ ├── lazy_free_space_updater.h
│ │ │ │ └── lazy_free_space_updater.hpp
│ │ └── src
│ │ │ └── lazy_free_space_updater.cpp
│ ├── mesh_filter
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── mesh_filter
│ │ │ │ ├── depth_self_filter_nodelet.h
│ │ │ │ ├── depth_self_filter_nodelet.hpp
│ │ │ │ ├── filter_job.h
│ │ │ │ ├── filter_job.hpp
│ │ │ │ ├── gl_mesh.h
│ │ │ │ ├── gl_mesh.hpp
│ │ │ │ ├── gl_renderer.h
│ │ │ │ ├── gl_renderer.hpp
│ │ │ │ ├── mesh_filter.h
│ │ │ │ ├── mesh_filter.hpp
│ │ │ │ ├── mesh_filter_base.h
│ │ │ │ ├── mesh_filter_base.hpp
│ │ │ │ ├── sensor_model.h
│ │ │ │ ├── sensor_model.hpp
│ │ │ │ ├── stereo_camera_model.h
│ │ │ │ ├── stereo_camera_model.hpp
│ │ │ │ ├── transform_provider.h
│ │ │ │ └── transform_provider.hpp
│ │ ├── src
│ │ │ ├── depth_self_filter_nodelet.cpp
│ │ │ ├── gl_mesh.cpp
│ │ │ ├── gl_renderer.cpp
│ │ │ ├── mesh_filter.cpp
│ │ │ ├── mesh_filter_base.cpp
│ │ │ ├── sensor_model.cpp
│ │ │ ├── stereo_camera_model.cpp
│ │ │ └── transform_provider.cpp
│ │ └── test
│ │ │ └── mesh_filter_test.cpp
│ ├── moveit_depth_self_filter.xml
│ ├── package.xml
│ ├── point_containment_filter
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── point_containment_filter
│ │ │ │ ├── shape_mask.h
│ │ │ │ └── shape_mask.hpp
│ │ └── src
│ │ │ └── shape_mask.cpp
│ ├── pointcloud_octomap_updater
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── pointcloud_octomap_updater
│ │ │ │ ├── pointcloud_octomap_updater.h
│ │ │ │ └── pointcloud_octomap_updater.hpp
│ │ └── src
│ │ │ ├── plugin_init.cpp
│ │ │ └── pointcloud_octomap_updater.cpp
│ ├── pointcloud_octomap_updater_plugin_description.xml
│ └── semantic_world
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ └── moveit
│ │ │ └── semantic_world
│ │ │ ├── semantic_world.h
│ │ │ └── semantic_world.hpp
│ │ └── src
│ │ └── semantic_world.cpp
├── planning
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── ConfigExtras.cmake
│ ├── collision_plugin_loader
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── collision_plugin_loader
│ │ │ │ ├── collision_plugin_loader.h
│ │ │ │ └── collision_plugin_loader.hpp
│ │ └── src
│ │ │ └── collision_plugin_loader.cpp
│ ├── constraint_sampler_manager_loader
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── constraint_sampler_manager_loader
│ │ │ │ ├── constraint_sampler_manager_loader.h
│ │ │ │ └── constraint_sampler_manager_loader.hpp
│ │ └── src
│ │ │ └── constraint_sampler_manager_loader.cpp
│ ├── default_request_adapters_plugin_description.xml
│ ├── default_response_adapters_plugin_description.xml
│ ├── kinematics_plugin_loader
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── kinematics_plugin_loader
│ │ │ │ ├── kinematics_plugin_loader.h
│ │ │ │ └── kinematics_plugin_loader.hpp
│ │ └── src
│ │ │ ├── kinematics_parameters.yaml
│ │ │ └── kinematics_plugin_loader.cpp
│ ├── moveit_cpp
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── moveit_cpp
│ │ │ │ ├── moveit_cpp.h
│ │ │ │ ├── moveit_cpp.hpp
│ │ │ │ ├── planning_component.h
│ │ │ │ └── planning_component.hpp
│ │ ├── src
│ │ │ ├── moveit_cpp.cpp
│ │ │ └── planning_component.cpp
│ │ └── test
│ │ │ ├── moveit_cpp.yaml
│ │ │ ├── moveit_cpp_test.cpp
│ │ │ └── moveit_cpp_test.test
│ ├── package.xml
│ ├── plan_execution
│ │ ├── CMakeLists.txt
│ │ ├── cfg
│ │ │ ├── PlanExecutionDynamicReconfigure.cfg
│ │ │ └── SenseForPlanDynamicReconfigure.cfg
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── plan_execution
│ │ │ │ ├── plan_execution.h
│ │ │ │ ├── plan_execution.hpp
│ │ │ │ ├── plan_representation.h
│ │ │ │ └── plan_representation.hpp
│ │ └── src
│ │ │ └── plan_execution.cpp
│ ├── planning_components_tools
│ │ ├── CMakeLists.txt
│ │ ├── README.md
│ │ ├── images
│ │ │ ├── collision_speed_100_box_collision.png
│ │ │ ├── collision_speed_100_meshes_collision.png
│ │ │ └── collision_speed_100_meshes_no_collision.png
│ │ ├── launch
│ │ │ └── collision_checker_compare.launch
│ │ ├── results
│ │ │ └── State_Operations_i2600K_PR2_Groovy.txt
│ │ └── src
│ │ │ ├── compare_collision_speed_checking_fcl_bullet.cpp
│ │ │ ├── display_random_state.cpp
│ │ │ ├── evaluate_collision_checking_speed.cpp
│ │ │ ├── print_planning_model_info.cpp
│ │ │ ├── print_planning_scene_info.cpp
│ │ │ ├── publish_scene_from_text.cpp
│ │ │ └── visualize_robot_collision_volume.cpp
│ ├── planning_pipeline
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── planning_pipeline
│ │ │ │ ├── planning_pipeline.h
│ │ │ │ └── planning_pipeline.hpp
│ │ ├── res
│ │ │ └── planning_pipeline_parameters.yaml
│ │ ├── src
│ │ │ └── planning_pipeline.cpp
│ │ └── test
│ │ │ ├── planning_pipeline_test_plugins.cpp
│ │ │ └── planning_pipeline_tests.cpp
│ ├── planning_pipeline_interfaces
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── planning_pipeline_interfaces
│ │ │ │ ├── plan_responses_container.h
│ │ │ │ ├── plan_responses_container.hpp
│ │ │ │ ├── planning_pipeline_interfaces.h
│ │ │ │ ├── planning_pipeline_interfaces.hpp
│ │ │ │ ├── solution_selection_functions.h
│ │ │ │ ├── solution_selection_functions.hpp
│ │ │ │ ├── stopping_criterion_functions.h
│ │ │ │ └── stopping_criterion_functions.hpp
│ │ └── src
│ │ │ ├── plan_responses_container.cpp
│ │ │ ├── planning_pipeline_interfaces.cpp
│ │ │ ├── solution_selection_functions.cpp
│ │ │ └── stopping_criterion_function.cpp
│ ├── planning_pipeline_test_plugins_description.xml
│ ├── planning_request_adapter_plugins
│ │ ├── CMakeLists.txt
│ │ ├── res
│ │ │ └── default_request_adapter_params.yaml
│ │ ├── src
│ │ │ ├── check_for_stacked_constraints.cpp
│ │ │ ├── check_start_state_bounds.cpp
│ │ │ ├── check_start_state_collision.cpp
│ │ │ ├── resolve_constraint_frames.cpp
│ │ │ └── validate_workspace_bounds.cpp
│ │ └── test
│ │ │ └── test_check_start_state_bounds.cpp
│ ├── planning_response_adapter_plugins
│ │ ├── CMakeLists.txt
│ │ ├── res
│ │ │ └── default_response_adapter_params.yaml
│ │ └── src
│ │ │ ├── add_ruckig_traj_smoothing.cpp
│ │ │ ├── add_time_optimal_parameterization.cpp
│ │ │ ├── display_motion_path.cpp
│ │ │ └── validate_path.cpp
│ ├── planning_scene_monitor
│ │ ├── CMakeLists.txt
│ │ ├── demos
│ │ │ └── demo_scene.cpp
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── planning_scene_monitor
│ │ │ │ ├── current_state_monitor.h
│ │ │ │ ├── current_state_monitor.hpp
│ │ │ │ ├── current_state_monitor_middleware_handle.h
│ │ │ │ ├── current_state_monitor_middleware_handle.hpp
│ │ │ │ ├── planning_scene_monitor.h
│ │ │ │ ├── planning_scene_monitor.hpp
│ │ │ │ ├── trajectory_monitor.h
│ │ │ │ ├── trajectory_monitor.hpp
│ │ │ │ ├── trajectory_monitor_middleware_handle.h
│ │ │ │ └── trajectory_monitor_middleware_handle.hpp
│ │ ├── src
│ │ │ ├── current_state_monitor.cpp
│ │ │ ├── current_state_monitor_middleware_handle.cpp
│ │ │ ├── planning_scene_monitor.cpp
│ │ │ ├── trajectory_monitor.cpp
│ │ │ └── trajectory_monitor_middleware_handle.cpp
│ │ └── test
│ │ │ ├── current_state_monitor_tests.cpp
│ │ │ ├── launch
│ │ │ └── planning_scene_monitor.test.py
│ │ │ ├── planning_scene_monitor_test.cpp
│ │ │ └── trajectory_monitor_tests.cpp
│ ├── rdf_loader
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── rdf_loader
│ │ │ │ ├── rdf_loader.h
│ │ │ │ ├── rdf_loader.hpp
│ │ │ │ ├── synchronized_string_parameter.h
│ │ │ │ └── synchronized_string_parameter.hpp
│ │ ├── src
│ │ │ ├── rdf_loader.cpp
│ │ │ └── synchronized_string_parameter.cpp
│ │ └── test
│ │ │ ├── boring_string_publisher.cpp
│ │ │ ├── data
│ │ │ ├── gonzo.srdf
│ │ │ ├── gonzo.urdf
│ │ │ ├── kermit.srdf
│ │ │ ├── kermit.urdf
│ │ │ └── robin.srdf.xacro
│ │ │ ├── launch
│ │ │ └── test_rdf_integration.test.py
│ │ │ └── test_rdf_integration.cpp
│ ├── robot_model_loader
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── robot_model_loader
│ │ │ │ ├── robot_model_loader.h
│ │ │ │ └── robot_model_loader.hpp
│ │ └── src
│ │ │ └── robot_model_loader.cpp
│ ├── srdf_publisher_node
│ │ ├── CMakeLists.txt
│ │ ├── src
│ │ │ └── srdf_publisher_node.cpp
│ │ └── test
│ │ │ └── srdf_publisher_test.py
│ └── trajectory_execution_manager
│ │ ├── CMakeLists.txt
│ │ ├── cfg
│ │ └── TrajectoryExecutionDynamicReconfigure.cfg
│ │ ├── dox
│ │ └── trajectory_execution.dox
│ │ ├── include
│ │ └── moveit
│ │ │ └── trajectory_execution_manager
│ │ │ ├── trajectory_execution_manager.h
│ │ │ └── trajectory_execution_manager.hpp
│ │ ├── lib
│ │ └── plugin_description.xml
│ │ ├── src
│ │ └── trajectory_execution_manager.cpp
│ │ └── test
│ │ ├── test_execution_manager.cpp
│ │ ├── test_execution_manager.test
│ │ ├── test_moveit_controller_manager.hpp
│ │ └── test_moveit_controller_manager_plugin.cpp
├── planning_interface
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── ConfigExtras.cmake
│ ├── common_planning_interface_objects
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── common_planning_interface_objects
│ │ │ │ ├── common_objects.h
│ │ │ │ └── common_objects.hpp
│ │ └── src
│ │ │ └── common_objects.cpp
│ ├── move_group_interface
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── move_group_interface
│ │ │ │ ├── move_group_interface.h
│ │ │ │ └── move_group_interface.hpp
│ │ └── src
│ │ │ └── move_group_interface.cpp
│ ├── package.xml
│ ├── planning_scene_interface
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── planning_scene_interface
│ │ │ │ ├── planning_scene_interface.h
│ │ │ │ └── planning_scene_interface.hpp
│ │ └── src
│ │ │ └── planning_scene_interface.cpp
│ └── test
│ │ ├── CMakeLists.txt
│ │ ├── config
│ │ └── start_positions.yaml
│ │ ├── launch
│ │ ├── move_group_launch_test_common.py
│ │ └── move_group_ompl_constraints.test.py
│ │ ├── move_group_interface_cpp_test.cpp
│ │ ├── move_group_interface_cpp_test.test
│ │ ├── move_group_ompl_constraints_test.cpp
│ │ ├── move_group_pick_place_test.cpp
│ │ ├── move_group_pick_place_test.test
│ │ ├── moveit_cpp.yaml
│ │ ├── moveit_cpp_test.cpp
│ │ ├── moveit_cpp_test.test
│ │ ├── subframes_test.cpp
│ │ ├── subframes_test.test
│ │ └── test_cleanup.cpp
├── robot_interaction
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit
│ │ │ └── robot_interaction
│ │ │ ├── interaction.h
│ │ │ ├── interaction.hpp
│ │ │ ├── interaction_handler.h
│ │ │ ├── interaction_handler.hpp
│ │ │ ├── interactive_marker_helpers.h
│ │ │ ├── interactive_marker_helpers.hpp
│ │ │ ├── kinematic_options.h
│ │ │ ├── kinematic_options.hpp
│ │ │ ├── kinematic_options_map.h
│ │ │ ├── kinematic_options_map.hpp
│ │ │ ├── locked_robot_state.h
│ │ │ ├── locked_robot_state.hpp
│ │ │ ├── robot_interaction.h
│ │ │ └── robot_interaction.hpp
│ ├── package.xml
│ ├── resources
│ │ ├── access-denied.dae
│ │ └── access-denied.stl
│ ├── src
│ │ ├── interaction_handler.cpp
│ │ ├── interactive_marker_helpers.cpp
│ │ ├── kinematic_options.cpp
│ │ ├── kinematic_options_map.cpp
│ │ ├── locked_robot_state.cpp
│ │ └── robot_interaction.cpp
│ └── test
│ │ └── locked_robot_state_test.cpp
├── tests
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── include
│ │ ├── parameter_name_list.h
│ │ └── parameter_name_list.hpp
│ ├── launch
│ │ └── move_group_api.test.py
│ ├── package.xml
│ └── src
│ │ └── move_group_api_test.cpp
├── trajectory_cache
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── include
│ │ └── moveit
│ │ │ └── trajectory_cache
│ │ │ ├── cache_insert_policies
│ │ │ ├── always_insert_never_prune_policy.hpp
│ │ │ ├── best_seen_execution_time_policy.hpp
│ │ │ └── cache_insert_policy_interface.hpp
│ │ │ ├── features
│ │ │ ├── constant_features.hpp
│ │ │ ├── features_interface.hpp
│ │ │ ├── get_cartesian_path_request_features.hpp
│ │ │ └── motion_plan_request_features.hpp
│ │ │ ├── trajectory_cache.h
│ │ │ ├── trajectory_cache.hpp
│ │ │ └── utils
│ │ │ └── utils.hpp
│ ├── package.xml
│ ├── src
│ │ ├── cache_insert_policies
│ │ │ ├── always_insert_never_prune_policy.cpp
│ │ │ └── best_seen_execution_time_policy.cpp
│ │ ├── features
│ │ │ ├── get_cartesian_path_request_features.cpp
│ │ │ └── motion_plan_request_features.cpp
│ │ ├── trajectory_cache.cpp
│ │ └── utils
│ │ │ └── utils.cpp
│ └── test
│ │ ├── CMakeLists.txt
│ │ ├── cache_insert_policies
│ │ ├── test_always_insert_never_prune_policy_with_move_group.cpp
│ │ └── test_best_seen_execution_time_policy_with_move_group.cpp
│ │ ├── features
│ │ ├── test_constant_features_with_move_group.cpp
│ │ ├── test_get_cartesian_path_request_features_with_move_group.cpp
│ │ └── test_motion_plan_request_features_with_move_group.cpp
│ │ ├── fixtures
│ │ ├── gtest_with_move_group.py
│ │ ├── move_group_fixture.cpp
│ │ ├── move_group_fixture.hpp
│ │ ├── warehouse_fixture.cpp
│ │ └── warehouse_fixture.hpp
│ │ ├── test_trajectory_cache.cpp
│ │ ├── test_trajectory_cache.py
│ │ └── utils
│ │ ├── test_utils.cpp
│ │ └── test_utils_with_move_group.cpp
├── visualization
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── ConfigExtras.cmake
│ ├── icons
│ │ └── classes
│ │ │ ├── MotionPlanning.png
│ │ │ ├── PlanningScene.png
│ │ │ ├── RobotState.png
│ │ │ └── Trajectory.png
│ ├── motion_planning_rviz_plugin
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── motion_planning_rviz_plugin
│ │ │ │ ├── interactive_marker_display.h
│ │ │ │ ├── interactive_marker_display.hpp
│ │ │ │ ├── motion_planning_display.h
│ │ │ │ ├── motion_planning_display.hpp
│ │ │ │ ├── motion_planning_frame.h
│ │ │ │ ├── motion_planning_frame.hpp
│ │ │ │ ├── motion_planning_frame_joints_widget.h
│ │ │ │ ├── motion_planning_frame_joints_widget.hpp
│ │ │ │ ├── motion_planning_param_widget.h
│ │ │ │ └── motion_planning_param_widget.hpp
│ │ └── src
│ │ │ ├── icons
│ │ │ ├── edit-clear.png
│ │ │ ├── icons.qrc
│ │ │ ├── list-add.png
│ │ │ └── list-remove.png
│ │ │ ├── interactive_marker_display.cpp
│ │ │ ├── motion_planning_display.cpp
│ │ │ ├── motion_planning_frame.cpp
│ │ │ ├── motion_planning_frame_context.cpp
│ │ │ ├── motion_planning_frame_joints_widget.cpp
│ │ │ ├── motion_planning_frame_manipulation.cpp
│ │ │ ├── motion_planning_frame_objects.cpp
│ │ │ ├── motion_planning_frame_planning.cpp
│ │ │ ├── motion_planning_frame_scenes.cpp
│ │ │ ├── motion_planning_frame_states.cpp
│ │ │ ├── motion_planning_param_widget.cpp
│ │ │ ├── plugin_init.cpp
│ │ │ └── ui
│ │ │ ├── motion_planning_rviz_plugin_frame.ui
│ │ │ └── motion_planning_rviz_plugin_frame_joints.ui
│ ├── motion_planning_rviz_plugin_description.xml
│ ├── package.xml
│ ├── planning_scene_rviz_plugin
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── planning_scene_rviz_plugin
│ │ │ │ ├── background_processing.h
│ │ │ │ ├── background_processing.hpp
│ │ │ │ ├── planning_scene_display.h
│ │ │ │ └── planning_scene_display.hpp
│ │ └── src
│ │ │ ├── background_processing.cpp
│ │ │ ├── planning_scene_display.cpp
│ │ │ └── plugin_init.cpp
│ ├── planning_scene_rviz_plugin_description.xml
│ ├── robot_state_rviz_plugin
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── robot_state_rviz_plugin
│ │ │ │ ├── robot_state_display.h
│ │ │ │ └── robot_state_display.hpp
│ │ └── src
│ │ │ ├── plugin_init.cpp
│ │ │ └── robot_state_display.cpp
│ ├── robot_state_rviz_plugin_description.xml
│ ├── rviz_plugin_render_tools
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ ├── moveit
│ │ │ │ └── rviz_plugin_render_tools
│ │ │ │ │ ├── octomap_render.h
│ │ │ │ │ ├── octomap_render.hpp
│ │ │ │ │ ├── planning_link_updater.h
│ │ │ │ │ ├── planning_link_updater.hpp
│ │ │ │ │ ├── planning_scene_render.h
│ │ │ │ │ ├── planning_scene_render.hpp
│ │ │ │ │ ├── render_shapes.h
│ │ │ │ │ ├── render_shapes.hpp
│ │ │ │ │ ├── robot_state_visualization.h
│ │ │ │ │ ├── robot_state_visualization.hpp
│ │ │ │ │ ├── trajectory_panel.h
│ │ │ │ │ ├── trajectory_panel.hpp
│ │ │ │ │ ├── trajectory_visualization.h
│ │ │ │ │ └── trajectory_visualization.hpp
│ │ │ └── ogre_helpers
│ │ │ │ ├── mesh_shape.h
│ │ │ │ └── mesh_shape.hpp
│ │ └── src
│ │ │ ├── mesh_shape.cpp
│ │ │ ├── octomap_render.cpp
│ │ │ ├── planning_link_updater.cpp
│ │ │ ├── planning_scene_render.cpp
│ │ │ ├── render_shapes.cpp
│ │ │ ├── robot_state_visualization.cpp
│ │ │ ├── trajectory_panel.cpp
│ │ │ └── trajectory_visualization.cpp
│ ├── trajectory_rviz_plugin
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── moveit
│ │ │ │ └── trajectory_rviz_plugin
│ │ │ │ ├── trajectory_display.h
│ │ │ │ └── trajectory_display.hpp
│ │ └── src
│ │ │ ├── plugin_init.cpp
│ │ │ └── trajectory_display.cpp
│ └── trajectory_rviz_plugin_description.xml
└── warehouse
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── ConfigExtras.cmake
│ ├── include
│ └── moveit
│ │ └── warehouse
│ │ ├── constraints_storage.h
│ │ ├── constraints_storage.hpp
│ │ ├── moveit_message_storage.h
│ │ ├── moveit_message_storage.hpp
│ │ ├── planning_scene_storage.h
│ │ ├── planning_scene_storage.hpp
│ │ ├── planning_scene_world_storage.h
│ │ ├── planning_scene_world_storage.hpp
│ │ ├── state_storage.h
│ │ ├── state_storage.hpp
│ │ ├── trajectory_constraints_storage.h
│ │ ├── trajectory_constraints_storage.hpp
│ │ ├── warehouse_connector.h
│ │ └── warehouse_connector.hpp
│ ├── package.xml
│ └── src
│ ├── broadcast.cpp
│ ├── constraints_storage.cpp
│ ├── db_path_config.py
│ ├── import_from_text.cpp
│ ├── initialize_demo_db.cpp
│ ├── moveit_message_storage.cpp
│ ├── planning_scene_storage.cpp
│ ├── planning_scene_world_storage.cpp
│ ├── save_as_text.cpp
│ ├── save_to_warehouse.cpp
│ ├── state_storage.cpp
│ ├── trajectory_constraints_storage.cpp
│ ├── warehouse_connector.cpp
│ └── warehouse_services.cpp
├── moveit_runtime
├── CHANGELOG.rst
├── CMakeLists.txt
└── package.xml
├── moveit_setup_assistant
├── README.md
├── graphics
│ ├── Wizard.png
│ ├── moveit_logo.png
│ └── source
│ │ ├── MoveIt_Setup_Asst_Sm.xcf
│ │ └── moveit_logo_large.png
├── moveit_setup_app_plugins
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit_setup_app_plugins
│ │ │ ├── launch_bundle.h
│ │ │ ├── launch_bundle.hpp
│ │ │ ├── launches.h
│ │ │ ├── launches.hpp
│ │ │ ├── launches_config.h
│ │ │ ├── launches_config.hpp
│ │ │ ├── launches_widget.h
│ │ │ ├── launches_widget.hpp
│ │ │ ├── perception.h
│ │ │ ├── perception.hpp
│ │ │ ├── perception_config.h
│ │ │ ├── perception_config.hpp
│ │ │ ├── perception_widget.h
│ │ │ └── perception_widget.hpp
│ ├── moveit_setup_framework_plugins.xml
│ ├── package.xml
│ ├── src
│ │ ├── launches.cpp
│ │ ├── launches_config.cpp
│ │ ├── launches_widget.cpp
│ │ ├── perception.cpp
│ │ ├── perception_config.cpp
│ │ └── perception_widget.cpp
│ ├── templates
│ │ ├── config
│ │ │ ├── moveit.rviz
│ │ │ └── sensors_3d.yaml
│ │ └── launch
│ │ │ └── generic.launch.py.template
│ └── test
│ │ └── test_perception.cpp
├── moveit_setup_assistant
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit_setup_assistant
│ │ │ ├── navigation_widget.h
│ │ │ ├── navigation_widget.hpp
│ │ │ ├── setup_assistant_widget.h
│ │ │ └── setup_assistant_widget.hpp
│ ├── launch
│ │ └── setup_assistant.launch.py
│ ├── package.xml
│ ├── resources
│ │ └── MoveIt_Setup_Assistant2.png
│ └── src
│ │ ├── collisions_updater.cpp
│ │ ├── main.cpp
│ │ ├── navigation_widget.cpp
│ │ └── setup_assistant_widget.cpp
├── moveit_setup_controllers
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit_setup_controllers
│ │ │ ├── control_xacro_config.h
│ │ │ ├── control_xacro_config.hpp
│ │ │ ├── controller_edit_widget.h
│ │ │ ├── controller_edit_widget.hpp
│ │ │ ├── controllers.h
│ │ │ ├── controllers.hpp
│ │ │ ├── controllers_config.h
│ │ │ ├── controllers_config.hpp
│ │ │ ├── controllers_widget.h
│ │ │ ├── controllers_widget.hpp
│ │ │ ├── included_xacro_config.h
│ │ │ ├── included_xacro_config.hpp
│ │ │ ├── modified_urdf_config.h
│ │ │ ├── modified_urdf_config.hpp
│ │ │ ├── moveit_controllers.h
│ │ │ ├── moveit_controllers.hpp
│ │ │ ├── moveit_controllers_config.h
│ │ │ ├── moveit_controllers_config.hpp
│ │ │ ├── ros2_controllers.h
│ │ │ ├── ros2_controllers.hpp
│ │ │ ├── ros2_controllers_config.h
│ │ │ ├── ros2_controllers_config.hpp
│ │ │ ├── urdf_modifications.h
│ │ │ ├── urdf_modifications.hpp
│ │ │ ├── urdf_modifications_widget.h
│ │ │ └── urdf_modifications_widget.hpp
│ ├── launch
│ │ └── control.launch.py
│ ├── moveit_setup_framework_plugins.xml
│ ├── package.xml
│ ├── src
│ │ ├── control_xacro_config.cpp
│ │ ├── controller_edit_widget.cpp
│ │ ├── controllers.cpp
│ │ ├── controllers_config.cpp
│ │ ├── controllers_widget.cpp
│ │ ├── modified_urdf_config.cpp
│ │ ├── moveit_controllers_config.cpp
│ │ ├── moveit_controllers_widget.cpp
│ │ ├── ros2_controllers_config.cpp
│ │ ├── ros2_controllers_widget.cpp
│ │ ├── urdf_modifications.cpp
│ │ └── urdf_modifications_widget.cpp
│ ├── templates
│ │ └── config
│ │ │ ├── gazebo_controllers.yaml
│ │ │ ├── modified.urdf.xacro
│ │ │ └── ros2_control.xacro
│ └── test
│ │ └── test_controllers.cpp
├── moveit_setup_core_plugins
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit_setup_core_plugins
│ │ │ ├── author_information.h
│ │ │ ├── author_information.hpp
│ │ │ ├── author_information_widget.h
│ │ │ ├── author_information_widget.hpp
│ │ │ ├── configuration_files.h
│ │ │ ├── configuration_files.hpp
│ │ │ ├── configuration_files_widget.h
│ │ │ ├── configuration_files_widget.hpp
│ │ │ ├── start_screen.h
│ │ │ ├── start_screen.hpp
│ │ │ ├── start_screen_widget.h
│ │ │ └── start_screen_widget.hpp
│ ├── moveit_setup_framework_plugins.xml
│ ├── package.xml
│ └── src
│ │ ├── author_information.cpp
│ │ ├── author_information_widget.cpp
│ │ ├── configuration_files.cpp
│ │ ├── configuration_files_widget.cpp
│ │ ├── start_screen.cpp
│ │ └── start_screen_widget.cpp
├── moveit_setup_framework
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit_setup_framework
│ │ │ ├── config.h
│ │ │ ├── config.hpp
│ │ │ ├── data
│ │ │ ├── package_settings_config.h
│ │ │ ├── package_settings_config.hpp
│ │ │ ├── srdf_config.h
│ │ │ ├── srdf_config.hpp
│ │ │ ├── urdf_config.h
│ │ │ └── urdf_config.hpp
│ │ │ ├── data_warehouse.h
│ │ │ ├── data_warehouse.hpp
│ │ │ ├── generated_file.h
│ │ │ ├── generated_file.hpp
│ │ │ ├── generated_time.h
│ │ │ ├── generated_time.hpp
│ │ │ ├── qt
│ │ │ ├── double_list_widget.h
│ │ │ ├── double_list_widget.hpp
│ │ │ ├── helper_widgets.h
│ │ │ ├── helper_widgets.hpp
│ │ │ ├── rviz_panel.h
│ │ │ ├── rviz_panel.hpp
│ │ │ ├── setup_step_widget.h
│ │ │ ├── setup_step_widget.hpp
│ │ │ ├── xml_syntax_highlighter.h
│ │ │ └── xml_syntax_highlighter.hpp
│ │ │ ├── setup_step.h
│ │ │ ├── setup_step.hpp
│ │ │ ├── templates.h
│ │ │ ├── templates.hpp
│ │ │ ├── testing_utils.h
│ │ │ ├── testing_utils.hpp
│ │ │ ├── utilities.h
│ │ │ └── utilities.hpp
│ ├── moveit_setup_framework_plugins.xml
│ ├── package.xml
│ ├── src
│ │ ├── data_warehouse.cpp
│ │ ├── double_list_widget.cpp
│ │ ├── helper_widgets.cpp
│ │ ├── package_settings_config.cpp
│ │ ├── rviz_panel.cpp
│ │ ├── srdf_config.cpp
│ │ ├── templates.cpp
│ │ ├── urdf_config.cpp
│ │ ├── utilities.cpp
│ │ └── xml_syntax_highlighter.cpp
│ └── templates
│ │ ├── CMakeLists.txt
│ │ ├── config
│ │ └── pilz_cartesian_limits.yaml
│ │ └── package.xml.template
├── moveit_setup_simulation
│ ├── CMakeLists.txt
│ ├── COLCON_IGNORE
│ ├── include
│ │ └── moveit_setup_simulation
│ │ │ ├── simulation.h
│ │ │ ├── simulation.hpp
│ │ │ ├── simulation_widget.h
│ │ │ └── simulation_widget.hpp
│ ├── moveit_setup_framework_plugins.xml
│ ├── package.xml
│ ├── src
│ │ ├── simulation.cpp
│ │ └── simulation_widget.cpp
│ └── templates
│ │ └── launch
│ │ ├── demo_gazebo.launch
│ │ └── gazebo.launch
├── moveit_setup_srdf_plugins
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── include
│ │ └── moveit_setup_srdf_plugins
│ │ │ ├── collision_linear_model.h
│ │ │ ├── collision_linear_model.hpp
│ │ │ ├── collision_matrix_model.h
│ │ │ ├── collision_matrix_model.hpp
│ │ │ ├── compute_default_collisions.h
│ │ │ ├── compute_default_collisions.hpp
│ │ │ ├── default_collisions.h
│ │ │ ├── default_collisions.hpp
│ │ │ ├── default_collisions_widget.h
│ │ │ ├── default_collisions_widget.hpp
│ │ │ ├── end_effectors.h
│ │ │ ├── end_effectors.hpp
│ │ │ ├── end_effectors_widget.h
│ │ │ ├── end_effectors_widget.hpp
│ │ │ ├── group_edit_widget.h
│ │ │ ├── group_edit_widget.hpp
│ │ │ ├── group_meta_config.h
│ │ │ ├── group_meta_config.hpp
│ │ │ ├── kinematic_chain_widget.h
│ │ │ ├── kinematic_chain_widget.hpp
│ │ │ ├── passive_joints.h
│ │ │ ├── passive_joints.hpp
│ │ │ ├── passive_joints_widget.h
│ │ │ ├── passive_joints_widget.hpp
│ │ │ ├── planning_groups.h
│ │ │ ├── planning_groups.hpp
│ │ │ ├── planning_groups_widget.h
│ │ │ ├── planning_groups_widget.hpp
│ │ │ ├── robot_poses.h
│ │ │ ├── robot_poses.hpp
│ │ │ ├── robot_poses_widget.h
│ │ │ ├── robot_poses_widget.hpp
│ │ │ ├── rotated_header_view.h
│ │ │ ├── rotated_header_view.hpp
│ │ │ ├── srdf_step.h
│ │ │ ├── srdf_step.hpp
│ │ │ ├── virtual_joints.h
│ │ │ ├── virtual_joints.hpp
│ │ │ ├── virtual_joints_widget.h
│ │ │ └── virtual_joints_widget.hpp
│ ├── moveit_setup_framework_plugins.xml
│ ├── package.xml
│ ├── src
│ │ ├── collision_linear_model.cpp
│ │ ├── collision_matrix_model.cpp
│ │ ├── compute_default_collisions.cpp
│ │ ├── default_collisions.cpp
│ │ ├── default_collisions_widget.cpp
│ │ ├── end_effectors.cpp
│ │ ├── end_effectors_widget.cpp
│ │ ├── group_edit_widget.cpp
│ │ ├── group_meta_config.cpp
│ │ ├── kinematic_chain_widget.cpp
│ │ ├── passive_joints.cpp
│ │ ├── passive_joints_widget.cpp
│ │ ├── planning_groups.cpp
│ │ ├── planning_groups_widget.cpp
│ │ ├── robot_poses.cpp
│ │ ├── robot_poses_widget.cpp
│ │ ├── rotated_header_view.cpp
│ │ ├── virtual_joints.cpp
│ │ └── virtual_joints_widget.cpp
│ └── test
│ │ └── test_srdf.cpp
└── unported_templates
│ ├── README.md
│ ├── gdb_settings.gdb
│ ├── joystick_control.launch
│ ├── ompl-chomp_planning_pipeline.launch.xml
│ └── run_benchmark_ompl.launch
└── sonar-project.properties
/.codespell_words:
--------------------------------------------------------------------------------
1 | aas
2 | ang
3 | ans
4 | AppendT
5 | atleast
6 | ba
7 | brin
8 | dof
9 | dur
10 | iff
11 | keyserver
12 | nto
13 | ot
14 | padd
15 | parameterizes
16 | planed
17 | sinic
18 | tork
19 | uint
20 | whis
21 |
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/.docker/.hadolint.yaml:
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1 | failure-threshold: warning
2 | ignored: ["DL3008", "DL4006"]
3 |
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/.docker/README.md:
--------------------------------------------------------------------------------
1 | # MoveIt Docker Containers
2 |
3 |
4 | For more information see the pages [Continuous Integration and Docker](http://moveit.ros.org/documentation/contributing/continuous_integration.html) and [Using Docker Containers with MoveIt](https://moveit.ros.org/install/docker/).
5 |
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/.docker/release/Dockerfile:
--------------------------------------------------------------------------------
1 | # ghcr.io/moveit/moveit2:${ROS_DISTRO}-release
2 | # Full debian-based install of MoveIt using apt-get
3 |
4 | ARG ROS_DISTRO=rolling
5 | FROM ros:${ROS_DISTRO}-ros-base
6 | LABEL maintainer Robert Haschke rhaschke@techfak.uni-bielefeld.de
7 |
8 | # Allow non-interactive installation of ros-*-rmw-connextdds
9 | ENV RTI_NC_LICENSE_ACCEPTED yes
10 |
11 | # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
12 | RUN apt-get update -q && \
13 | apt-get upgrade -q -y && \
14 | apt-get install -y "ros-${ROS_DISTRO}-moveit-*" --no-install-recommends && \
15 | rm -rf /var/lib/apt/lists/*
16 |
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/.github/ISSUE_TEMPLATE/config.yml:
--------------------------------------------------------------------------------
1 | blank_issues_enabled: false
2 |
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/.github/ISSUE_TEMPLATE/feature_request.yml:
--------------------------------------------------------------------------------
1 | name: Feature request
2 | description: Suggest an idea for this project
3 | labels: ["enhancement"]
4 | body:
5 | - type: textarea
6 | id: problem
7 | attributes:
8 | label: Is your feature request related to a problem? Please describe.
9 | placeholder: A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
10 | validations:
11 | required: true
12 |
13 | - type: textarea
14 | id: solution
15 | attributes:
16 | label: Describe the solution you'd like
17 | placeholder: A clear and concise description of what you want to happen.
18 | validations:
19 | required: true
20 |
21 | - type: textarea
22 | id: alternatives
23 | attributes:
24 | label: Describe alternatives you've considered
25 | placeholder: A clear and concise description of any alternative solutions or features you've considered.
26 | validations:
27 | required: false
28 |
29 | - type: textarea
30 | id: context
31 | attributes:
32 | label: Additional context
33 | placeholder: Add any other context or screenshots about the feature request here.
34 | validations:
35 | required: false
36 |
--------------------------------------------------------------------------------
/.github/PULL_REQUEST_TEMPLATE.md:
--------------------------------------------------------------------------------
1 | ### Description
2 |
3 | Please explain the changes you made, including a reference to the related issue if applicable
4 |
5 | ### Checklist
6 | - [ ] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)
7 | - [ ] Extend the tutorials / documentation [reference](http://moveit.ros.org/documentation/contributing/)
8 | - [ ] Document API changes relevant to the user in the [MIGRATION.md](https://github.com/moveit/moveit2/blob/main/MIGRATION.md) notes
9 | - [ ] Create tests, which fail without this PR [reference](https://moveit.picknik.ai/humble/doc/examples/tests/tests_tutorial.html)
10 | - [ ] Include a screenshot if changing a GUI
11 | - [ ] While waiting for someone to review your request, please help review [another open pull request](https://github.com/moveit/moveit2/pulls) to support the maintainers
12 |
13 | [//]: # "You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!"
14 |
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/.github/ccache.conf:
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1 | max_size = 10.0G
2 |
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/.github/config.yaml:
--------------------------------------------------------------------------------
1 | # Configuration for welcome - https://github.com/behaviorbot/welcome
2 |
3 | # Configuration for new-issue-welcome - https://github.com/behaviorbot/new-issue-welcome
4 |
5 | # Comment to be posted to on first time issues
6 | newIssueWelcomeComment: >
7 | Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.
8 |
9 | # Configuration for new-pr-welcome - https://github.com/behaviorbot/new-pr-welcome
10 |
11 | # Comment to be posted to on PRs from first time contributors in your repository
12 | newPRWelcomeComment: >
13 | Thanks for helping in improving MoveIt and open source robotics!
14 |
15 | # Configuration for first-pr-merge - https://github.com/behaviorbot/first-pr-merge
16 |
17 | # Comment to be posted to on pull requests merged by a first time user
18 | firstPRMergeComment: >
19 | Congrats on getting your first MoveIt pull request merged and improving open source robotics!
20 |
21 | # It is recommended to include as many gifs and emojis as possible!
22 |
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/.github/dependabot.yml:
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1 | version: 2
2 | updates:
3 | - package-ecosystem: "docker"
4 | directory: "/"
5 | schedule:
6 | interval: "daily"
7 | commit-message:
8 | prefix: "🐳"
9 | - package-ecosystem: "github-actions"
10 | directory: "/"
11 | schedule:
12 | interval: "daily"
13 | commit-message:
14 | prefix: "🛠️"
15 |
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/.github/mergify.yml:
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1 | pull_request_rules:
2 | - name: backport to humble at reviewers discretion
3 | conditions:
4 | - base=main
5 | - "label=backport-humble"
6 | actions:
7 | backport:
8 | branches:
9 | - humble
10 |
11 | - name: backport to iron at reviewers discretion
12 | conditions:
13 | - base=main
14 | - "label=backport-iron"
15 | actions:
16 | backport:
17 | branches:
18 | - iron
19 |
20 | - name: backport to jazzy at reviewers discretion
21 | conditions:
22 | - base=main
23 | - "label=backport-jazzy"
24 | actions:
25 | backport:
26 | branches:
27 | - jazzy
28 |
29 | - name: ask to resolve conflict
30 | conditions:
31 | - conflict
32 | - author!=mergify[bot]
33 | actions:
34 | comment:
35 | message: This pull request is in conflict. Could you fix it @{{author}}?
36 |
37 | - name: development targets main branch
38 | conditions:
39 | - base!=main
40 | - author!=mergify[bot]
41 | actions:
42 | comment:
43 | message: |
44 | Please target the `main` branch for development, we will backport the changes to {{base}} for you if approved and if they don't break API.
45 |
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/.github/workflows/docker_lint.yaml:
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1 | name: Docker Lint
2 |
3 | on:
4 | workflow_dispatch:
5 | push:
6 | paths:
7 | - .docker/**
8 | - .github/workflows/docker_lint.yaml
9 | pull_request:
10 | paths:
11 | - .docker/**
12 | - .github/workflows/docker_lint.yaml
13 |
14 | jobs:
15 | docker-lint:
16 | strategy:
17 | fail-fast: false
18 | matrix:
19 | DOCKERFILE_PATH: [ci, ci-testing, release, source]
20 |
21 | name: Lint Dockerfiles
22 | runs-on: ubuntu-latest
23 | steps:
24 | - uses: actions/checkout@v4
25 | - uses: hadolint/hadolint-action@v3.1.0
26 | with:
27 | dockerfile: .docker/${{ matrix.DOCKERFILE_PATH }}/Dockerfile
28 | config: .docker/.hadolint.yaml
29 |
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/.github/workflows/format.yaml:
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1 | # This is a format job. Pre-commit has a first-party GitHub action, so we use
2 | # that: https://github.com/pre-commit/action
3 |
4 | name: Formatting (pre-commit)
5 |
6 | on:
7 | workflow_dispatch:
8 | pull_request:
9 | merge_group:
10 | push:
11 | branches:
12 | - main
13 |
14 | jobs:
15 | pre-commit:
16 | name: Format
17 | runs-on: ubuntu-22.04
18 | steps:
19 | - uses: actions/checkout@v4
20 | - uses: actions/setup-python@v5
21 | with:
22 | python-version: 3.x
23 | - name: Install clang-format-14
24 | run: sudo apt-get install clang-format-14
25 | - uses: pre-commit/action@v3.0.1
26 | id: precommit
27 | - name: Upload pre-commit changes
28 | if: failure() && steps.precommit.outcome == 'failure'
29 | uses: rhaschke/upload-git-patch-action@main
30 | with:
31 | name: pre-commit
32 |
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/.github/workflows/prerelease.yaml:
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1 | # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
2 | # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
3 |
4 | name: pre-release
5 |
6 | on:
7 | workflow_dispatch:
8 |
9 | jobs:
10 | default:
11 | strategy:
12 | fail-fast: false
13 | matrix:
14 | distro: [rolling]
15 |
16 | env:
17 | ROS_DISTRO: ${{ matrix.distro }}
18 | PRERELEASE: true
19 | BASEDIR: ${{ github.workspace }}/.work
20 |
21 | name: "${{ matrix.distro }}"
22 | runs-on: ubuntu-latest
23 | steps:
24 | - uses: actions/checkout@v4
25 | - name: industrial_ci
26 | uses: ros-industrial/industrial_ci@master
27 |
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/.github/workflows/stale.yaml:
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1 | name: 'Stale issues and PRs'
2 | on:
3 | workflow_dispatch:
4 | schedule:
5 | # UTC noon every workday
6 | - cron: '0 12 * * MON-FRI'
7 |
8 | jobs:
9 | stale:
10 | runs-on: ubuntu-latest
11 | permissions:
12 | issues: write
13 | pull-requests: write
14 | steps:
15 | - uses: actions/stale@v9
16 | with:
17 | stale-issue-label: 'stale'
18 | stale-pr-label: 'stale'
19 | stale-issue-message: 'This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.'
20 | close-issue-message: 'This issue was closed because it has been stalled for 45 days with no activity.'
21 | stale-pr-message: 'This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.'
22 | days-before-stale: 45
23 | days-before-close: 45
24 | days-before-pr-close: -1
25 | exempt-all-milestones: true
26 | exempt-issue-labels: good first issue,persistent,release,roadmap,Epic
27 |
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/.gitignore:
--------------------------------------------------------------------------------
1 | *~
2 | ~$
3 | .swp$
4 |
5 | # colcon
6 | build/
7 | install/
8 | log/
9 |
10 | bin/
11 | lib/
12 | msg_gen/
13 | srv_gen/
14 | msg/.*Action\.msg$
15 | msg/.*ActionFeedback\.msg$
16 | msg/.*ActionGoal\.msg$
17 | msg/.*ActionResult\.msg$
18 | msg/.*Feedback\.msg$
19 | msg/.*Goal\.msg$
20 | msg/.*Result\.msg$
21 | msg/_.*\.py$
22 |
23 | \.pcd$
24 | .pyc$
25 |
26 | # Generated by dynamic reconfigure
27 | \.cfgc$
28 | /cfg/cpp/
29 | /cfg/.*\.py$
30 |
31 | # Ignore generated docs
32 | .dox$
33 | .wikidoc$
34 |
35 | # eclipse stuff
36 | .project
37 | .cproject
38 |
39 | # qcreator stuff
40 | CMakeLists.txt.user
41 |
42 | srv/_.*\.py$
43 | \.pcd$
44 | .pyc$
45 | qtcreator-*
46 | *.user
47 |
48 | *~$
49 |
50 | # Emacs
51 | .#*
52 |
53 | # VSCode
54 | .vscode
55 |
56 | # Vim
57 | *.swp
58 |
59 | # Continuous Integration
60 | .moveit_ci
61 |
62 | *.pyc
63 |
64 | #gdb
65 | *.gdb
66 |
67 | _build
68 | _autosummary
69 |
70 | # VSCode Devcontainer
71 | .devcontainer
72 |
73 | # clangd
74 | .cache
75 |
76 | # source dependencies (see moveit2.repos)
77 | moveit_msgs
78 | moveit_resources
79 |
--------------------------------------------------------------------------------
/CONTRIBUTING.md:
--------------------------------------------------------------------------------
1 | # Contributing to MoveIt
2 |
3 | Thanks for getting involved! Information on contributing can be found at
4 | [http://moveit.ros.org/documentation/contributing/](http://moveit.ros.org/documentation/contributing/)
5 |
--------------------------------------------------------------------------------
/codecov.yaml:
--------------------------------------------------------------------------------
1 | coverage:
2 | precision: 2
3 | round: up
4 | range: "45...70"
5 | status:
6 | project:
7 | default:
8 | target: auto
9 | threshold: 5%
10 | patch: off
11 | ignore:
12 | - "moveit_planners/test_configs"
13 |
--------------------------------------------------------------------------------
/moveit/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.22)
2 | project(moveit)
3 | find_package(ament_cmake REQUIRED)
4 |
5 | ament_package()
6 |
--------------------------------------------------------------------------------
/moveit/scripts/README.md:
--------------------------------------------------------------------------------
1 | # Utility Scripts for MoveIt
2 |
3 | ## README Markdown Buildfarm Table Generator
4 |
5 | This Python script will generate Github-style Markdown table with Jenkins badges for every package recursively from the current folder.
6 | It will order all packages alphabetically, but start with all MoveIt packages first.
7 | For generating an updated README for a new ROS distribution:
8 | First update the `create_readme_table.py` script and add/remove the current MoveIt-supported ROS distros and their corresponding Ubuntu distribution in the specified Python dictionary.
9 | Then, in the main MoveIt `README.md` file, remove the "## ROS Buildfarm" header and the following table.
10 | Finally, from your catkin workspace with every MoveIt package, run the `create_readme_table.py` script.
11 | For example:
12 |
13 | cd ~/ws_moveit/src
14 | python moveit/moveit/scripts/create_readme_table.py >> moveit/README.md
15 |
16 | ## HTML Table Generator
17 |
18 | This python script will generate an html page with useful data about every package in the current folder the script is run in.
19 | Therefore, to summarize moveit, run within a catkin workspace.
20 | For example:
21 |
22 | cd ~/ws_moveit/src
23 | python moveit/moveit/scripts/create_maintainer_table.py
24 |
25 | The generated page should automatically open in your web browser.
26 |
--------------------------------------------------------------------------------
/moveit2.repos:
--------------------------------------------------------------------------------
1 | repositories:
2 | # Keep moveit_* repos here because they are released with moveit
3 | moveit_msgs:
4 | type: git
5 | url: https://github.com/moveit/moveit_msgs.git
6 | version: ros2
7 | moveit_resources:
8 | type: git
9 | url: https://github.com/moveit/moveit_resources.git
10 | version: ros2
11 |
--------------------------------------------------------------------------------
/moveit_common/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.22)
2 | project(moveit_common NONE)
3 |
4 | find_package(ament_cmake REQUIRED)
5 |
6 | ament_package(CONFIG_EXTRAS "moveit_common-extras.cmake")
7 |
8 | install(DIRECTORY cmake DESTINATION share/moveit_common)
9 |
--------------------------------------------------------------------------------
/moveit_common/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_common
5 | 2.13.2
6 | Common support functionality used throughout MoveIt
7 | Henning Kayser
8 | Tyler Weaver
9 | MoveIt Release Team
10 |
11 | BSD-3-Clause
12 |
13 | http://moveit.ros.org
14 | https://github.com/moveit/moveit2/issues
15 | https://github.com/moveit/moveit2
16 |
17 | Lior Lustgarten
18 |
19 | ament_cmake
20 |
21 | backward_ros
22 |
23 |
24 | ament_cmake
25 |
26 |
27 |
--------------------------------------------------------------------------------
/moveit_configs_utils/default_configs/chomp_planning.yaml:
--------------------------------------------------------------------------------
1 | planning_plugins:
2 | - chomp_interface/CHOMPPlanner
3 | enable_failure_recovery: true
4 | # The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
5 | request_adapters:
6 | - default_planning_request_adapters/ResolveConstraintFrames
7 | - default_planning_request_adapters/ValidateWorkspaceBounds
8 | - default_planning_request_adapters/CheckStartStateBounds
9 | - default_planning_request_adapters/CheckStartStateCollision
10 | response_adapters:
11 | - default_planning_response_adapters/AddTimeOptimalParameterization
12 | - default_planning_response_adapters/ValidateSolution
13 | - default_planning_response_adapters/DisplayMotionPath
14 |
15 | ridge_factor: 0.01
16 |
--------------------------------------------------------------------------------
/moveit_configs_utils/default_configs/ompl_planning.yaml:
--------------------------------------------------------------------------------
1 | planning_plugins:
2 | - ompl_interface/OMPLPlanner
3 | # The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
4 | request_adapters:
5 | - default_planning_request_adapters/ResolveConstraintFrames
6 | - default_planning_request_adapters/ValidateWorkspaceBounds
7 | - default_planning_request_adapters/CheckStartStateBounds
8 | - default_planning_request_adapters/CheckStartStateCollision
9 | response_adapters:
10 | - default_planning_response_adapters/AddTimeOptimalParameterization
11 | - default_planning_response_adapters/ValidateSolution
12 | - default_planning_response_adapters/DisplayMotionPath
13 |
--------------------------------------------------------------------------------
/moveit_configs_utils/default_configs/pilz_industrial_motion_planner_planning.yaml:
--------------------------------------------------------------------------------
1 | planning_plugins:
2 | - pilz_industrial_motion_planner/CommandPlanner
3 | default_planner_config: PTP
4 | request_adapters:
5 | - default_planning_request_adapters/ResolveConstraintFrames
6 | - default_planning_request_adapters/ValidateWorkspaceBounds
7 | - default_planning_request_adapters/CheckStartStateBounds
8 | - default_planning_request_adapters/CheckStartStateCollision
9 | response_adapters:
10 | - default_planning_response_adapters/ValidateSolution
11 | - default_planning_response_adapters/DisplayMotionPath
12 | capabilities: >-
13 | pilz_industrial_motion_planner/MoveGroupSequenceAction
14 | pilz_industrial_motion_planner/MoveGroupSequenceService
15 |
--------------------------------------------------------------------------------
/moveit_configs_utils/default_configs/stomp_planning.yaml:
--------------------------------------------------------------------------------
1 | planning_plugins:
2 | - stomp_moveit/StompPlanner
3 | request_adapters:
4 | - default_planning_request_adapters/ResolveConstraintFrames
5 | - default_planning_request_adapters/ValidateWorkspaceBounds
6 | - default_planning_request_adapters/CheckStartStateBounds
7 | - default_planning_request_adapters/CheckStartStateCollision
8 | response_adapters:
9 | - default_planning_response_adapters/AddTimeOptimalParameterization
10 | - default_planning_response_adapters/ValidateSolution
11 | - default_planning_response_adapters/DisplayMotionPath
12 |
13 | stomp_moveit:
14 | num_timesteps: 60
15 | num_iterations: 40
16 | num_iterations_after_valid: 0
17 | num_rollouts: 30
18 | max_rollouts: 30
19 | exponentiated_cost_sensitivity: 0.8
20 | control_cost_weight: 0.1
21 | delta_t: 0.1
22 |
--------------------------------------------------------------------------------
/moveit_configs_utils/moveit_configs_utils/__init__.py:
--------------------------------------------------------------------------------
1 | from .moveit_configs_builder import MoveItConfigsBuilder, MoveItConfigs
2 |
--------------------------------------------------------------------------------
/moveit_configs_utils/moveit_configs_utils/substitutions/__init__.py:
--------------------------------------------------------------------------------
1 | from .xacro import Xacro
2 |
--------------------------------------------------------------------------------
/moveit_configs_utils/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_configs_utils
5 | 2.13.2
6 | Python library for loading moveit config parameters in launch files
7 | MoveIt Release Team
8 | BSD-3-Clause
9 | Jafar Abdi
10 | David V. Lu!!
11 |
12 | ament_index_python
13 | launch_param_builder
14 | launch
15 | launch_ros
16 | srdfdom
17 |
18 |
19 | ament_python
20 |
21 |
22 |
--------------------------------------------------------------------------------
/moveit_configs_utils/resource/moveit_configs_utils:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_configs_utils/resource/moveit_configs_utils
--------------------------------------------------------------------------------
/moveit_configs_utils/setup.py:
--------------------------------------------------------------------------------
1 | from setuptools import setup, find_packages
2 | from glob import glob
3 |
4 | package_name = "moveit_configs_utils"
5 |
6 | setup(
7 | name=package_name,
8 | version="2.13.2",
9 | packages=find_packages(),
10 | data_files=[
11 | ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
12 | ("share/" + package_name, ["package.xml"]),
13 | ("share/" + package_name + "/default_configs", glob("default_configs/*")),
14 | ],
15 | install_requires=["setuptools"],
16 | zip_safe=True,
17 | maintainer="MoveIt Release Team",
18 | maintainer_email="moveit_releasers@googlegroups.com",
19 | description="Python library for loading MoveIt config parameters in launch files",
20 | license="BSD",
21 | tests_require=["pytest"],
22 | entry_points={
23 | "console_scripts": [],
24 | },
25 | )
26 |
--------------------------------------------------------------------------------
/moveit_configs_utils/test/robot.urdf.xacro:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
20 |
--------------------------------------------------------------------------------
/moveit_configs_utils/test/test_moveit_resources_configs.py:
--------------------------------------------------------------------------------
1 | from moveit_configs_utils import MoveItConfigsBuilder
2 |
3 |
4 | def test_moveit_resources_configs():
5 | for pkg_name in ["moveit_resources_fanuc", "moveit_resources_panda"]:
6 | try:
7 | config = MoveItConfigsBuilder(pkg_name)
8 | assert config.to_dict()
9 | except RuntimeError as e:
10 | assert False, f"Default {pkg_name} configuration failed to build: {e}"
11 |
12 |
13 | def test_panda_with_gripper_config():
14 | try:
15 | moveit_config = (
16 | MoveItConfigsBuilder("moveit_resources_panda")
17 | .robot_description(file_path="config/panda.urdf.xacro")
18 | .robot_description_semantic(file_path="config/panda.srdf")
19 | .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
20 | )
21 | assert moveit_config.to_dict()
22 | except RuntimeError as e:
23 | assert False, f"moveit_resources_panda gripper config failed to build: {e}"
24 |
--------------------------------------------------------------------------------
/moveit_core/ConfigExtras.cmake:
--------------------------------------------------------------------------------
1 | # Extras module needed for dependencies to find boost components
2 |
3 | find_package(
4 | Boost
5 | REQUIRED
6 | chrono
7 | date_time
8 | filesystem
9 | iostreams
10 | program_options
11 | regex
12 | serialization
13 | system
14 | thread)
15 |
--------------------------------------------------------------------------------
/moveit_core/README.md:
--------------------------------------------------------------------------------
1 | # MoveIt Core
2 |
3 | This repository includes core libraries used by MoveIt:
4 | - representation of kinematic models
5 | - collision detection interfaces and implementations
6 | - interfaces for kinematic solver plugins
7 | - interfaces for motion planning plugins
8 | - interfaces for controllers and sensors
9 |
10 | These libraries do not depend on ROS (except ROS messages) and can be used independently.
11 |
--------------------------------------------------------------------------------
/moveit_core/collision_detection_bullet/README.md:
--------------------------------------------------------------------------------
1 | ### Using Bullet as a collision checker [experimental]
2 | To use Bullet as a collision checker you can manually switch to Bullet using the planning_scene.setActiveCollisionDetector()
3 |
4 | ### Speed Benchmarks
5 | For speed comparisons to FCL please see (relative link to README of benchmark script will be added).
6 |
7 | ### Current Limitations
8 | Collision detection using Bullet is thread safe but parallelization does not improve performance.
9 |
--------------------------------------------------------------------------------
/moveit_core/collision_detection_bullet/empty_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
--------------------------------------------------------------------------------
/moveit_core/collision_detector_bullet_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
4 |
5 | Bullet Collision Detector
6 |
7 |
8 |
9 |
--------------------------------------------------------------------------------
/moveit_core/collision_detector_fcl_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
4 |
5 | FCL Collision Detector, default for MoveIt.
6 |
7 |
8 |
9 |
--------------------------------------------------------------------------------
/moveit_core/constraint_samplers/dox/constraint_samplers.dox:
--------------------------------------------------------------------------------
1 | /**
2 | \page constraint_sampling Sampling Constraints
3 |
4 | See constraint_samplers namespace
5 |
6 |
7 | */
8 |
--------------------------------------------------------------------------------
/moveit_core/controller_manager/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | install(DIRECTORY include/ DESTINATION include/moveit_core)
2 |
--------------------------------------------------------------------------------
/moveit_core/distance_field/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(
2 | moveit_distance_field SHARED
3 | src/distance_field.cpp src/find_internal_points.cpp
4 | src/propagation_distance_field.cpp)
5 | target_include_directories(
6 | moveit_distance_field
7 | PUBLIC $
8 | $)
9 | target_link_libraries(moveit_distance_field moveit_macros moveit_utils)
10 | set_target_properties(moveit_distance_field
11 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
12 | ament_target_dependencies(
13 | moveit_distance_field
14 | Boost
15 | eigen_stl_containers
16 | urdfdom
17 | urdfdom_headers
18 | visualization_msgs
19 | geometric_shapes
20 | tf2_eigen
21 | octomap)
22 |
23 | install(DIRECTORY include/ DESTINATION include/moveit_core)
24 |
25 | if(BUILD_TESTING)
26 | find_package(ament_cmake_gtest REQUIRED)
27 |
28 | ament_add_gtest(test_voxel_grid test/test_voxel_grid.cpp)
29 | target_link_libraries(test_voxel_grid moveit_distance_field)
30 |
31 | ament_add_gtest(test_distance_field test/test_distance_field.cpp)
32 | target_link_libraries(test_distance_field moveit_distance_field octomap)
33 | endif()
34 |
--------------------------------------------------------------------------------
/moveit_core/dynamics_solver/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_dynamics_solver SHARED src/dynamics_solver.cpp)
2 | target_include_directories(
3 | moveit_dynamics_solver
4 | PUBLIC $
5 | $)
6 | set_target_properties(moveit_dynamics_solver
7 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
8 |
9 | ament_target_dependencies(moveit_dynamics_solver urdf urdfdom_headers
10 | orocos_kdl visualization_msgs kdl_parser)
11 | target_link_libraries(moveit_dynamics_solver moveit_robot_state moveit_utils)
12 |
13 | install(DIRECTORY include/ DESTINATION include/moveit_core)
14 |
--------------------------------------------------------------------------------
/moveit_core/exceptions/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_exceptions SHARED src/exceptions.cpp)
2 | target_include_directories(
3 | moveit_exceptions
4 | PUBLIC $
5 | $)
6 | set_target_properties(moveit_exceptions PROPERTIES VERSION
7 | "${${PROJECT_NAME}_VERSION}")
8 | ament_target_dependencies(moveit_exceptions Boost rclcpp urdfdom
9 | urdfdom_headers)
10 | target_link_libraries(moveit_exceptions moveit_utils)
11 |
12 | install(DIRECTORY include/ DESTINATION include/moveit_core)
13 |
--------------------------------------------------------------------------------
/moveit_core/filter_plugin_acceleration.xml:
--------------------------------------------------------------------------------
1 |
2 |
4 |
5 | Limits acceleration of commands to generate smooth motion.
6 |
7 |
8 |
9 |
--------------------------------------------------------------------------------
/moveit_core/filter_plugin_butterworth.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | Simple Butterworth 1st order lowpass filter that only has one tuneable parameter and does not overshoot.
5 |
6 |
7 |
8 |
--------------------------------------------------------------------------------
/moveit_core/filter_plugin_ruckig.xml:
--------------------------------------------------------------------------------
1 |
2 |
4 |
5 | Jerk/acceleration/velocity-limited command smoothing.
6 |
7 |
8 |
9 |
--------------------------------------------------------------------------------
/moveit_core/kinematics_base/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_kinematics_base SHARED src/kinematics_base.cpp)
2 | target_include_directories(
3 | moveit_kinematics_base
4 | PUBLIC $
5 | $)
6 | target_link_libraries(moveit_kinematics_base moveit_macros moveit_robot_model
7 | moveit_utils)
8 | include(GenerateExportHeader)
9 | generate_export_header(moveit_kinematics_base)
10 | target_include_directories(
11 | moveit_kinematics_base PUBLIC $
12 | )# for this library
13 |
14 | # This line ensures that messages are built before the library is built
15 | ament_target_dependencies(
16 | moveit_kinematics_base
17 | rclcpp
18 | urdf
19 | urdfdom_headers
20 | srdfdom
21 | moveit_msgs
22 | geometric_shapes
23 | geometry_msgs)
24 |
25 | install(DIRECTORY include/ DESTINATION include/moveit_core)
26 | install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_kinematics_base_export.h
27 | DESTINATION include/moveit_core)
28 |
--------------------------------------------------------------------------------
/moveit_core/kinematics_metrics/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_kinematics_metrics SHARED src/kinematics_metrics.cpp)
2 | target_include_directories(
3 | moveit_kinematics_metrics
4 | PUBLIC $
5 | $)
6 | set_target_properties(moveit_kinematics_metrics
7 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
8 |
9 | ament_target_dependencies(moveit_kinematics_metrics urdf urdfdom_headers
10 | visualization_msgs)
11 |
12 | target_link_libraries(moveit_kinematics_metrics moveit_robot_model
13 | moveit_robot_state moveit_utils)
14 |
15 | install(DIRECTORY include/ DESTINATION include/moveit_core)
16 |
--------------------------------------------------------------------------------
/moveit_core/macros/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_macros INTERFACE)
2 | target_include_directories(
3 | moveit_macros INTERFACE $
4 | $)
5 |
6 | install(DIRECTORY include/ DESTINATION include/moveit_core)
7 |
--------------------------------------------------------------------------------
/moveit_core/online_signal_smoothing/res/acceleration_limiting_diagram.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_core/online_signal_smoothing/res/acceleration_limiting_diagram.png
--------------------------------------------------------------------------------
/moveit_core/online_signal_smoothing/src/acceleration_filter_parameters.yaml:
--------------------------------------------------------------------------------
1 | online_signal_smoothing:
2 | update_period: {
3 | type: double,
4 | description: "The expected time in seconds between calls to `doSmoothing` method.",
5 | read_only: true,
6 | validation: {
7 | gt<>: 0.0
8 | }
9 | }
10 | planning_group_name: {
11 | type: string,
12 | read_only: true,
13 | description: "The name of the MoveIt planning group of the robot \
14 | This parameter does not have a default value and \
15 | must be passed to the node during launch time."
16 | }
17 |
--------------------------------------------------------------------------------
/moveit_core/online_signal_smoothing/src/butterworth_parameters.yaml:
--------------------------------------------------------------------------------
1 | online_signal_smoothing:
2 | butterworth_filter_coeff: {
3 | type: double,
4 | default_value: 1.5,
5 | description: "Filter coefficient for the Butterworth filter",
6 | validation: {
7 | gt<>: 1.0
8 | }
9 | }
10 |
--------------------------------------------------------------------------------
/moveit_core/online_signal_smoothing/src/ruckig_filter_parameters.yaml:
--------------------------------------------------------------------------------
1 | online_signal_smoothing:
2 | update_period: {
3 | type: double,
4 | description: "The expected time in seconds between calls to `doSmoothing` method.",
5 | read_only: true,
6 | validation: {
7 | gt<>: 0.0
8 | }
9 | }
10 | planning_group_name: {
11 | type: string,
12 | read_only: true,
13 | description: "The name of the MoveIt planning group of the robot \
14 | This parameter does not have a default value and \
15 | must be passed to the node during launch time."
16 | }
17 |
--------------------------------------------------------------------------------
/moveit_core/planning_interface/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_planning_interface SHARED src/planning_interface.cpp
2 | src/planning_response.cpp)
3 | target_include_directories(
4 | moveit_planning_interface
5 | PUBLIC $
6 | $)
7 | set_target_properties(moveit_planning_interface
8 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
9 | ament_target_dependencies(moveit_planning_interface moveit_msgs urdf urdfdom
10 | urdfdom_headers)
11 | target_link_libraries(moveit_planning_interface moveit_robot_trajectory
12 | moveit_robot_state moveit_planning_scene moveit_utils)
13 |
14 | install(DIRECTORY include/ DESTINATION include/moveit_core)
15 |
--------------------------------------------------------------------------------
/moveit_core/planning_scene/dox/planning_scene.dox:
--------------------------------------------------------------------------------
1 | /**
2 |
3 | \page planning_scene_overview Planning Scene
4 |
5 | The planning scene (planning_scene::PlanningScene) is the central class for motion planning in MoveIt. A planning scene represents all the information needed to compute motion plans: The robot's current state, its representation (geometric, kinematic, dynamic) and the world representation. Using this information, things like forward kinematics, inverse kinematics, evaluation of constraints, collision checking, are all possible.
6 |
7 | The planning_scene::PlanningScene class is tightly connected to the planning_scene_monitor::PlannningSceneMonitor class, which maintains a planning scene using information from the ROS Parameter Server and subscription to topics.
8 |
9 | */
10 |
--------------------------------------------------------------------------------
/moveit_core/robot_trajectory/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_robot_trajectory SHARED src/robot_trajectory.cpp)
2 | target_include_directories(
3 | moveit_robot_trajectory
4 | PUBLIC $
5 | $)
6 | set_target_properties(moveit_robot_trajectory
7 | PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
8 | ament_target_dependencies(moveit_robot_trajectory rclcpp urdfdom
9 | urdfdom_headers)
10 |
11 | target_link_libraries(moveit_robot_trajectory moveit_robot_model
12 | moveit_robot_state moveit_utils)
13 |
14 | install(DIRECTORY include/ DESTINATION include/moveit_core)
15 |
16 | if(BUILD_TESTING)
17 | ament_add_gtest(test_robot_trajectory test/test_robot_trajectory.cpp)
18 | target_link_libraries(test_robot_trajectory moveit_test_utils
19 | moveit_robot_trajectory)
20 | endif()
21 |
--------------------------------------------------------------------------------
/moveit_core/rosdoc.yaml:
--------------------------------------------------------------------------------
1 | - builder: sphinx
2 | output_dir: python
3 | sphinx_root_dir: doc
4 | - builder: doxygen
5 | name: C++ API
6 | output_dir: cpp
7 | file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox'
8 |
--------------------------------------------------------------------------------
/moveit_core/test_big.df:
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https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_core/test_big.df
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/moveit_core/test_small.df:
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https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_core/test_small.df
--------------------------------------------------------------------------------
/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_parameterization.h:
--------------------------------------------------------------------------------
1 |
2 | /*********************************************************************
3 | * All MoveIt 2 headers have been updated to use the .hpp extension.
4 | *
5 | * .h headers are now autogenerated via create_deprecated_headers.py,
6 | * and will import the corresponding .hpp with a deprecation warning.
7 | *
8 | * imports via .h files may be removed in future releases, so please
9 | * modify your imports to use the corresponding .hpp imports.
10 | *
11 | * See https://github.com/moveit/moveit2/pull/3113 for extra details.
12 | *********************************************************************/
13 | #pragma once
14 | #pragma message(".h header is obsolete. Please use the .hpp header instead.")
15 | #include
16 |
--------------------------------------------------------------------------------
/moveit_core/transforms/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_transforms SHARED src/transforms.cpp)
2 | target_include_directories(
3 | moveit_transforms
4 | PUBLIC $
5 | $)
6 | target_link_libraries(moveit_transforms moveit_macros moveit_utils)
7 | set_target_properties(moveit_transforms PROPERTIES VERSION
8 | "${${PROJECT_NAME}_VERSION}")
9 | ament_target_dependencies(
10 | moveit_transforms
11 | geometric_shapes
12 | tf2_eigen
13 | rclcpp
14 | rmw_implementation
15 | urdfdom
16 | urdfdom_headers
17 | Boost)
18 |
19 | install(DIRECTORY include/ DESTINATION include/moveit_core)
20 |
21 | # Unit tests
22 | if(BUILD_TESTING)
23 | find_package(ament_cmake_gtest REQUIRED)
24 | ament_add_gtest(test_transforms test/test_transforms.cpp)
25 | target_link_libraries(test_transforms moveit_transforms)
26 | endif()
27 |
--------------------------------------------------------------------------------
/moveit_core/utils/test/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | # Build devices under test
2 | add_executable(logger_dut logger_dut.cpp)
3 | target_link_libraries(logger_dut rclcpp::rclcpp moveit_utils)
4 |
5 | # Install is needed to for launchtest to execute
6 | install(TARGETS logger_dut DESTINATION lib/${PROJECT_NAME})
7 |
8 | find_package(launch_testing_ament_cmake)
9 |
10 | # These tests do not work on Humble as /rosout logging from child loggers does
11 | # not work. ROS_DISTRO is not defined on rolling
12 | if((NOT DEFINED ENV{ROS_DISTRO}) OR (NOT $ENV{ROS_DISTRO} STREQUAL "humble"))
13 | add_launch_test(rosout_publish_test.py TARGET test-node_logging ARGS
14 | "dut:=logger_dut")
15 | endif()
16 |
--------------------------------------------------------------------------------
/moveit_kinematics/ConfigExtras.cmake:
--------------------------------------------------------------------------------
1 | # Extras module needed for dependencies to find boost components
2 |
3 | find_package(Boost REQUIRED program_options system)
4 |
--------------------------------------------------------------------------------
/moveit_kinematics/cached_ik_kinematics_plugin/config/kdl.yaml:
--------------------------------------------------------------------------------
1 | arm:
2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
3 | arm_left:
4 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
5 | arm_right:
6 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
7 | arm_with_torso:
8 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
9 | head:
10 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
11 | left_arm:
12 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
13 | left_arm_hand:
14 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
15 | left_gripper:
16 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
17 | left_leg:
18 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
19 | manipulator:
20 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
21 | right_arm:
22 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
23 | right_arm_hand:
24 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
25 | right_gripper:
26 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
27 | right_leg:
28 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
29 | torso:
30 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
31 |
--------------------------------------------------------------------------------
/moveit_kinematics/cached_ik_kinematics_plugin/config/ur5.yaml:
--------------------------------------------------------------------------------
1 | manipulator:
2 | kinematics_solver: ur_kinematics/UR5KinematicsPlugin
3 |
--------------------------------------------------------------------------------
/moveit_kinematics/cached_ik_kinematics_plugin/config/ur5_cached.yaml:
--------------------------------------------------------------------------------
1 | manipulator:
2 | max_cache_size: 10000
3 | min_joint_config_distance: 4
4 | min_pose_distance: 1
5 | kinematics_solver: cached_ik_kinematics_plugin/CachedUR5KinematicsPlugin
6 |
--------------------------------------------------------------------------------
/moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_parameters.yaml:
--------------------------------------------------------------------------------
1 | cached_ik_kinematics:
2 | max_cache_size: {
3 | type: int,
4 | default_value: 5000,
5 | description: "Maximum cache size",
6 | }
7 |
8 | min_pose_distance: {
9 | type: double,
10 | default_value: 1.0,
11 | description: "Minimum pose distance",
12 | }
13 |
14 | min_joint_config_distance: {
15 | type: double,
16 | default_value: 1.0,
17 | description: "Minimum joint config distance",
18 | }
19 |
20 | cached_ik_path: {
21 | type: string,
22 | default_value: "",
23 | description: "Cached IK path",
24 | }
25 |
--------------------------------------------------------------------------------
/moveit_kinematics/cached_ik_kinematics_plugin/test.sh:
--------------------------------------------------------------------------------
1 | #!/bin/bash
2 | for robot in abb_irb2400 abb_irb6640 cob fetch hironx nao nextage pepper pr2 ur5_robotiq85 vs060; do
3 | for kinematics in kdl kdl_cached trac trac_cached; do
4 | roslaunch moveit_kinematics measure_ik_call_cost.launch robot:=${robot} num:=10000 kinematics:=true kinematics_path:=src/moveit/moveit_kinematics/cached_ik_kinematics_plugin/config/${kinematics}.yaml 2>&1 | grep Summary | cut -f 7-10 -d' ' | sed "s/^/${robot} ${kinematics} /"
5 | done
6 | if [[ ${robot} == "ur5_robotiq85" ]]; then
7 | for kinematics in ur5 ur5_cached; do
8 | roslaunch moveit_kinematics measure_ik_call_cost.launch robot:=${robot} num:=100 kinematics:=true kinematics_path:=src/moveit/moveit_kinematics/cached_ik_kinematics_plugin/config/${kinematics}.yaml 2>&1 | grep Summary | cut -f 7-10 -d' ' | sed "s/^/${robot} ${kinematics} /"
9 | done
10 | fi
11 | done
12 |
--------------------------------------------------------------------------------
/moveit_kinematics/ikfast_kinematics_plugin/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | set(MOVEIT_LIB_NAME moveit_ikfast_kinematics_plugin)
2 |
3 | # ##############################################################################
4 | # Install ##
5 | # ##############################################################################
6 |
7 | install(
8 | PROGRAMS scripts/auto_create_ikfast_moveit_plugin.sh
9 | scripts/create_ikfast_moveit_plugin.py
10 | scripts/round_collada_numbers.py DESTINATION lib/${PROJECT_NAME})
11 |
12 | install(DIRECTORY templates
13 | DESTINATION share/${PROJECT_NAME}/ikfast_kinematics_plugin)
14 |
--------------------------------------------------------------------------------
/moveit_kinematics/ikfast_kinematics_plugin/README.md:
--------------------------------------------------------------------------------
1 | MoveIt IKFast
2 | ==========
3 | * Authors: Dave Coleman, CU Boulder; Jeremy Zoss, SwRI; David Butterworth, KAIST, Mathias Lüdtke, Fraunhofer IPA
4 | * Date: 5/24/2013
5 |
6 | Generates a IKFast kinematics plugin for MoveIt using [OpenRave](http://openrave.org/) generated cpp files.
7 |
8 | Tested on ROS Hydro and greater with Catkin using OpenRave 0.8 with a 6dof and 7dof robot arm manipulator. Does not work with greater than 7dof.
9 |
10 | [Documentation on docs.ros.org](https://moveit.github.io/moveit_tutorials/doc/ikfast/ikfast_tutorial.html#creating-the-ikfast-moveit-plugin)
11 |
--------------------------------------------------------------------------------
/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast_kinematics_parameters.yaml:
--------------------------------------------------------------------------------
1 | ikfast_kinematics:
2 | link_prefix: {
3 | type: string,
4 | default_value: "",
5 | description: "prefix added to tip- and baseframe to allow different namespaces or multi-robot setups",
6 | }
7 |
--------------------------------------------------------------------------------
/moveit_kinematics/kdl_kinematics_plugin/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | generate_parameter_library(
2 | kdl_kinematics_parameters # cmake target name for the parameter library
3 | src/kdl_kinematics_parameters.yaml # path to input yaml file
4 | )
5 |
6 | add_library(moveit_kdl_kinematics_plugin SHARED
7 | src/kdl_kinematics_plugin.cpp src/chainiksolver_vel_mimic_svd.cpp)
8 |
9 | ament_target_dependencies(
10 | moveit_kdl_kinematics_plugin
11 | rclcpp
12 | random_numbers
13 | pluginlib
14 | moveit_core
15 | moveit_msgs
16 | orocos_kdl
17 | kdl_parser
18 | tf2_kdl
19 | EIGEN3)
20 |
21 | target_link_libraries(moveit_kdl_kinematics_plugin kdl_kinematics_parameters)
22 |
23 | # prevent pluginlib from using boost
24 | target_compile_definitions(moveit_kdl_kinematics_plugin
25 | PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
26 | # Causes the visibility macros to use dllexport rather than dllimport, which is
27 | # appropriate when building the dll but not consuming it.
28 | target_compile_definitions(moveit_kdl_kinematics_plugin
29 | PRIVATE "MOVEIT_KDL_KINEMATICS_PLUGIN_BUILDING_DLL")
30 |
31 | install(DIRECTORY include/ DESTINATION include/moveit_kinematics)
32 |
--------------------------------------------------------------------------------
/moveit_kinematics/kdl_kinematics_plugin_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | A implementation of kinematics as a plugin based on KDL.
5 |
6 |
7 |
8 |
--------------------------------------------------------------------------------
/moveit_kinematics/srv_kinematics_plugin/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | generate_parameter_library(
2 | srv_kinematics_parameters # cmake target name for the parameter library
3 | src/srv_kinematics_parameters.yaml # path to input yaml file
4 | )
5 |
6 | add_library(moveit_srv_kinematics_plugin SHARED src/srv_kinematics_plugin.cpp)
7 | set_target_properties(moveit_srv_kinematics_plugin
8 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
9 |
10 | ament_target_dependencies(moveit_srv_kinematics_plugin rclcpp moveit_core
11 | moveit_msgs)
12 |
13 | target_link_libraries(moveit_srv_kinematics_plugin srv_kinematics_parameters)
14 |
15 | install(DIRECTORY include/ DESTINATION include/moveit_kinematics)
16 |
--------------------------------------------------------------------------------
/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_parameters.yaml:
--------------------------------------------------------------------------------
1 | srv_kinematics:
2 | kinematics_solver_service_name: {
3 | type: string,
4 | default_value: "solve_ik",
5 | description: "Kinematics Solver Service Name",
6 | validation: {
7 | not_empty<>: []
8 | }
9 | }
10 |
--------------------------------------------------------------------------------
/moveit_kinematics/srv_kinematics_plugin_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | A implementation of kinematics as a plugin that uses a ROS service layer to communicate with an external IK solver
5 |
6 |
7 |
8 |
--------------------------------------------------------------------------------
/moveit_kinematics/test/config/panda-kdl-singular-test.yaml:
--------------------------------------------------------------------------------
1 | tip_link: "panda_link8"
2 | root_link: "panda_link0"
3 | group: "panda_arm"
4 | ik_timeout: 0.2
5 | tolerance: 0.1
6 | joint_names:
7 | - "panda_joint1"
8 | - "panda_joint2"
9 | - "panda_joint3"
10 | - "panda_joint4"
11 | - "panda_joint5"
12 | - "panda_joint6"
13 | - "panda_joint7"
14 |
15 | # KDL params
16 | ik_plugin_name: "kdl_kinematics_plugin/KDLKinematicsPlugin"
17 | num_ik_cb_tests: 0
18 | num_ik_multiple_tests: 0
19 | num_nearest_ik_tests: 0
20 | publish_trajectory: False
21 |
22 | # Test inputs
23 | num_fk_tests: 0
24 | num_ik_tests: 0
25 | seed:
26 | - 0.0
27 | - 0.0
28 | - 0.0
29 | - 0.0
30 | - 0.0
31 | - 0.0
32 | - 0.0
33 |
34 | # Test poses
35 | unit_tests_poses:
36 | size: 1
37 | pose_0:
38 | pose:
39 | - 0.0
40 | - 0.0
41 | - 0.1
42 | - 0.0
43 | - 0.0
44 | - 0.0
45 | type: "relative"
46 |
--------------------------------------------------------------------------------
/moveit_kinematics/test/config/panda-kdl-test.yaml:
--------------------------------------------------------------------------------
1 | tip_link: "panda_link8"
2 | root_link: "panda_link0"
3 | group: "panda_arm"
4 | ik_timeout: 0.2
5 | tolerance: 0.1
6 | joint_names:
7 | - "panda_joint1"
8 | - "panda_joint2"
9 | - "panda_joint3"
10 | - "panda_joint4"
11 | - "panda_joint5"
12 | - "panda_joint6"
13 | - "panda_joint7"
14 |
15 | # kdl_params
16 | ik_plugin_name: "kdl_kinematics_plugin/KDLKinematicsPlugin"
17 | num_ik_cb_tests: 0
18 | num_ik_multiple_tests: 0
19 | num_nearest_ik_tests: 0
20 | publish_trajectory: False
21 |
22 | # Test inputs
23 | num_fk_tests: 100
24 | num_ik_tests: 100
25 | seed:
26 | - -0.5
27 | - -0.5
28 | - 0.3
29 | - -2
30 | - 0.8
31 | - 1.8
32 | - 1.9
33 | consistency_limits:
34 | - 0.4
35 | - 0.4
36 | - 0.4
37 | - 0.4
38 | - 0.4
39 | - 0.4
40 | - 0.4
41 |
--------------------------------------------------------------------------------
/moveit_kinematics/test/test_ikfast_plugins.sh:
--------------------------------------------------------------------------------
1 | #!/bin/bash
2 |
3 | # Script to test ikfast plugin creation and functionality
4 |
5 | # We will create ikfast plugins for fanuc and panda from moveit_resources
6 | # using the script auto_create_ikfast_moveit_plugin.sh
7 |
8 | set -e # fail script on error
9 |
10 | sudo apt-get -qq update
11 | sudo apt-get -qq install python3-lxml python3-yaml
12 |
13 | # Clone moveit_resources for URDFs. They are not available before running docker.
14 | git clone -q --depth=1 -b ros2 https://github.com/moveit/moveit_resources /tmp/resources
15 | fanuc=/tmp/resources/fanuc_description/urdf/fanuc.urdf
16 | panda=/tmp/resources/panda_description/urdf/panda.urdf
17 |
18 | export QUIET=${QUIET:=1}
19 |
20 | # Create ikfast plugins for Fanuc and Panda
21 | echo
22 | echo "Creating IKFast package for Fanuc robot"
23 | moveit_kinematics/ikfast_kinematics_plugin/scripts/auto_create_ikfast_moveit_plugin.sh \
24 | --name fanuc --pkg $PWD/fanuc_ikfast_plugin $fanuc manipulator base_link tool0
25 |
26 | echo
27 | echo "Creating IKFast package for Panda robot"
28 | moveit_kinematics/ikfast_kinematics_plugin/scripts/auto_create_ikfast_moveit_plugin.sh \
29 | --name panda --pkg $PWD/panda_ikfast_plugin $panda panda_arm panda_link0 panda_link8
30 |
31 | echo "Done."
32 |
--------------------------------------------------------------------------------
/moveit_planners/README.md:
--------------------------------------------------------------------------------
1 | # MoveIt Planners
2 |
3 | Interfaces for the motion planning libraries used in MoveIt
4 |
--------------------------------------------------------------------------------
/moveit_planners/chomp/README.md:
--------------------------------------------------------------------------------
1 | ## CHOMP Motion Planner
2 |
3 | See [Chomp Interface Tutorial](https://moveit.github.io/moveit_tutorials/doc/chomp_planner/chomp_planner_tutorial.html)
4 |
--------------------------------------------------------------------------------
/moveit_planners/chomp/chomp_interface/chomp_interface_plugin_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | The CHOMP motion planner plugin.
5 |
6 |
7 |
8 |
--------------------------------------------------------------------------------
/moveit_planners/chomp/chomp_interface/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_planners_chomp
5 | 2.13.2
6 | The interface for using CHOMP within MoveIt
7 |
8 | Chittaranjan Srinivas Swaminathan
9 | MoveIt Release Team
10 | Henning Kayser
11 |
12 | BSD-3-Clause
13 |
14 | Gil Jones
15 |
16 | ament_cmake
17 | moveit_common
18 |
19 | chomp_motion_planner
20 | moveit_core
21 | pluginlib
22 | rclcpp
23 |
24 |
25 | ament_cmake
26 |
27 |
28 |
--------------------------------------------------------------------------------
/moveit_planners/chomp/chomp_interface/plugin_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
--------------------------------------------------------------------------------
/moveit_planners/chomp/chomp_interface/test/chomp_moveit_panda.test:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
--------------------------------------------------------------------------------
/moveit_planners/chomp/chomp_interface/test/chomp_moveit_rrbot.test:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
--------------------------------------------------------------------------------
/moveit_planners/chomp/chomp_interface/test/chomp_planning.yaml:
--------------------------------------------------------------------------------
1 | planning_time_limit: 10.0
2 | max_iterations: 200
3 | max_iterations_after_collision_free: 5
4 | smoothness_cost_weight: 0.1
5 | obstacle_cost_weight: 1.0
6 | learning_rate: 0.01
7 | animate_path: true
8 | smoothness_cost_velocity: 0.0
9 | smoothness_cost_acceleration: 1.0
10 | smoothness_cost_jerk: 0.0
11 | ridge_factor: 0.0
12 | use_pseudo_inverse: false
13 | pseudo_inverse_ridge_factor: 1e-4
14 | animate_endeffector: false
15 | animate_endeffector_segment: "link3"
16 | joint_update_limit: 0.1
17 | collision_clearance: 0.2
18 | collision_threshold: 0.07
19 | use_stochastic_descent: true
20 |
--------------------------------------------------------------------------------
/moveit_planners/chomp/chomp_interface/test/joint_limits.yaml:
--------------------------------------------------------------------------------
1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
2 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
3 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
4 | joint_limits:
5 | joint1:
6 | has_velocity_limits: true
7 | max_velocity: 6.28318530718
8 | has_acceleration_limits: false
9 | max_acceleration: 0
10 | joint2:
11 | has_velocity_limits: true
12 | max_velocity: 6.28318530718
13 | has_acceleration_limits: false
14 | max_acceleration: 0
15 |
--------------------------------------------------------------------------------
/moveit_planners/chomp/chomp_interface/test/rrbot_chomp_planning_pipeline.launch.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
--------------------------------------------------------------------------------
/moveit_planners/chomp/chomp_motion_planner/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | chomp_motion_planner
5 | 2.13.2
6 | chomp_motion_planner
7 |
8 | Chittaranjan Srinivas Swaminathan
9 | MoveIt Release Team
10 |
11 | BSD-3-Clause
12 | http://ros.org/wiki/chomp_motion_planner
13 |
14 | Gil Jones
15 | Mrinal Kalakrishnan
16 |
17 | ament_cmake
18 | moveit_common
19 |
20 | moveit_core
21 | rclcpp
22 | rsl
23 | trajectory_msgs
24 |
25 |
26 | ament_cmake
27 |
28 |
29 |
--------------------------------------------------------------------------------
/moveit_planners/moveit_planners/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.22)
2 | project(moveit_planners)
3 | find_package(ament_cmake REQUIRED)
4 |
5 | ament_package()
6 |
--------------------------------------------------------------------------------
/moveit_planners/ompl/ompl_interface/launch/generate_state_database.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
--------------------------------------------------------------------------------
/moveit_planners/ompl/ompl_interface_plugin_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
--------------------------------------------------------------------------------
/moveit_planners/pilz_industrial_motion_planner/README.md:
--------------------------------------------------------------------------------
1 | Please consult tutorials and the official [documentation](https://moveit.ros.org/documentation/concepts/).
2 |
3 | For details about the blend algorithm please refer to
4 | .
5 |
--------------------------------------------------------------------------------
/moveit_planners/pilz_industrial_motion_planner/doc/.gitignore:
--------------------------------------------------------------------------------
1 | *.aux
2 | *.bbl
3 | *.blg
4 | *.dvi
5 | *.log
6 | *.ps
7 | *.tps
8 | *.fdb_latexmk
9 | *.fls
10 | *.out
11 | *.synctex.gz
12 | *.pdf
13 |
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/moveit_planners/pilz_industrial_motion_planner/doc/MotionBlendAlgorithmDescription.pdf:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_planners/pilz_industrial_motion_planner/doc/MotionBlendAlgorithmDescription.pdf
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/moveit_planners/pilz_industrial_motion_planner/doc/README.md:
--------------------------------------------------------------------------------
1 | # Trajectory generation
2 |
3 | ## Overview sequence processing
4 | The following diagram shows the steps to process and execute
5 | a list of commands given as sequence. The diagram also shows the resulting data
6 | structures of each processing step.
7 | 
8 |
9 | ## Overview classes PlanningContext
10 | The following diagram shows the different classes responsible for the loading
11 | of the different planning contexts (e.g. Ptp, Lin, Circ) and the
12 | relationship between them.
13 | 
14 |
15 | ## Relationship MoveGroupCapabilities and ComandListManager
16 | The following diagram shows the relationship between the MoveGroupCapabilities
17 | and the CommandListManager.
18 | 
19 |
20 | ## Blending algorithm description
21 | A description of the used blending algorithm can be found
22 | [here](MotionBlendAlgorithmDescription.pdf).
23 |
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/moveit_planners/pilz_industrial_motion_planner/doc/diag_class_capabilities.png:
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https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_planners/pilz_industrial_motion_planner/doc/diag_class_capabilities.png
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/moveit_planners/pilz_industrial_motion_planner/doc/diag_class_planning_context.png:
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/moveit_planners/pilz_industrial_motion_planner/doc/figure/blend_radius.png:
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/moveit_planners/pilz_industrial_motion_planner/doc/figure/ptp.png:
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/moveit_planners/pilz_industrial_motion_planner/doc/figure/ptp_movement_1.png:
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/moveit_planners/pilz_industrial_motion_planner/doc/figure/ptp_movement_2.png:
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/moveit_planners/pilz_industrial_motion_planner/doc/figure/rviz_planner.png:
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/moveit_planners/pilz_industrial_motion_planner/doc/sequence_processing_overview.png:
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/moveit_planners/pilz_industrial_motion_planner/plugins/pilz_industrial_motion_planner_plugin_description.xml:
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1 |
2 |
5 | Pilz Industrial Motion Planner
6 |
7 |
8 |
--------------------------------------------------------------------------------
/moveit_planners/pilz_industrial_motion_planner/plugins/planning_context_plugin_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
6 | Loader for PTP Context
7 |
8 |
9 |
10 |
13 | Loader for LIN Context
14 |
15 |
16 |
17 |
20 | Loader for CIRC Context
21 |
22 |
23 |
24 |
--------------------------------------------------------------------------------
/moveit_planners/pilz_industrial_motion_planner/plugins/sequence_capability_plugin_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
5 | Motion Planner a sequence of trajectories
6 |
7 |
8 |
11 | Plan a sequence of trajectory via ROS service
12 |
13 |
14 |
--------------------------------------------------------------------------------
/moveit_planners/pilz_industrial_motion_planner/rosdoc.yaml:
--------------------------------------------------------------------------------
1 | - builder: doxygen
2 | name: Documentation of pilz_industrial_motion_planner package
3 | output_dir: pilz_industrial_motion_planner
4 | file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox *.md'
5 | exclude_patterns: 'test'
6 | use_mdfile_as_mainpage: 'README.md'
7 |
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/moveit_planners/pilz_industrial_motion_planner/src/cartesian_limits_parameters.yaml:
--------------------------------------------------------------------------------
1 | cartesian_limits:
2 | max_trans_vel: {
3 | type: double,
4 | description: "Max translation velocity",
5 | }
6 | max_trans_acc: {
7 | type: double,
8 | description: "Max translation acceleraion",
9 | }
10 | max_trans_dec: {
11 | type: double,
12 | description: "Max translation deceleration",
13 | }
14 | max_rot_vel: {
15 | type: double,
16 | description: "Max rotational velocity",
17 | }
18 |
--------------------------------------------------------------------------------
/moveit_planners/pilz_industrial_motion_planner/test/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | find_package(ament_cmake_gtest REQUIRED)
2 | find_package(ament_cmake_gmock REQUIRED)
3 | find_package(ros_testing REQUIRED)
4 | find_package(moveit_resources_prbt_support REQUIRED)
5 | find_package(moveit_resources_prbt_moveit_config REQUIRED)
6 | find_package(Boost REQUIRED thread)
7 |
8 | find_package(${PROJECT_NAME}_testutils REQUIRED)
9 |
10 | # Add test directory as include directory
11 | include_directories(${CMAKE_CURRENT_SOURCE_DIR})
12 |
13 | # pilz_industrial_motion_testhelpers
14 | add_library(${PROJECT_NAME}_test_utils test_utils.cpp)
15 | ament_target_dependencies(${PROJECT_NAME}_test_utils
16 | ${THIS_PACKAGE_INCLUDE_DEPENDS})
17 | target_link_libraries(${PROJECT_NAME}_test_utils joint_limits_common
18 | trajectory_generation_common)
19 |
20 | # Unit tests
21 | add_subdirectory(unit_tests)
22 |
23 | # Integration tests
24 | add_subdirectory(integration_tests)
25 | # Install test data
26 | install(DIRECTORY test_data DESTINATION share/${PROJECT_NAME})
27 |
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/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/img/acceptance_test_lin_img1.png:
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/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/img/acceptance_test_lin_img2.png:
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/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/img/acceptance_test_lin_img3.png:
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/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/img/acceptance_test_lin_img4.png:
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/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/img/acceptance_test_ptp_img1.png:
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/moveit_planners/pilz_industrial_motion_planner/test/acceptance_tests/img/acceptance_test_ptp_img2.png:
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/moveit_planners/pilz_industrial_motion_planner/test/integration_tests/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | # Empty file
2 |
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/moveit_planners/pilz_industrial_motion_planner/test/integration_tests/launch/python_move_group_planning.test:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
9 |
10 |
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/moveit_planners/pilz_industrial_motion_planner/test/test_data/concept_testdata.odp:
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/moveit_planners/pilz_industrial_motion_planner/test/test_data/concept_testdata.png:
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/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/config/unittest_joint_limits_aggregator.yaml:
--------------------------------------------------------------------------------
1 | all_valid:
2 | joint_limits:
3 | prbt_joint_1:
4 | has_position_limits: true
5 | min_position: -2.0
6 | max_position: 2.0
7 | prbt_joint_2:
8 | has_position_limits: false
9 | min_position: -2.0
10 | max_position: 2.0
11 | prbt_joint_3:
12 | has_velocity_limits: true
13 | max_velocity: 1.1
14 | has_acceleration_limits: false
15 | max_acceleration: 5.5
16 | prbt_joint_4:
17 | has_acceleration_limits: true
18 | max_acceleration: 5.5
19 | prbt_joint_5:
20 | has_deceleration_limits: true
21 | max_deceleration: -6.6
22 |
23 | violate_position_max:
24 | joint_limits:
25 | prbt_joint_3:
26 | has_position_limits: true
27 | min_position: -1.0
28 | max_position: 4.0
29 |
30 | violate_position_min:
31 | joint_limits:
32 | prbt_joint_2:
33 | has_position_limits: true
34 | min_position: -4.0
35 | max_position: 2.0
36 |
37 | violate_velocity:
38 | joint_limits:
39 | prbt_joint_3:
40 | has_velocity_limits: true
41 | max_velocity: -90.0
42 |
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/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/config/unittest_trajectory_blender_transition_window.yaml:
--------------------------------------------------------------------------------
1 | planning_group : "manipulator"
2 | target_link : "prbt_tcp"
3 | cartesian_velocity_tolerance : 1.0e-6
4 | cartesian_angular_velocity_tolerance : 1.0e-6
5 | joint_velocity_tolerance : 1.0e-6
6 | joint_acceleration_tolerance : 1.0e-2
7 | sampling_time : 0.01
8 |
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/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/config/unittest_trajectory_functions.yaml:
--------------------------------------------------------------------------------
1 | planning_group : "manipulator"
2 | group_tip_link : "prbt_flange"
3 | tcp_link : "prbt_tcp"
4 | ik_fast_link : "prbt_flange"
5 | random_test_number : 1000
6 |
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/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/config/unittest_trajectory_generator_circ.yaml:
--------------------------------------------------------------------------------
1 | planning_group : "manipulator"
2 | target_link : "prbt_tcp"
3 | cartesian_position_tolerance : 1.0e-3
4 | angular_acc_tolerance : 1.0e-3
5 | rot_axis_norm_tolerance : 1.0e-6
6 | acceleration_tolerance : 1.0e-3
7 | other_tolerance : 1.0e-6
8 |
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/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/config/unittest_trajectory_generator_common.yaml:
--------------------------------------------------------------------------------
1 | planning_group : "manipulator"
2 | target_link : "prbt_flange"
3 | random_trial_number : 100
4 | joint_position_tolerance : 1.0e-3
5 | joint_velocity_tolerance : 0.3
6 | pose_norm_tolerance : 1.0e-6
7 | rot_axis_norm_tolerance : 1.0e-6
8 | other_tolerance : 1.0e-6
9 | velocity_scaling_factor : 0.1
10 |
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/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/config/unittest_trajectory_generator_lin.yaml:
--------------------------------------------------------------------------------
1 | planning_group : "manipulator"
2 | target_link_hand_computed_data : "prbt_flange"
3 | random_trial_number : 100
4 | joint_position_tolerance : 1.0e-3
5 | joint_velocity_tolerance : 0.3
6 | pose_norm_tolerance : 1.0e-6
7 | rot_axis_norm_tolerance : 1.0e-6
8 | other_tolerance : 1.0e-5
9 | velocity_scaling_factor : 0.1
10 |
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/moveit_planners/pilz_industrial_motion_planner/test/unit_tests/config/unittest_trajectory_generator_ptp.yaml:
--------------------------------------------------------------------------------
1 | planning_group : "manipulator"
2 | target_link : "prbt_tcp"
3 | joint_position_tolerance : 1.0e-8
4 | joint_velocity_tolerance : 1.0e-8
5 | joint_acceleration_tolerance : 1.0e-8
6 | pose_norm_tolerance : 1.0e-6
7 |
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/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_circ_auxiliary.png:
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/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_commands.png:
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/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_class_robot_configurations.png:
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/moveit_planners/pilz_industrial_motion_planner_testutils/doc/diagrams/diag_seq_testdataloader_usage.png:
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/moveit_planners/stomp/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_planners_stomp
5 | 2.13.2
6 | STOMP Motion Planner for MoveIt
7 | Henning Kayser
8 | BSD-3-Clause
9 |
10 | https://github.com/moveit/moveit2/issues
11 | https://github.com/moveit/moveit2
12 |
13 | Henning Kayser
14 |
15 | ament_cmake
16 |
17 | generate_parameter_library
18 | stomp
19 | moveit_common
20 | moveit_core
21 | std_msgs
22 | tf2_eigen
23 | visualization_msgs
24 | rsl
25 |
26 |
27 | ament_cmake
28 |
29 |
30 |
--------------------------------------------------------------------------------
/moveit_planners/stomp/stomp_moveit_plugin_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | STOMP Motion Planning Plugin for MoveIt
5 |
6 |
7 |
8 |
--------------------------------------------------------------------------------
/moveit_planners/stomp/test/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | find_package(ament_cmake_gtest REQUIRED)
2 | ament_add_gtest(test_noise_generator test_noise_generator.cpp)
3 | ament_target_dependencies(test_noise_generator tf2_eigen)
4 | target_link_libraries(test_noise_generator stomp::stomp rsl::rsl)
5 |
6 | ament_add_gtest(test_cost_functions test_cost_functions.cpp)
7 | ament_target_dependencies(test_cost_functions moveit_core)
8 | target_link_libraries(test_cost_functions stomp::stomp rsl::rsl)
9 |
--------------------------------------------------------------------------------
/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/.clang-format:
--------------------------------------------------------------------------------
1 | ---
2 | SortIncludes: false
3 | DisableFormat: true
4 | ...
5 |
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/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/.clang-tidy:
--------------------------------------------------------------------------------
1 | ---
2 | # TODO(henningkayser): Re-enable performance-unnecessary-value-param once #214 is resolved
3 | Checks: '-*,
4 | performance-*,
5 | -performance-unnecessary-value-param,
6 | modernize-redundant-void-arg,
7 | modernize-use-default,
8 | modernize-make-shared,
9 | modernize-make-unique,
10 | readability-named-parameter,
11 | readability-redundant-smartptr-get,
12 | readability-redundant-string-cstr,
13 | readability-simplify-boolean-expr,
14 | '
15 | HeaderFilterRegex: ''
16 | AnalyzeTemporaryDtors: false
17 | CheckOptions:
18 | - key: llvm-namespace-comment.ShortNamespaceLines
19 | value: '10'
20 | - key: llvm-namespace-comment.SpacesBeforeComments
21 | value: '2'
22 | - key: readability-braces-around-statements.ShortStatementLines
23 | value: '2'
24 | ...
25 |
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/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/prbt_manipulator_moveit_ikfast_plugin_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | IKFast61 plugin for closed-form kinematics of prbt manipulator
5 |
6 |
7 |
--------------------------------------------------------------------------------
/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_ikfast_kinematics_parameters.yaml:
--------------------------------------------------------------------------------
1 | prbt_ikfast_kinematics:
2 | link_prefix: {
3 | type: string,
4 | default_value: "",
5 | description: "prefix added to tip- and baseframe to allow different namespaces or multi-robot setups",
6 | }
7 |
--------------------------------------------------------------------------------
/moveit_planners/test_configs/prbt_moveit_config/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.22)
2 | project(moveit_resources_prbt_moveit_config)
3 |
4 | find_package(ament_cmake REQUIRED)
5 |
6 | install(
7 | DIRECTORY launch
8 | DESTINATION share/moveit_resources_prbt_moveit_config
9 | PATTERN "setup_assistant.launch" EXCLUDE)
10 | install(DIRECTORY config DESTINATION share/moveit_resources_prbt_moveit_config)
11 |
12 | ament_package()
13 |
--------------------------------------------------------------------------------
/moveit_planners/test_configs/prbt_moveit_config/config/controllers_manipulator.yaml:
--------------------------------------------------------------------------------
1 | controller_list:
2 | - name: "prbt/manipulator_joint_trajectory_controller/"
3 | action_ns: follow_joint_trajectory
4 | type: FollowJointTrajectory
5 | joints: [prbt_joint_1, prbt_joint_2, prbt_joint_3, prbt_joint_4, prbt_joint_5, prbt_joint_6]
6 |
--------------------------------------------------------------------------------
/moveit_planners/test_configs/prbt_moveit_config/config/joint_limits.yaml:
--------------------------------------------------------------------------------
1 | # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
2 | # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
3 | # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
4 | joint_limits:
5 | prbt_joint_1:
6 | has_velocity_limits: true
7 | max_velocity: 1.57
8 | has_acceleration_limits: true
9 | max_acceleration: 3.49
10 | prbt_joint_2:
11 | has_velocity_limits: true
12 | max_velocity: 1.57
13 | has_acceleration_limits: true
14 | max_acceleration: 3.49
15 | prbt_joint_3:
16 | has_velocity_limits: true
17 | max_velocity: 1.57
18 | has_acceleration_limits: true
19 | max_acceleration: 3.49
20 | prbt_joint_4:
21 | has_velocity_limits: true
22 | max_velocity: 1.57
23 | has_acceleration_limits: true
24 | max_acceleration: 3.49
25 | prbt_joint_5:
26 | has_velocity_limits: true
27 | max_velocity: 1.57
28 | has_acceleration_limits: true
29 | max_acceleration: 3.49
30 | prbt_joint_6:
31 | has_velocity_limits: true
32 | max_velocity: 1.57
33 | has_acceleration_limits: true
34 | max_acceleration: 3.49
35 |
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/moveit_planners/test_configs/prbt_moveit_config/config/joint_names.yaml:
--------------------------------------------------------------------------------
1 | controller_joint_names: [prbt_joint_1, prbt_joint_2, prbt_joint_3, prbt_joint_4, prbt_joint_5, prbt_joint_6]
2 |
--------------------------------------------------------------------------------
/moveit_planners/test_configs/prbt_moveit_config/config/kinematics.yaml:
--------------------------------------------------------------------------------
1 | manipulator:
2 | kinematics_solver: prbt_manipulator/IKFastKinematicsPlugin
3 | kinematics_solver_search_resolution: 0.005
4 | kinematics_solver_timeout: 0.005
5 | link_prefix: prbt_
6 |
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/moveit_planners/test_configs/prbt_moveit_config/config/pilz_cartesian_limits.yaml:
--------------------------------------------------------------------------------
1 | cartesian_limits:
2 | max_trans_vel: 1.0
3 | max_trans_acc: 2.25
4 | max_trans_dec: -5.0
5 | max_rot_vel: 1.57
6 |
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/moveit_planners/test_configs/prbt_moveit_config/config/prbt.srdf.xacro:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
20 |
21 |
22 |
23 |
24 |
--------------------------------------------------------------------------------
/moveit_planners/test_configs/prbt_moveit_config/config/prbt_controllers.yaml:
--------------------------------------------------------------------------------
1 | controller_names:
2 | - prbt_arm_controller
3 |
4 | prbt_arm_controller:
5 | action_ns: follow_joint_trajectory
6 | type: FollowJointTrajectory
7 | default: true
8 | joints:
9 | - prbt_joint_1
10 | - prbt_joint_2
11 | - prbt_joint_3
12 | - prbt_joint_4
13 | - prbt_joint_5
14 | - prbt_joint_6
15 |
--------------------------------------------------------------------------------
/moveit_planners/test_configs/prbt_moveit_config/config/prbt_ros_controllers.yaml:
--------------------------------------------------------------------------------
1 | controller_manager:
2 | ros__parameters:
3 | update_rate: 100 # Hz
4 |
5 | prbt_arm_controller:
6 | type: joint_trajectory_controller/JointTrajectoryController
7 |
8 | joint_state_broadcaster:
9 | type: joint_state_broadcaster/JointStateBroadcaster
10 |
11 |
12 | prbt_arm_controller:
13 | ros__parameters:
14 | command_interfaces:
15 | - position
16 | state_interfaces:
17 | - position
18 | - velocity
19 | joints:
20 | - prbt_joint_1
21 | - prbt_joint_2
22 | - prbt_joint_3
23 | - prbt_joint_4
24 | - prbt_joint_5
25 | - prbt_joint_6
26 |
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/moveit_planners/test_configs/prbt_moveit_config/img/prbt_rviz_planning_screenshot.png:
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/moveit_planners/test_configs/prbt_pg70_support/CMakeLists.txt:
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1 | cmake_minimum_required(VERSION 3.22)
2 | project(moveit_resources_prbt_pg70_support)
3 |
4 | find_package(ament_cmake REQUIRED)
5 | ament_package()
6 |
7 | # ##############################################################################
8 | # Install ##
9 | # ##############################################################################
10 | install(DIRECTORY config DESTINATION share/moveit_resources_prbt_pg70_support)
11 | install(DIRECTORY meshes DESTINATION share/moveit_resources_prbt_pg70_support)
12 | install(DIRECTORY urdf DESTINATION share/moveit_resources_prbt_pg70_support)
13 |
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/moveit_planners/test_configs/prbt_pg70_support/config/controllers_manipulator_gripper.yaml:
--------------------------------------------------------------------------------
1 | #
2 | # Copyright © 2018 Pilz GmbH & Co. KG
3 | #
4 | # Licensed under the Apache License, Version 2.0 (the "License");
5 | # you may not use this file except in compliance with the License.
6 | # You may obtain a copy of the License at
7 | #
8 | # http://www.apache.org/licenses/LICENSE-2.0
9 | #
10 | # Unless required by applicable law or agreed to in writing, software
11 | # distributed under the License is distributed on an "AS IS" BASIS,
12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 | # See the License for the specific language governing permissions and
14 | # limitations under the License.
15 |
16 |
17 | controller_list:
18 | - name: "prbt/manipulator_joint_trajectory_controller/"
19 | action_ns: follow_joint_trajectory
20 | type: FollowJointTrajectory
21 | joints: [prbt_joint_1, prbt_joint_2, prbt_joint_3, prbt_joint_4, prbt_joint_5, prbt_joint_6]
22 |
23 | - name: "prbt/gripper_joint_trajectory_controller/"
24 | action_ns: follow_joint_trajectory
25 | type: FollowJointTrajectory
26 | joints: [prbt_gripper_finger_left_joint]
27 |
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/moveit_planners/test_configs/prbt_pg70_support/config/fake_controllers.yaml:
--------------------------------------------------------------------------------
1 | #
2 | # Copyright (c) 2018 Pilz GmbH & Co. KG
3 | #
4 | # Licensed under the Apache License, Version 2.0 (the "License");
5 | # you may not use this file except in compliance with the License.
6 | # You may obtain a copy of the License at
7 | #
8 | # http://www.apache.org/licenses/LICENSE-2.0
9 | #
10 | # Unless required by applicable law or agreed to in writing, software
11 | # distributed under the License is distributed on an "AS IS" BASIS,
12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 | # See the License for the specific language governing permissions and
14 | # limitations under the License.
15 |
16 | controller_list:
17 | - name: fake_manipulator_controller
18 | type: $(arg execution_type)
19 | joints:
20 | - prbt_joint_1
21 | - prbt_joint_2
22 | - prbt_joint_3
23 | - prbt_joint_4
24 | - prbt_joint_5
25 | - prbt_joint_6
26 | - name: fake_gripper_controller
27 | type: $(arg execution_type)
28 | joints:
29 | - prbt_gripper_finger_left_joint
30 |
--------------------------------------------------------------------------------
/moveit_planners/test_configs/prbt_pg70_support/config/gripper_controller.yaml:
--------------------------------------------------------------------------------
1 | #
2 | # Copyright © 2018 Pilz GmbH & Co. KG
3 | #
4 | # Licensed under the Apache License, Version 2.0 (the "License");
5 | # you may not use this file except in compliance with the License.
6 | # You may obtain a copy of the License at
7 | #
8 | # http://www.apache.org/licenses/LICENSE-2.0
9 | #
10 | # Unless required by applicable law or agreed to in writing, software
11 | # distributed under the License is distributed on an "AS IS" BASIS,
12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 | # See the License for the specific language governing permissions and
14 | # limitations under the License.
15 |
16 | gripper_joint_trajectory_controller:
17 | type: position_controllers/JointTrajectoryController
18 | joints:
19 | - prbt_gripper_finger_left_joint
20 | constraints:
21 | goal_time: 0.6
22 | stopped_velocity_tolerance: 0.05
23 | prbt_gripper_finger_left_joint: {trajectory: 0.001, goal: 0.001}
24 | stop_trajectory_duration: 0.1
25 | state_publish_rate: 25
26 | action_monitor_rate: 10
27 | required_drive_mode: 7
28 |
--------------------------------------------------------------------------------
/moveit_planners/test_configs/prbt_pg70_support/config/gripper_driver_canopen_motor_node.yaml:
--------------------------------------------------------------------------------
1 | #
2 | # Copyright © 2018 Pilz GmbH & Co. KG
3 | #
4 | # Licensed under the Apache License, Version 2.0 (the "License");
5 | # you may not use this file except in compliance with the License.
6 | # You may obtain a copy of the License at
7 | #
8 | # http://www.apache.org/licenses/LICENSE-2.0
9 | #
10 | # Unless required by applicable law or agreed to in writing, software
11 | # distributed under the License is distributed on an "AS IS" BASIS,
12 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 | # See the License for the specific language governing permissions and
14 | # limitations under the License.
15 |
16 | # FILE DESCRIPTION:
17 | #
18 | # This file mappes the gripper joint to the corresponding CAN-ID. In this file
19 | # only the gripper joint is considered (no robot joints).
20 | #
21 |
22 | nodes:
23 | prbt_gripper_finger_left_joint:
24 | id: 12
25 | # Scaling: The gripper pos is stated (over CAN) for both fingers,
26 | # but is needed as pos for single finger in URDF-Modell.
27 | pos_to_device: "pos*1e6*2"
28 | pos_from_device: "obj6064*5e-7"
29 |
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/moveit_planners/test_configs/prbt_pg70_support/config/pg70_tcp_offset.xacro:
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1 |
2 |
3 |
18 |
19 |
20 |
21 |
22 |
23 |
24 |
25 |
26 |
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/moveit_planners/test_configs/prbt_pg70_support/meshes/pg70/pg70.stl:
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/moveit_planners/test_configs/prbt_pg70_support/package.xml:
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1 |
2 |
3 | moveit_resources_prbt_pg70_support
4 | 2.13.2
5 | PRBT support for Schunk pg70 gripper.
6 |
7 | Alexander Gutenkunst
8 | Hagen Slusarek
9 | Immanuel Martini
10 |
11 | Apache 2.0
12 |
13 | http://moveit.ros.org
14 | https://github.com/moveit/moveit-resources/issues
15 | https://github.com/moveit/moveit-resources
16 |
17 | ament_cmake
18 |
19 | moveit_resources_prbt_support
20 | moveit_resources_prbt_ikfast_manipulator_plugin
21 | moveit_resources_prbt_moveit_config
22 |
23 | xacro
24 |
25 |
26 | ament_cmake
27 |
28 |
29 |
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/moveit_planners/test_configs/prbt_pg70_support/urdf/pg70.urdf.xacro:
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1 |
2 |
3 |
18 |
19 |
20 |
21 |
22 |
23 |
24 |
25 |
26 |
27 |
28 |
29 |
30 |
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1 |
2 |
3 |
4 |
5 |
6 |
7 | true
8 | false
9 |
10 |
11 |
12 | true
13 | false
14 |
15 |
16 |
17 | true
18 | false
19 |
20 |
21 |
22 |
23 |
24 |
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/moveit_planners/test_configs/prbt_pg70_support/urdf/pg70/pg70.transmission.xacro:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
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/moveit_planners/test_configs/prbt_support/CMakeLists.txt:
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1 | cmake_minimum_required(VERSION 3.22)
2 | project(moveit_resources_prbt_support)
3 |
4 | find_package(ament_cmake REQUIRED)
5 | ament_package()
6 |
7 | # ##############################################################################
8 | # Install ##
9 | # ##############################################################################
10 |
11 | # Install URDF and meshes
12 | install(DIRECTORY urdf DESTINATION share/moveit_resources_prbt_support)
13 | install(DIRECTORY meshes DESTINATION share/moveit_resources_prbt_support)
14 | install(DIRECTORY config DESTINATION share/moveit_resources_prbt_support)
15 |
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/moveit_planners/test_configs/prbt_support/README.md:
--------------------------------------------------------------------------------
1 | # Overview
2 |
3 | The prbt_support package contains files to start the PRBT manipulator. To start the robot run `roslaunch prbt_support robot.launch`.
4 |
5 | # ROS API
6 |
7 | ## SystemInfoNode
8 |
9 | Logs important system information.
10 |
11 | ### Used Services
12 |
13 | - /prbt/driver/get_object (canopen_chain_node/GetObject)
14 | - Read CANOpen object holding firmware information.
15 |
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/moveit_planners/test_configs/prbt_support/img/joints.png:
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/moveit_planners/test_configs/prbt_support/img/pilz-logo.png:
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/moveit_planners/test_configs/prbt_support/img/prbt.jpg:
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/moveit_planners/test_configs/prbt_support/package.xml:
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1 |
2 | moveit_resources_prbt_support
3 | 2.13.2
4 | Mechanical, kinematic and visual description
5 | of the Pilz light weight arm PRBT.
6 |
7 | Alexander Gutenkunst
8 | Christian Henkel
9 | Hagen Slusarek
10 | Immanuel Martini
11 |
12 | Apache 2.0
13 |
14 | http://moveit.ros.org
15 | https://github.com/moveit/moveit-resources/issues
16 | https://github.com/moveit/moveit-resources
17 |
18 | ament_cmake
19 |
20 | xacro
21 |
22 |
23 | ament_cmake
24 |
25 |
26 |
--------------------------------------------------------------------------------
/moveit_plugins/README.md:
--------------------------------------------------------------------------------
1 | # MoveIt Plugins
2 |
3 | This is a collection of plugins for MoveIt:
4 | - moveit_simple_controller_manager - A very basic controller manager plugin. Can connect to FollowJointTrajectoryAction and GripperCommandAction servers.
5 |
--------------------------------------------------------------------------------
/moveit_plugins/moveit_plugins/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.22)
2 | project(moveit_plugins)
3 | find_package(ament_cmake REQUIRED)
4 |
5 | ament_package()
6 |
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/moveit_plugins/moveit_plugins/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_plugins
5 | 2.13.2
6 | Metapackage for MoveIt plugins.
7 |
8 | Henning Kayser
9 | Tyler Weaver
10 | Michael Görner
11 | MoveIt Release Team
12 |
13 | BSD-3-Clause
14 |
15 | http://moveit.ros.org
16 |
17 | Michael Ferguson
18 | Ioan Sucan
19 |
20 | ament_cmake
21 |
22 | moveit_simple_controller_manager
23 |
26 |
27 |
28 | ament_cmake
29 |
30 |
31 |
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/moveit_plugins/moveit_ros_control_interface/ConfigExtras.cmake:
--------------------------------------------------------------------------------
1 | # Extras module needed for dependencies to find boost components
2 |
3 | find_package(Boost REQUIRED COMPONENTS system thread)
4 |
--------------------------------------------------------------------------------
/moveit_plugins/moveit_ros_control_interface/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_ros_control_interface
5 | 2.13.2
6 | ros_control controller manager interface for MoveIt
7 | Henning Kayser
8 | Tyler Weaver
9 | MoveIt Release Team
10 |
11 | BSD-3-Clause
12 |
13 | Mathias Lüdtke
14 |
15 | ament_cmake
16 | moveit_common
17 | rclcpp_action
18 | controller_manager_msgs
19 | moveit_core
20 | moveit_simple_controller_manager
21 | pluginlib
22 | trajectory_msgs
23 |
24 |
25 | ament_cmake
26 |
27 |
28 |
--------------------------------------------------------------------------------
/moveit_plugins/moveit_ros_control_interface/test/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | find_package(ament_cmake_gtest REQUIRED)
2 | find_package(pluginlib REQUIRED)
3 | ament_add_gtest(test_controller_manager_plugin
4 | test_controller_manager_plugin.cpp TIMEOUT 20)
5 | target_link_libraries(test_controller_manager_plugin
6 | moveit_ros_control_interface_plugin)
7 | target_include_directories(test_controller_manager_plugin
8 | PRIVATE ${CMAKE_SOURCE_DIR}/include)
9 |
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/moveit_plugins/moveit_simple_controller_manager/ConfigExtras.cmake:
--------------------------------------------------------------------------------
1 | # Extras module needed for dependencies to find boost components
2 |
3 | find_package(Boost REQUIRED thread)
4 |
--------------------------------------------------------------------------------
/moveit_plugins/moveit_simple_controller_manager/moveit_simple_controller_manager_plugin_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
6 |
7 |
8 |
9 |
10 |
11 |
--------------------------------------------------------------------------------
/moveit_py/CITATION.cff:
--------------------------------------------------------------------------------
1 | cff-version: 1.2.0
2 | authors:
3 | - family-names: Fagan
4 | given-names: Peter David
5 | date-released: 2023-03-20
6 | message: "If you use this software, please cite it as below."
7 | title: "MoveIt 2 Python Library: A Software Library for Robotics Education and Research"
8 | url: "https://github.com/moveit/moveit2/tree/main/moveit_py"
9 |
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/moveit_py/banner.png:
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/moveit_py/docs/source/index.rst:
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1 | MoveItPy API Documentation
2 | =====================================
3 |
4 | .. toctree::
5 |
6 | .. autosummary::
7 | :toctree: _autosummary
8 | :recursive:
9 |
10 | moveit_py.core
11 | moveit_py.planning
12 | moveit_py.policies
13 | moveit_py.servo_client
14 |
--------------------------------------------------------------------------------
/moveit_py/moveit/README.md:
--------------------------------------------------------------------------------
1 | # Stubfile Generation
2 | What is a stub?
3 |
4 | ```
5 | A stub file in Python is a file that is used to define type hinting information (.pyi file extension).
6 | This type hint information enables users to interactively retrieve data about a method or class within their chosem IDE.
7 | ```
8 |
9 | For this project we leverage (stubgen)[https://mypy.readthedocs.io/en/stable/stubgen.html] from the (mypy)[https://mypy.readthedocs.io/en/stable/index.html]
10 | Python package to autogenerate stub files. To do so we simply build the moveit_py Python library and run the following command from an environment containing the built package:
11 |
12 | ```
13 | stubgen -p moveit
14 | ```
15 |
16 | This outputs the outgenerated stub files to an `out` directory. These are the stub files we use.
17 |
18 | Note: manual edits are likely to be made to the autogenerated files for official library releases.](https://mypy.readthedocs.io/en/stable/index.html)
19 |
--------------------------------------------------------------------------------
/moveit_py/moveit/__init__.py:
--------------------------------------------------------------------------------
1 | from moveit.core import *
2 | from moveit.planning import *
3 | from moveit.utils import get_launch_params_filepaths
4 |
--------------------------------------------------------------------------------
/moveit_py/moveit/core/__init__.pyi:
--------------------------------------------------------------------------------
1 | class World:
2 | def __init__(self, *args, **kwargs) -> None: ...
3 |
--------------------------------------------------------------------------------
/moveit_py/moveit/core/collision_detection.pyi:
--------------------------------------------------------------------------------
1 | from typing import Any
2 |
3 | class AllowedCollisionMatrix:
4 | def __init__(self, *args, **kwargs) -> None: ...
5 | def clear(self, *args, **kwargs) -> Any: ...
6 | def get_entry(self, *args, **kwargs) -> Any: ...
7 | def remove_entry(self, *args, **kwargs) -> Any: ...
8 | def set_entry(self, *args, **kwargs) -> Any: ...
9 |
10 | class CollisionRequest:
11 | contacts: Any
12 | cost: Any
13 | distance: Any
14 | joint_model_group_name: Any
15 | max_contacts: Any
16 | max_contacts_per_pair: Any
17 | max_cost_sources: Any
18 | verbose: Any
19 | def __init__(self, *args, **kwargs) -> None: ...
20 |
21 | class CollisionResult:
22 | collision: Any
23 | contact_count: Any
24 | contacts: Any
25 | cost_sources: Any
26 | distance: Any
27 | def __init__(self, *args, **kwargs) -> None: ...
28 |
--------------------------------------------------------------------------------
/moveit_py/moveit/core/controller_manager.pyi:
--------------------------------------------------------------------------------
1 | from typing import Any
2 |
3 | class ExecutionStatus:
4 | def __init__(self, *args, **kwargs) -> None: ...
5 | @property
6 | def status(self) -> Any: ...
7 | def __bool__(self) -> Any: ...
8 |
--------------------------------------------------------------------------------
/moveit_py/moveit/core/kinematic_constraints.pyi:
--------------------------------------------------------------------------------
1 | from typing import Any
2 |
3 | def construct_constraints_from_node(*args, **kwargs) -> Any: ...
4 | def construct_joint_constraint(*args, **kwargs) -> Any: ...
5 | def construct_link_constraint(*args, **kwargs) -> Any: ...
6 |
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/moveit_py/moveit/core/planning_interface.pyi:
--------------------------------------------------------------------------------
1 | from typing import Any
2 |
3 | class MotionPlanResponse:
4 | def __init__(self, *args, **kwargs) -> None: ...
5 | def __bool__(self) -> Any: ...
6 | @property
7 | def error_code(self) -> Any: ...
8 | @property
9 | def planner_id(self) -> Any: ...
10 | @property
11 | def planning_time(self) -> Any: ...
12 | @property
13 | def start_state(self) -> Any: ...
14 | @property
15 | def trajectory(self) -> Any: ...
16 |
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/moveit_py/moveit/core/robot_trajectory.pyi:
--------------------------------------------------------------------------------
1 | from typing import Any
2 |
3 | class RobotTrajectory:
4 | joint_model_group_name: Any
5 | def __init__(self, *args, **kwargs) -> None: ...
6 | def apply_totg_time_parameterization(self, *args, **kwargs) -> Any: ...
7 | def apply_ruckig_smoothing(self, *args, **kwargs) -> Any: ...
8 | def get_robot_trajectory_msg(self, *args, **kwargs) -> Any: ...
9 | def get_waypoint_durations(self, *args, **kwargs) -> Any: ...
10 | def set_robot_trajectory_msg(self, *args, **kwargs) -> Any: ...
11 | def unwind(self, *args, **kwargs) -> Any: ...
12 | def __getitem__(self, index) -> Any: ...
13 | def __iter__(self) -> Any: ...
14 | def __len__(self) -> Any: ...
15 | def __reverse__(self, *args, **kwargs) -> Any: ...
16 | @property
17 | def average_segment_duration(self) -> Any: ...
18 | @property
19 | def duration(self) -> Any: ...
20 | @property
21 | def robot_model(self) -> Any: ...
22 |
--------------------------------------------------------------------------------
/moveit_py/moveit/policies/__init__.py:
--------------------------------------------------------------------------------
1 | """Utilities for learned policy deployment.
2 |
3 | This module can be used to configure moveit_servo for learning based applications.
4 | """
5 |
6 | from .policy import Policy
7 |
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/moveit_py/moveit/policies/__init__.pyi:
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/moveit_py/moveit/policies/policy.pyi:
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1 | import abc
2 | from abc import ABC, abstractmethod
3 | from rclpy.node import Node
4 | from typing import Any
5 |
6 | class Policy(ABC, Node, metaclass=abc.ABCMeta):
7 | logger: Any
8 | param_listener: Any
9 | params: Any
10 | activate_policy_service: Any
11 | _is_active: bool
12 | def __init__(self, params, node_name) -> None: ...
13 | @property
14 | def is_active(self) -> Any: ...
15 | def activate_policy(self, request: Any, response: Any) -> Any: ...
16 | def get_sensor_msg_type(self, msg_type: str) -> Any: ...
17 | def get_command_msg_type(self, msg_type: str) -> Any: ...
18 | def register_sensors(self): ...
19 | def register_command(self): ...
20 | @abstractmethod
21 | def forward(self): ...
22 |
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/moveit_py/moveit/py.typed:
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/moveit_py/moveit/servo_client/README.md:
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1 | # Servo Module
2 | This module provides a client for interacting with MoveIt Servo.
3 |
4 | # Supported Devices
5 | * PS4 DualShock Controller
6 | * Oculus Quest 2 (plans to support this device)
7 |
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/moveit_py/moveit/servo_client/__init__.py:
--------------------------------------------------------------------------------
1 | """A client providing access to the MoveIt Servo node.
2 |
3 | This module can be used to configure new devices for teleoperation. It is also possible to use this module for sending position or velocity commands to your robot which can be useful for learning based approaches.
4 | """
5 |
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/moveit_py/moveit/servo_client/__init__.pyi:
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/moveit_py/moveit/servo_client/devices/__init__.py:
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1 | """ Teleoperation device implementations. """
2 |
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/moveit_py/moveit/servo_client/devices/__init__.pyi:
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/moveit_py/moveit/servo_client/teleop.pyi:
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1 | import abc
2 | from abc import ABC, abstractmethod
3 | from rclpy.node import Node
4 | from typing import Any
5 |
6 | class TeleopDevice(ABC, Node, metaclass=abc.ABCMeta):
7 | device_name: Any
8 | device_config: Any
9 | joy_subscriber: Any
10 | twist_publisher: Any
11 | servo_node_start_client: Any
12 | servo_node_stop_client: Any
13 | ee_frame_name: Any
14 | teleop_thread: Any
15 | def __init__(
16 | self, node_name, device_name, device_config, ee_frame_name
17 | ) -> None: ...
18 | def start_teleop(self) -> None: ...
19 | def stop_teleop(self) -> None: ...
20 | @abstractmethod
21 | def publish_command(self): ...
22 | @abstractmethod
23 | def record(self): ...
24 |
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/moveit_py/moveit/utils.pyi:
--------------------------------------------------------------------------------
1 | from typing import List, Optional
2 |
3 | def create_params_file_from_dict(params, node_name): ...
4 | def get_launch_params_filepaths(cli_args: Optional[List[str]] = ...) -> List[str]: ...
5 |
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/moveit_py/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_py
5 | 2.13.2
6 | Python binding for MoveIt 2
7 |
8 | Peter David Fagan
9 |
10 | BSD
11 |
12 | Peter David Fagan
13 |
14 | ament_cmake
15 |
16 | pybind11_vendor
17 |
18 | ament_index_python
19 |
20 | rclcpp
21 | rclpy
22 | geometry_msgs
23 | octomap_msgs
24 | moveit_ros_planning_interface
25 | moveit_ros_planning
26 | moveit_core
27 |
28 | ament_cmake_pytest
29 | python3-pytest
30 |
31 |
32 | ament_cmake
33 |
34 |
35 |
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/moveit_py/src/moveit/README.md:
--------------------------------------------------------------------------------
1 | # MoveIt 2 Pybind11 Bindings
2 |
3 | This directory contains the [Pybind11](https://pybind11.readthedocs.io/en/stable/) binding code used by the moveit_py package.
4 | The root of this directory contains the actual module definitions (e.g. `core.cpp` defines the `moveit_py.core` module).
5 |
6 | The structure of subfolders in this directory reflects that of the MoveIt 2 C++ codebase. Within each subfolder you will find the actual binding code that each module leverages.
7 | For instance, to see how the `PlanningScene` object is being binded you can refer to the source files in `./moveit_core/planning_scene/`.
8 |
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/moveit_py/src/moveit/moveit_py_utils/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_py_utils SHARED src/copy_ros_msg.cpp
2 | src/ros_msg_typecasters.cpp)
3 | target_include_directories(
4 | moveit_py_utils PUBLIC $
5 | $)
6 | set_target_properties(moveit_py_utils PROPERTIES VERSION
7 | "${${PROJECT_NAME}_VERSION}")
8 |
9 | ament_target_dependencies(moveit_py_utils rclcpp moveit_msgs geometry_msgs
10 | pybind11)
11 |
12 | install(
13 | TARGETS moveit_py_utils
14 | EXPORT moveit_py_utilsTargets
15 | LIBRARY DESTINATION lib
16 | ARCHIVE DESTINATION lib
17 | RUNTIME DESTINATION bin)
18 |
19 | install(DIRECTORY include/ DESTINATION include/moveit_py)
20 |
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/moveit_py/test/__init__.py:
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/moveit_py/test/integration/__init__.py:
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/moveit_py/test/unit/__init__.py:
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https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_py/test/unit/__init__.py
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/moveit_ros/README.md:
--------------------------------------------------------------------------------
1 | # MoveIt ROS
2 |
3 | This repository includes components of MoveIt that use ROS. This is where much of the functionality MoveIt provides is put together. Libraries from MoveIt Core and various plugins are used to provide that functionality.
4 | - planning
5 | - planning interfaces
6 | - benchmarking
7 | - visualization
8 |
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/moveit_ros/benchmarks/ConfigExtras.cmake:
--------------------------------------------------------------------------------
1 | # Extras module needed for dependencies to find boost components
2 |
3 | find_package(Boost REQUIRED date_time filesystem)
4 |
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/moveit_ros/benchmarks/README.md:
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1 | # MoveIt ROS Benchmarks
2 |
3 | This package provides methods to benchmark motion planning algorithms and aggregate/plot statistics. Results can be viewed in [Planner Arena](http://plannerarena.org/).
4 |
5 | For more information and usage example please see [moveit tutorials](https://moveit.github.io/moveit_tutorials/doc/benchmarking/benchmarking_tutorial.html).
6 |
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/moveit_ros/hybrid_planning/forward_trajectory_plugin.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | Simple local solver plugin that forwards the next waypoint of the sampled local trajectory.
5 |
6 |
7 |
8 |
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/moveit_ros/hybrid_planning/global_planner/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_subdirectory(global_planner_component)
2 | add_subdirectory(global_planner_plugins)
3 |
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/moveit_ros/hybrid_planning/global_planner/global_planner_component/CMakeLists.txt:
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1 | # Global planner component
2 | add_library(moveit_global_planner_component SHARED
3 | src/global_planner_component.cpp)
4 | set_target_properties(moveit_global_planner_component
5 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
6 | ament_target_dependencies(moveit_global_planner_component
7 | ${THIS_PACKAGE_INCLUDE_DEPENDS})
8 |
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/moveit_ros/hybrid_planning/global_planner/global_planner_plugins/CMakeLists.txt:
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1 | add_library(motion_planning_pipeline_plugin SHARED
2 | src/moveit_planning_pipeline.cpp)
3 | set_target_properties(motion_planning_pipeline_plugin
4 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
5 | ament_target_dependencies(motion_planning_pipeline_plugin
6 | ${THIS_PACKAGE_INCLUDE_DEPENDS})
7 |
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/moveit_ros/hybrid_planning/hybrid_planning_manager/CMakeLists.txt:
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1 | add_subdirectory(hybrid_planning_manager_component)
2 | add_subdirectory(planner_logic_plugins)
3 |
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/moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | # Hybrid planning manager component
2 | generate_parameter_library(hp_manager_parameters res/hp_manager_parameters.yaml)
3 | add_library(moveit_hybrid_planning_manager SHARED
4 | src/hybrid_planning_manager.cpp)
5 | set_target_properties(moveit_hybrid_planning_manager
6 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
7 | target_link_libraries(moveit_hybrid_planning_manager hp_manager_parameters)
8 | ament_target_dependencies(moveit_hybrid_planning_manager
9 | ${THIS_PACKAGE_INCLUDE_DEPENDS})
10 |
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/moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/res/hp_manager_parameters.yaml:
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1 | hp_manager_parameters:
2 | planner_logic_plugin_name: {
3 | type: string,
4 | description: "Name of the planner logic plugin",
5 | default_value: "moveit::hybrid_planning/ReplanInvalidatedTrajectory",
6 | }
7 |
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/moveit_ros/hybrid_planning/hybrid_planning_manager/planner_logic_plugins/CMakeLists.txt:
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1 | add_library(single_plan_execution_plugin SHARED src/single_plan_execution.cpp)
2 | set_target_properties(single_plan_execution_plugin
3 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
4 | ament_target_dependencies(single_plan_execution_plugin
5 | ${THIS_PACKAGE_INCLUDE_DEPENDS})
6 | target_link_libraries(single_plan_execution_plugin
7 | moveit_hybrid_planning_manager)
8 |
9 | add_library(replan_invalidated_trajectory_plugin SHARED
10 | src/replan_invalidated_trajectory.cpp)
11 | set_target_properties(replan_invalidated_trajectory_plugin
12 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
13 | ament_target_dependencies(replan_invalidated_trajectory_plugin
14 | ${THIS_PACKAGE_INCLUDE_DEPENDS})
15 | target_link_libraries(
16 | replan_invalidated_trajectory_plugin moveit_hybrid_planning_manager
17 | single_plan_execution_plugin)
18 |
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/moveit_ros/hybrid_planning/local_planner/CMakeLists.txt:
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1 | add_subdirectory(local_planner_component)
2 | add_subdirectory(trajectory_operator_plugins)
3 | add_subdirectory(local_constraint_solver_plugins)
4 |
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/moveit_ros/hybrid_planning/local_planner/local_constraint_solver_plugins/CMakeLists.txt:
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1 | add_library(forward_trajectory_plugin SHARED src/forward_trajectory.cpp)
2 | set_target_properties(forward_trajectory_plugin
3 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
4 | ament_target_dependencies(forward_trajectory_plugin
5 | ${THIS_PACKAGE_INCLUDE_DEPENDS})
6 |
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/moveit_ros/hybrid_planning/local_planner/local_planner_component/CMakeLists.txt:
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1 | # Local_planner_component
2 | generate_parameter_library(local_planner_parameters
3 | res/local_planner_parameters.yaml)
4 | add_library(moveit_local_planner_component SHARED
5 | src/local_planner_component.cpp)
6 | set_target_properties(moveit_local_planner_component
7 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
8 | target_link_libraries(moveit_local_planner_component local_planner_parameters)
9 | ament_target_dependencies(moveit_local_planner_component
10 | ${THIS_PACKAGE_INCLUDE_DEPENDS})
11 |
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/moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/CMakeLists.txt:
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1 | add_library(simple_sampler_plugin SHARED src/simple_sampler.cpp)
2 | set_target_properties(simple_sampler_plugin
3 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
4 | ament_target_dependencies(simple_sampler_plugin ${THIS_PACKAGE_INCLUDE_DEPENDS})
5 |
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/moveit_ros/hybrid_planning/moveit_planning_pipeline_plugin.xml:
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1 |
2 |
3 |
4 | Use default MoveIt planning pipeline as Global Planner
5 |
6 |
7 |
8 |
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/moveit_ros/hybrid_planning/replan_invalidated_trajectory_plugin.xml:
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1 |
2 |
3 |
4 | Simple hybrid planning logic that runs the global planner once and starts executing the global solution with the local planner. In case the local planner detects a collision the global planner is rerun to update the invalidated global trajectory.
5 |
6 |
7 |
8 |
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/moveit_ros/hybrid_planning/simple_sampler_plugin.xml:
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1 |
2 |
3 |
4 | Simple trajectory operator plugin that updates the local planner's reference trajectory by simple replacing it and extracts the next trajectory point based on the current robot state and an index.
5 |
6 |
7 |
8 |
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/moveit_ros/hybrid_planning/single_plan_execution_plugin.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | Simple hybrid planning logic that runs the global planner once and execute the global solution with the local planner.
5 |
6 |
7 |
8 |
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/moveit_ros/hybrid_planning/test/CMakeLists.txt:
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1 | add_executable(cancel_action cancel_action.cpp)
2 | ament_target_dependencies(cancel_action PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
3 |
4 | if(BUILD_TESTING)
5 | find_package(ament_cmake_gtest REQUIRED)
6 | find_package(ros_testing REQUIRED)
7 | find_package(Boost REQUIRED COMPONENTS filesystem)
8 |
9 | # TODO (vatanaksoytezer / andyze: Flaky behaviour, investigate and re-enable
10 | # this test asap) Basic integration tests
11 | # ament_add_gtest_executable(test_basic_integration test_basic_integration.cpp
12 | # ) ament_target_dependencies(test_basic_integration
13 | # ${THIS_PACKAGE_INCLUDE_DEPENDS})
14 | # add_ros_test(launch/test_basic_integration.test.py TIMEOUT 50 ARGS
15 | # "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
16 |
17 | endif()
18 |
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/moveit_ros/hybrid_planning/test/config/demo_controller.yaml:
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1 | controller_manager:
2 | ros__parameters:
3 | update_rate: 500 # Hz
4 | panda_arm_controller:
5 | type: joint_trajectory_controller/JointTrajectoryController
6 | joint_state_broadcaster:
7 | type: joint_state_broadcaster/JointStateBroadcaster
8 | panda_joint_group_position_controller:
9 | type: position_controllers/JointGroupPositionController
10 |
11 | panda_arm_controller:
12 | ros__parameters:
13 | joints:
14 | - panda_joint1
15 | - panda_joint2
16 | - panda_joint3
17 | - panda_joint4
18 | - panda_joint5
19 | - panda_joint6
20 | - panda_joint7
21 | command_interfaces:
22 | - position
23 | state_interfaces:
24 | - position
25 | - velocity
26 |
27 | panda_joint_group_position_controller:
28 | ros__parameters:
29 | joints:
30 | - panda_joint1
31 | - panda_joint2
32 | - panda_joint3
33 | - panda_joint4
34 | - panda_joint5
35 | - panda_joint6
36 | - panda_joint7
37 |
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/moveit_ros/hybrid_planning/test/config/global_planner.yaml:
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1 | global_planner_name: "moveit_hybrid_planning/MoveItPlanningPipeline"
2 |
3 | # The rest of these parameters are typical for moveit_cpp
4 | planning_scene_monitor_options:
5 | name: "planning_scene_monitor"
6 | robot_description: "robot_description"
7 | joint_state_topic: "/joint_states"
8 | attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor"
9 | # Subscribe to this topic (The name comes from the perspective of moveit_cpp)
10 | publish_planning_scene_topic: "/planning_scene"
11 | # Publish this topic, e.g. to visualize with RViz
12 | monitored_planning_scene_topic: "/planning_scene"
13 | wait_for_initial_state_timeout: 10.0
14 | planning_pipelines:
15 | #namespace: "moveit_cpp" # optional, default is ~
16 | pipeline_names: ["ompl"]
17 | plan_request_params:
18 | planning_attempts: 1
19 | planning_pipeline: ompl
20 | max_velocity_scaling_factor: 1.0
21 | max_acceleration_scaling_factor: 1.0
22 |
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/moveit_ros/hybrid_planning/test/config/hybrid_planning_manager.yaml:
--------------------------------------------------------------------------------
1 | planner_logic_plugin_name: "moveit_hybrid_planning/ReplanInvalidatedTrajectory"
2 |
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/moveit_ros/hybrid_planning/test/config/local_planner.yaml:
--------------------------------------------------------------------------------
1 | robot_description: "robot_description"
2 | trajectory_operator_plugin_name: "moveit_hybrid_planning/SimpleSampler"
3 | local_constraint_solver_plugin_name: "moveit_hybrid_planning/ForwardTrajectory"
4 | local_planning_frequency: 100.0
5 | global_solution_topic: "global_trajectory"
6 | local_solution_topic: "/panda_joint_group_position_controller/commands" # or panda_arm_controller/joint_trajectory
7 | local_solution_topic_type: "std_msgs/Float64MultiArray" # or trajectory_msgs/JointTrajectory
8 | publish_joint_positions: true
9 | publish_joint_velocities: false
10 | group_name: "panda_arm"
11 | # Subscribe to this topic
12 | monitored_planning_scene: "/planning_scene"
13 | collision_object_topic: "/collision_object"
14 | joint_states_topic: "/joint_states"
15 |
16 | # ForwardTrajectory param
17 | stop_before_collision: true
18 |
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/moveit_ros/move_group/ConfigExtras.cmake:
--------------------------------------------------------------------------------
1 | # Extras module needed for dependencies to find boost components
2 |
3 | find_package(
4 | Boost
5 | REQUIRED
6 | system
7 | filesystem
8 | date_time
9 | program_options
10 | thread)
11 |
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/moveit_ros/move_group/scripts/load_map:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 | import sys
3 | import rospy
4 | from moveit_msgs.srv import LoadMap
5 |
6 | filename = sys.argv[1]
7 |
8 | rospy.init_node("load_map", anonymous=True)
9 |
10 | load_map_service = rospy.ServiceProxy("move_group/load_map", LoadMap)
11 | if load_map_service(filename):
12 | rospy.loginfo("Succeeded")
13 | else:
14 | rospy.loginfo("Failed")
15 |
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/moveit_ros/move_group/scripts/save_map:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 | import sys
3 | import rospy
4 | from moveit_msgs.srv import SaveMap
5 |
6 | filename = sys.argv[1]
7 |
8 | rospy.init_node("save_map", anonymous=True)
9 |
10 | save_map_service = rospy.ServiceProxy("move_group/save_map", SaveMap)
11 | if save_map_service(filename):
12 | rospy.loginfo("Succeeded")
13 | else:
14 | rospy.loginfo("Failed")
15 |
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/moveit_ros/move_group/test/test_cancel_before_plan_execution.test:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
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/moveit_ros/move_group/test/test_check_state_validity_in_empty_scene.test:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
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/moveit_ros/moveit_ros/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.22)
2 | project(moveit_ros)
3 | find_package(ament_cmake REQUIRED)
4 |
5 | ament_package()
6 |
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/moveit_ros/moveit_servo/MIGRATION.md:
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1 | # Migration Notes
2 |
3 | API changes since last Noetic Release
4 |
5 | - Servo::getLatestJointState was removed. To get the latest joint positions of the group servo is working with use the CSM in the PSM. Here is an example of how to get the latest joint positions:
6 | planning_scene_monitor_->getStateMonitor()->getCurrentState()->copyJointGroupPositions(move_group_name, positions);
7 |
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/moveit_ros/moveit_servo/README.md:
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1 | # MoveIt Servo
2 |
3 | See the [Realtime Arm Servoing Tutorial](https://moveit.picknik.ai/main/doc/examples/realtime_servo/realtime_servo_tutorial.html) for installation instructions, quick-start guide, an overview about `moveit_servo`, and to learn how to set it up on your robot.
4 |
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/moveit_ros/perception/ConfigExtras.cmake:
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1 | # Extras module needed for dependencies to find boost components
2 |
3 | find_package(Boost REQUIRED thread)
4 |
--------------------------------------------------------------------------------
/moveit_ros/perception/depth_image_octomap_updater_plugin_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
--------------------------------------------------------------------------------
/moveit_ros/perception/lazy_free_space_updater/CMakeLists.txt:
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1 | add_library(moveit_lazy_free_space_updater SHARED
2 | src/lazy_free_space_updater.cpp)
3 | set_target_properties(moveit_lazy_free_space_updater
4 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
5 | set_target_properties(
6 | moveit_lazy_free_space_updater
7 | PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
8 | set_target_properties(moveit_lazy_free_space_updater
9 | PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
10 | if(APPLE)
11 | target_link_libraries(moveit_lazy_free_space_updater OpenMP::OpenMP_CXX)
12 | endif()
13 | ament_target_dependencies(moveit_lazy_free_space_updater rclcpp
14 | moveit_ros_occupancy_map_monitor sensor_msgs)
15 |
16 | install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)
17 |
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/moveit_ros/perception/moveit_depth_self_filter.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | Nodelet for filtering meshes from depth images. e.g. meshes of the robot or any attached object where a transformation can be provided for.
5 |
6 |
7 |
8 |
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/moveit_ros/perception/point_containment_filter/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_point_containment_filter SHARED src/shape_mask.cpp)
2 | set_target_properties(moveit_point_containment_filter
3 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
4 | set_target_properties(
5 | moveit_point_containment_filter
6 | PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
7 | set_target_properties(moveit_point_containment_filter
8 | PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
9 | ament_target_dependencies(moveit_point_containment_filter rclcpp sensor_msgs
10 | geometric_shapes moveit_core)
11 |
12 | install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)
13 |
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/moveit_ros/perception/pointcloud_octomap_updater_plugin_description.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
--------------------------------------------------------------------------------
/moveit_ros/perception/semantic_world/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_semantic_world SHARED src/semantic_world.cpp)
2 | set_target_properties(moveit_semantic_world
3 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
4 | ament_target_dependencies(
5 | moveit_semantic_world
6 | PUBLIC
7 | rclcpp
8 | moveit_core
9 | object_recognition_msgs
10 | visualization_msgs
11 | geometry_msgs
12 | geometric_shapes
13 | moveit_msgs
14 | tf2_eigen
15 | Eigen3
16 | Boost)
17 |
18 | install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)
19 |
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/moveit_ros/planning/ConfigExtras.cmake:
--------------------------------------------------------------------------------
1 | # Extras module needed for dependencies to find boost components
2 |
3 | find_package(
4 | Boost
5 | REQUIRED
6 | system
7 | filesystem
8 | date_time
9 | program_options
10 | thread
11 | chrono)
12 |
--------------------------------------------------------------------------------
/moveit_ros/planning/collision_plugin_loader/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_collision_plugin_loader SHARED
2 | src/collision_plugin_loader.cpp)
3 | set_target_properties(moveit_collision_plugin_loader
4 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
5 | ament_target_dependencies(moveit_collision_plugin_loader moveit_core rclcpp
6 | pluginlib)
7 |
8 | install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
9 |
--------------------------------------------------------------------------------
/moveit_ros/planning/constraint_sampler_manager_loader/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_constraint_sampler_manager_loader SHARED
2 | src/constraint_sampler_manager_loader.cpp)
3 |
4 | set_target_properties(moveit_constraint_sampler_manager_loader
5 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
6 | ament_target_dependencies(moveit_constraint_sampler_manager_loader moveit_core
7 | rclcpp Boost pluginlib)
8 | target_link_libraries(moveit_constraint_sampler_manager_loader
9 | moveit_rdf_loader)
10 |
11 | install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
12 |
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/moveit_ros/planning/kinematics_plugin_loader/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_kinematics_plugin_loader SHARED
2 | src/kinematics_plugin_loader.cpp)
3 | set_target_properties(moveit_kinematics_plugin_loader
4 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
5 | ament_target_dependencies(moveit_kinematics_plugin_loader rclcpp urdf pluginlib
6 | class_loader moveit_core)
7 |
8 | generate_parameter_library(
9 | kinematics_parameters # cmake target name for the parameter library
10 | src/kinematics_parameters.yaml # path to input yaml file
11 | )
12 |
13 | target_link_libraries(moveit_kinematics_plugin_loader moveit_rdf_loader
14 | kinematics_parameters)
15 |
16 | install(
17 | TARGETS kinematics_parameters
18 | EXPORT ${PROJECT_NAME}Targets
19 | ARCHIVE DESTINATION lib
20 | LIBRARY DESTINATION lib
21 | RUNTIME DESTINATION bin)
22 |
23 | install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
24 |
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/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_parameters.yaml:
--------------------------------------------------------------------------------
1 | kinematics:
2 | kinematics_solver: {
3 | type: string,
4 | default_value: "",
5 | description: "Kinematics solver",
6 | }
7 | kinematics_solver_search_resolution: {
8 | type: double,
9 | default_value: 0.1,
10 | description: "kinematics solver search resolution",
11 | validation: {
12 | gt_eq<>: [ 0.0 ]
13 | }
14 | }
15 | kinematics_solver_timeout: {
16 | type: double,
17 | default_value: 0.05,
18 | description: "kinematics solver timeout",
19 | validation: {
20 | gt<>: [ 0.0 ]
21 | }
22 | }
23 |
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/moveit_ros/planning/moveit_cpp/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_cpp SHARED src/moveit_cpp.cpp src/planning_component.cpp)
2 | set_target_properties(moveit_cpp PROPERTIES VERSION
3 | "${${PROJECT_NAME}_VERSION}")
4 | ament_target_dependencies(moveit_cpp rclcpp moveit_core)
5 | target_link_libraries(
6 | moveit_cpp moveit_planning_scene_monitor moveit_planning_pipeline
7 | moveit_planning_pipeline_interfaces moveit_trajectory_execution_manager)
8 |
9 | install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
10 |
11 | # TODO: Port MoveItCpp test if (BUILD_TESTING)
12 | # find_package(moveit_resources_panda_moveit_config REQUIRED)
13 | # find_package(rostest REQUIRED)
14 | #
15 | # add_rostest_gtest(moveit_cpp_test test/moveit_cpp_test.test
16 | # test/moveit_cpp_test.cpp) target_link_libraries(moveit_cpp_test moveit_cpp
17 | # ${catkin_LIBRARIES}) endif()
18 |
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/moveit_ros/planning/moveit_cpp/test/moveit_cpp.yaml:
--------------------------------------------------------------------------------
1 | planning_scene_monitor_options:
2 | name: "planning_scene_monitor"
3 | robot_description: "robot_description"
4 | joint_state_topic: "/joint_states"
5 | attached_collision_object_topic: "/planning_scene_monitor"
6 | publish_planning_scene_topic: "/publish_planning_scene"
7 | monitored_planning_scene_topic: "/monitored_planning_scene"
8 | wait_for_initial_state_timeout: 10.0
9 |
10 | planning_pipelines:
11 | pipeline_names:
12 | - ompl
13 |
14 | plan_request_params:
15 | planning_attempts: 1
16 | planning_pipeline: ompl
17 | max_velocity_scaling_factor: 1.0
18 | max_acceleration_scaling_factor: 1.0
19 |
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/moveit_ros/planning/plan_execution/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_plan_execution SHARED src/plan_execution.cpp)
2 | set_target_properties(moveit_plan_execution
3 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
4 | target_link_libraries(
5 | moveit_plan_execution moveit_planning_pipeline moveit_planning_scene_monitor
6 | moveit_trajectory_execution_manager)
7 | ament_target_dependencies(moveit_plan_execution moveit_core rclcpp Boost
8 | class_loader pluginlib)
9 |
10 | install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
11 |
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/moveit_ros/planning/plan_execution/cfg/PlanExecutionDynamicReconfigure.cfg:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 | PACKAGE = "moveit_ros_planning"
3 | from dynamic_reconfigure.parameter_generator_catkin import *
4 | gen = ParameterGenerator()
5 |
6 | gen.add("max_replan_attempts", int_t, 1, "Set the maximum number of times a sensor can be pointed to parts of the environment doring a motion plan", 5, 0, 1000)
7 | gen.add("record_trajectory_state_frequency", double_t, 6, "The frequency at which to record states when monitoring trajectories", 0.0, 0.0, 1000.0)
8 |
9 | exit(gen.generate(PACKAGE, PACKAGE, "PlanExecutionDynamicReconfigure"))
10 |
--------------------------------------------------------------------------------
/moveit_ros/planning/plan_execution/cfg/SenseForPlanDynamicReconfigure.cfg:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 | PACKAGE = "moveit_ros_planning"
3 | from dynamic_reconfigure.parameter_generator_catkin import *
4 | gen = ParameterGenerator()
5 |
6 | gen.add("max_safe_path_cost", double_t, 2, "Set the maximum cost that is allowed for a path to be considered safe", 0.01, 0.0, 1000.0)
7 | gen.add("max_look_attempts", int_t, 3, "Set the maximum number of times a sensor can be pointed to parts of the environment doring a motion plan", 3, 0, 100)
8 | gen.add("max_cost_sources", int_t, 4, "Set the maximum number of cost sources to be considered when computing the cost of a motion plan", 100, 1, 10000)
9 | gen.add("discard_overlapping_cost_sources", double_t, 5, "Set the maximum similarity to allow between distinct cost sources (similar cost sources are discarded)", 0.8, 0.01, 1.0)
10 |
11 | exit(gen.generate(PACKAGE, PACKAGE, "SenseForPlanDynamicReconfigure"))
12 |
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/moveit_ros/planning/planning_components_tools/images/collision_speed_100_box_collision.png:
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/moveit_ros/planning/planning_components_tools/images/collision_speed_100_meshes_collision.png:
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/moveit_ros/planning/planning_components_tools/images/collision_speed_100_meshes_no_collision.png:
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/moveit_ros/planning/planning_components_tools/launch/collision_checker_compare.launch:
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/moveit_ros/planning/planning_pipeline/res/planning_pipeline_parameters.yaml:
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1 | planning_pipeline_parameters:
2 | planning_plugins: {
3 | type: string_array,
4 | description: "Name of the planner plugin used by the pipeline",
5 | read_only: true,
6 | default_value: ["UNKNOWN"],
7 | }
8 | request_adapters: {
9 | type: string_array,
10 | description: "Names of the planning request adapter plugins (plugin names separated by space). The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.",
11 | read_only: true,
12 | default_value: [],
13 | }
14 | response_adapters: {
15 | type: string_array,
16 | description: "Names of the planning request adapter plugins (plugin names separated by space). The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.",
17 | read_only: true,
18 | default_value: [],
19 | }
20 | progress_topic: {
21 | type: string,
22 | description: "For every stage of the planning pipeline a progress message is published to this topic. An empty string disables the publisher.",
23 | default_value: "pipeline_state",
24 | }
25 |
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/moveit_ros/planning/planning_pipeline_interfaces/CMakeLists.txt:
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1 | add_library(
2 | moveit_planning_pipeline_interfaces SHARED
3 | src/planning_pipeline_interfaces.cpp src/plan_responses_container.cpp
4 | src/solution_selection_functions.cpp src/stopping_criterion_function.cpp)
5 |
6 | include(GenerateExportHeader)
7 | generate_export_header(moveit_planning_pipeline_interfaces)
8 | target_include_directories(
9 | moveit_planning_pipeline_interfaces
10 | PUBLIC $)
11 | set_target_properties(moveit_planning_pipeline_interfaces
12 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
13 | target_link_libraries(moveit_planning_pipeline_interfaces
14 | moveit_planning_pipeline)
15 |
16 | ament_target_dependencies(moveit_planning_pipeline_interfaces moveit_core
17 | moveit_msgs rclcpp)
18 |
19 | install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
20 | install(
21 | FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_planning_pipeline_interfaces_export.h
22 | DESTINATION include/moveit_ros_planning)
23 |
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/moveit_ros/planning/planning_pipeline_test_plugins_description.xml:
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1 |
2 |
3 |
4 |
5 | A dummy request adapter that does nothing and is always successful
6 |
7 |
8 |
9 |
10 |
11 | A dummy request adapter that does nothing and is always successful
12 |
13 |
14 |
15 |
16 |
17 | A dummy request adapter that does nothing and is always successful
18 |
19 |
20 |
21 |
22 |
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/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt:
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1 | generate_parameter_library(default_request_adapter_parameters
2 | res/default_request_adapter_params.yaml)
3 |
4 | add_library(
5 | moveit_default_planning_request_adapter_plugins SHARED
6 | src/check_for_stacked_constraints.cpp src/check_start_state_bounds.cpp
7 | src/check_start_state_collision.cpp src/validate_workspace_bounds.cpp
8 | src/resolve_constraint_frames.cpp)
9 |
10 | target_link_libraries(moveit_default_planning_request_adapter_plugins
11 | default_request_adapter_parameters)
12 |
13 | set_target_properties(moveit_default_planning_request_adapter_plugins
14 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
15 | ament_target_dependencies(moveit_default_planning_request_adapter_plugins
16 | moveit_core rclcpp pluginlib)
17 |
18 | if(BUILD_TESTING)
19 | find_package(ament_cmake_gtest REQUIRED)
20 | find_package(ament_cmake_gmock REQUIRED)
21 |
22 | ament_add_gmock(test_check_start_state_bounds
23 | test/test_check_start_state_bounds.cpp)
24 | target_link_libraries(test_check_start_state_bounds moveit_planning_pipeline
25 | moveit_default_planning_request_adapter_plugins)
26 |
27 | endif()
28 |
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/moveit_ros/planning/planning_request_adapter_plugins/res/default_request_adapter_params.yaml:
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1 | # This file contains the parameters for all of MoveIt's default PlanningRequestAdapters
2 | default_request_adapter_parameters:
3 | fix_start_state: {
4 | type: bool,
5 | description: "CheckStartStateBounds: If true and the start state has continuous, planar, or floating joints, the start state of the MotionPlanRequest will be updated to normalize the rotation values of those joints.",
6 | default_value: false,
7 | }
8 | default_workspace_bounds: {
9 | type: double,
10 | description: "ValidateWorkspaceBounds: Default workspace bounds representing a cube around the robot's origin whose edge length this parameter defines.",
11 | default_value: 1000000000000.0, # TODO ideally, this should be inf or 1e308, but this notation is not working in version 0.3.8
12 | }
13 |
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/moveit_ros/planning/planning_response_adapter_plugins/CMakeLists.txt:
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1 | generate_parameter_library(default_response_adapter_parameters
2 | res/default_response_adapter_params.yaml)
3 |
4 | add_library(
5 | moveit_default_planning_response_adapter_plugins SHARED
6 | src/add_ruckig_traj_smoothing.cpp src/add_time_optimal_parameterization.cpp
7 | src/display_motion_path.cpp src/validate_path.cpp)
8 |
9 | target_link_libraries(moveit_default_planning_response_adapter_plugins
10 | default_response_adapter_parameters)
11 |
12 | set_target_properties(moveit_default_planning_response_adapter_plugins
13 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
14 | ament_target_dependencies(moveit_default_planning_response_adapter_plugins
15 | Boost moveit_core rclcpp pluginlib)
16 |
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/moveit_ros/planning/rdf_loader/CMakeLists.txt:
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1 | add_library(moveit_rdf_loader SHARED src/rdf_loader.cpp
2 | src/synchronized_string_parameter.cpp)
3 | set_target_properties(moveit_rdf_loader PROPERTIES VERSION
4 | "${${PROJECT_NAME}_VERSION}")
5 | ament_target_dependencies(moveit_rdf_loader rclcpp ament_index_cpp urdf srdfdom
6 | moveit_core)
7 |
8 | install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
9 | install(DIRECTORY test/data test/launch
10 | DESTINATION share/${PROJECT_NAME}/rdf_loader/test)
11 |
12 | # TODO(sjahr) Debug and re-enable if(BUILD_TESTING)
13 | # find_package(ament_cmake_gtest REQUIRED) find_package(ros_testing REQUIRED)
14 | #
15 | # ament_add_gtest_executable(test_rdf_integration test/test_rdf_integration.cpp
16 | # ) target_link_libraries(test_rdf_integration moveit_rdf_loader)
17 | # add_ros_test(test/launch/test_rdf_integration.test.py TIMEOUT 120)
18 | #
19 | # add_executable(boring_string_publisher test/boring_string_publisher.cpp)
20 | # target_link_libraries(boring_string_publisher moveit_rdf_loader)
21 | #
22 | # install( TARGETS test_rdf_integration boring_string_publisher ARCHIVE
23 | # DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION
24 | # lib/${PROJECT_NAME} ) endif()
25 |
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/moveit_ros/planning/rdf_loader/test/data/gonzo.srdf:
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/moveit_ros/planning/rdf_loader/test/data/robin.srdf.xacro:
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/moveit_ros/planning/robot_model_loader/CMakeLists.txt:
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1 | if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
2 | add_compile_options(-Wno-potentially-evaluated-expression)
3 | endif()
4 |
5 | add_library(moveit_robot_model_loader SHARED src/robot_model_loader.cpp)
6 | set_target_properties(moveit_robot_model_loader
7 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
8 | ament_target_dependencies(moveit_robot_model_loader rclcpp urdf Boost
9 | moveit_core moveit_msgs)
10 | target_link_libraries(moveit_robot_model_loader moveit_rdf_loader
11 | moveit_kinematics_plugin_loader)
12 |
13 | install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
14 |
--------------------------------------------------------------------------------
/moveit_ros/planning/srdf_publisher_node/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(srdf_publisher_node SHARED src/srdf_publisher_node.cpp)
2 | ament_target_dependencies(srdf_publisher_node PUBLIC std_msgs rclcpp
3 | rclcpp_components)
4 |
5 | if(BUILD_TESTING)
6 | find_package(launch_testing_ament_cmake REQUIRED)
7 |
8 | add_launch_test(test/srdf_publisher_test.py TARGET test-srdf_publisher)
9 | endif()
10 |
--------------------------------------------------------------------------------
/moveit_ros/planning/trajectory_execution_manager/cfg/TrajectoryExecutionDynamicReconfigure.cfg:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 | PACKAGE = "moveit_ros_planning"
3 | from dynamic_reconfigure.parameter_generator_catkin import *
4 | gen = ParameterGenerator()
5 |
6 | gen.add("execution_duration_monitoring", bool_t, 1, "Monitor the execution duration of a trajectory. If expected duration is exceeded, the trajectory is canceled.", True)
7 | gen.add("allowed_execution_duration_scaling", double_t, 2, "Accept durations that take a little more time than specified", 1.1, 1, 10)
8 | gen.add("allowed_goal_duration_margin", double_t, 3, "Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling)", 0.5, 0.1, 30)
9 | gen.add("execution_velocity_scaling", double_t, 4, "Multiplicative factor for execution speed", 1, 0.1, 10)
10 | gen.add("allowed_start_tolerance", double_t, 5, "Allowed joint-value tolerance for validation of trajectory's start point against current robot state", 0.01, 0);
11 | gen.add("wait_for_trajectory_completion", bool_t, 6, "Wait for trajectory completion. If set to false, do not wait for controllers to converge to last way point, before reporting success.", True)
12 |
13 | exit(gen.generate(PACKAGE, PACKAGE, "TrajectoryExecutionDynamicReconfigure"))
14 |
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/moveit_ros/planning/trajectory_execution_manager/lib/plugin_description.xml:
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7 |
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/moveit_ros/planning/trajectory_execution_manager/test/test_execution_manager.test:
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1 |
2 |
3 |
4 |
5 |
6 |
7 | ["ompl"]
8 |
9 |
10 |
11 |
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/moveit_ros/planning_interface/ConfigExtras.cmake:
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1 | # Extras module needed for dependencies to find boost components
2 |
3 | # if(Boost_VERSION LESS 106700) set(BOOST_PYTHON_COMPONENT python) else()
4 | # set(BOOST_PYTHON_COMPONENT
5 | # python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}) endif()
6 |
7 | find_package(
8 | Boost REQUIRED
9 | COMPONENTS date_time filesystem program_options
10 | # ${BOOST_PYTHON_COMPONENT}
11 | system thread)
12 |
--------------------------------------------------------------------------------
/moveit_ros/planning_interface/common_planning_interface_objects/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | add_library(moveit_common_planning_interface_objects SHARED
2 | src/common_objects.cpp)
3 | set_target_properties(moveit_common_planning_interface_objects
4 | PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
5 | ament_target_dependencies(moveit_common_planning_interface_objects rclcpp
6 | moveit_ros_planning tf2_ros)
7 |
8 | install(DIRECTORY include/ DESTINATION include/moveit_ros_planning_interface)
9 |
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/moveit_ros/planning_interface/test/config/start_positions.yaml:
--------------------------------------------------------------------------------
1 | fake_joint_driver_node:
2 | ros__parameters:
3 | start_position:
4 | joints:
5 | - panda_joint1
6 | - panda_joint2
7 | - panda_joint3
8 | - panda_joint4
9 | - panda_joint5
10 | - panda_joint6
11 | - panda_joint7
12 | values:
13 | - 0.0
14 | - -0.785
15 | - 0.0
16 | - -2.356
17 | - 0.0
18 | - 1.571
19 | - 0.785
20 |
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/moveit_ros/planning_interface/test/launch/move_group_ompl_constraints.test.py:
--------------------------------------------------------------------------------
1 | import os
2 | import sys
3 | import unittest
4 |
5 | import launch_testing.asserts
6 |
7 | sys.path.append(os.path.dirname(__file__))
8 | from move_group_launch_test_common import generate_move_group_test_description
9 |
10 |
11 | def generate_test_description():
12 | return generate_move_group_test_description(
13 | gtest_name="move_group_ompl_constraints_test"
14 | )
15 |
16 |
17 | class TestGTestProcessActive(unittest.TestCase):
18 | def test_gtest_run_complete(
19 | self,
20 | proc_info,
21 | ompl_constraint_test,
22 | run_move_group_node,
23 | static_tf,
24 | robot_state_publisher,
25 | ros2_control_node,
26 | ):
27 | proc_info.assertWaitForShutdown(ompl_constraint_test, timeout=4000.0)
28 |
29 |
30 | @launch_testing.post_shutdown_test()
31 | class TestGTestProcessPostShutdown(unittest.TestCase):
32 | def test_gtest_pass(
33 | self,
34 | proc_info,
35 | ompl_constraint_test,
36 | run_move_group_node,
37 | static_tf,
38 | robot_state_publisher,
39 | ros2_control_node,
40 | ):
41 | launch_testing.asserts.assertExitCodes(proc_info, process=ompl_constraint_test)
42 |
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/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test:
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/moveit_ros/planning_interface/test/move_group_pick_place_test.test:
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/moveit_ros/planning_interface/test/moveit_cpp.yaml:
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1 | planning_scene_monitor_options:
2 | name: "planning_scene_monitor"
3 | robot_description: "robot_description"
4 | joint_state_topic: "/joint_states"
5 | attached_collision_object_topic: "/planning_scene_monitor"
6 | publish_planning_scene_topic: "/publish_planning_scene"
7 | monitored_planning_scene_topic: "/monitored_planning_scene"
8 | wait_for_initial_state_timeout: 10.0
9 |
10 | planning_pipelines:
11 | pipeline_names:
12 | - ompl
13 |
14 | plan_request_params:
15 | planning_attempts: 1
16 | planning_pipeline: ompl
17 | max_velocity_scaling_factor: 1.0
18 | max_acceleration_scaling_factor: 1.0
19 |
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/moveit_ros/planning_interface/test/subframes_test.test:
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/moveit_ros/robot_interaction/resources/access-denied.stl:
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/moveit_ros/tests/CMakeLists.txt:
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1 | cmake_minimum_required(VERSION 3.22)
2 | project(moveit_ros_tests LANGUAGES CXX)
3 |
4 | # Common cmake code applied to all moveit packages
5 | find_package(moveit_common REQUIRED)
6 | moveit_package()
7 |
8 | if(BUILD_TESTING)
9 | find_package(ament_cmake_gtest REQUIRED)
10 | find_package(ament_cmake REQUIRED)
11 | find_package(rclcpp REQUIRED)
12 | find_package(ros_testing REQUIRED)
13 |
14 | include_directories(include)
15 | ament_add_gtest_executable(move_group_api_test src/move_group_api_test.cpp)
16 | ament_target_dependencies(move_group_api_test rclcpp)
17 | add_ros_test(launch/move_group_api.test.py TIMEOUT 30 ARGS
18 | "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
19 | endif()
20 |
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/moveit_ros/trajectory_cache/CHANGELOG.rst:
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1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2 | Changelog for package moveit_ros_trajectory_cache
3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
4 |
5 | 2.13.2 (2025-04-16)
6 | -------------------
7 |
8 | 2.13.1 (2025-04-15)
9 | -------------------
10 |
11 | 2.13.0 (2025-02-15)
12 | -------------------
13 | * Fuzzy-matching Trajectory Cache Injectable Traits refactor 🔥🔥 (`#2941 `_)
14 | * Contributors: methylDragon
15 |
16 | 2.12.0 (2024-11-29)
17 | -------------------
18 | * Enhancement/use hpp for headers (`#3113 `_)
19 | * Contributors: Tom Noble
20 |
21 | 2.11.0 (2024-09-16)
22 | -------------------
23 |
24 | 0.1.0 (2024-05-17)
25 | ------------------
26 | * Add ``moveit_ros_trajectory_cache`` package for trajectory caching.
27 |
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/moveit_ros/visualization/ConfigExtras.cmake:
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1 | # Extras module needed for dependencies to find boost components
2 |
3 | find_package(Boost REQUIRED thread date_time system filesystem)
4 |
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/moveit_ros/visualization/icons/classes/MotionPlanning.png:
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/moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/icons.qrc:
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1 |
2 |
3 | list-add.png
4 | list-remove.png
5 | edit-clear.png
6 |
7 |
8 |
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/moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/list-add.png:
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/moveit_ros/visualization/motion_planning_rviz_plugin/src/icons/list-remove.png:
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/moveit_ros/visualization/motion_planning_rviz_plugin_description.xml:
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1 |
2 |
3 |
4 | Displays information about a planning scene and can animate solution paths within that planning scene.
5 |
6 |
7 |
8 |
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/moveit_ros/visualization/planning_scene_rviz_plugin_description.xml:
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1 |
2 |
3 |
4 | Displays a planning scene.
5 |
6 |
7 |
8 |
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/moveit_ros/visualization/robot_state_rviz_plugin_description.xml:
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1 |
2 |
3 |
4 | Displays a robot state.
5 |
6 |
7 |
8 |
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/moveit_ros/visualization/trajectory_rviz_plugin_description.xml:
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1 |
2 |
3 |
4 | Can animate solution trajectories
5 |
6 |
7 |
8 |
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/moveit_ros/warehouse/ConfigExtras.cmake:
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1 | # Extras module needed for dependencies to find boost components
2 |
3 | find_package(
4 | Boost
5 | REQUIRED
6 | thread
7 | system
8 | filesystem
9 | regex
10 | date_time
11 | program_options)
12 |
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/moveit_ros/warehouse/package.xml:
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1 |
2 |
3 |
4 | moveit_ros_warehouse
5 | 2.13.2
6 | Components of MoveIt connecting to MongoDB
7 | Henning Kayser
8 | Tyler Weaver
9 | MoveIt Release Team
10 |
11 | BSD-3-Clause
12 |
13 | http://moveit.ros.org
14 | https://github.com/moveit/moveit2/issues
15 | https://github.com/moveit/moveit2
16 |
17 | Ioan Sucan
18 |
19 | ament_cmake
20 | moveit_common
21 |
22 | rclcpp
23 | moveit_core
24 | warehouse_ros
25 | moveit_ros_planning
26 | tf2_eigen
27 | tf2_ros
28 | fmt
29 |
30 |
31 | ament_cmake
32 |
33 |
34 |
35 |
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/moveit_ros/warehouse/src/db_path_config.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | # This is a simple ROS node used only to configure the param server
4 | # This is used in conjunction with ROS_HOME & roslaunch
5 | # to set the default path for database storage
6 |
7 | import roslib
8 |
9 | roslib.load_manifest("moveit_warehouse")
10 | import rospy
11 | import os
12 |
13 | if __name__ == "__main__":
14 | rospy.init_node("moveit_warehouse")
15 | path_base = os.getcwd() + "/moveit_warehouse/"
16 | rospy.set_param("~database_path_base", path_base)
17 | rospy.set_param("~default_database", path_base + "default")
18 |
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/moveit_runtime/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.22)
2 | project(moveit_runtime LANGUAGES NONE)
3 | find_package(ament_cmake REQUIRED)
4 |
5 | ament_package()
6 |
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/moveit_setup_assistant/graphics/Wizard.png:
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https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_setup_assistant/graphics/Wizard.png
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/moveit_setup_assistant/graphics/moveit_logo.png:
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https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_setup_assistant/graphics/moveit_logo.png
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/moveit_setup_assistant/graphics/source/MoveIt_Setup_Asst_Sm.xcf:
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https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_setup_assistant/graphics/source/MoveIt_Setup_Asst_Sm.xcf
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/moveit_setup_assistant/graphics/source/moveit_logo_large.png:
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https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_setup_assistant/graphics/source/moveit_logo_large.png
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/moveit_setup_assistant/moveit_setup_app_plugins/moveit_setup_framework_plugins.xml:
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1 |
2 |
3 | Configures launches to generate
4 |
5 |
6 | Configures the sensor suite
7 |
8 |
9 | Data for Launch Files
10 |
11 |
12 | Data for perception step
13 |
14 |
15 |
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/moveit_setup_assistant/moveit_setup_app_plugins/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_setup_app_plugins
5 | 2.13.2
6 | Various specialty plugins for MoveIt Setup Assistant
7 | David V. Lu!!
8 | BSD-3-Clause
9 | David V. Lu!!
10 |
11 | ament_cmake_ros
12 |
13 | ament_index_cpp
14 | moveit_configs_utils
15 | moveit_ros_visualization
16 | moveit_setup_framework
17 | pluginlib
18 | rclcpp
19 |
20 | ament_cmake_gtest
21 |
22 |
23 | ament_cmake
24 |
25 |
26 |
--------------------------------------------------------------------------------
/moveit_setup_assistant/moveit_setup_app_plugins/templates/config/sensors_3d.yaml:
--------------------------------------------------------------------------------
1 | # This YAML configuration file holds the default values used for configuring 3D sensors.
2 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it.
3 | # Values may not be ideal defaults, original source unclear.
4 | sensors:
5 | - kinect_pointcloud
6 | - kinect_depthimage
7 | kinect_pointcloud:
8 | sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
9 | point_cloud_topic: /head_mount_kinect/depth_registered/points
10 | max_range: 5.0
11 | point_subsample: 1
12 | padding_offset: 0.1
13 | padding_scale: 1.0
14 | max_update_rate: 1.0
15 | filtered_cloud_topic: filtered_cloud
16 | kinect_depthimage:
17 | sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
18 | image_topic: /head_mount_kinect/depth_registered/image_raw
19 | queue_size: 5
20 | near_clipping_plane_distance: 0.3
21 | far_clipping_plane_distance: 5.0
22 | shadow_threshold: 0.2
23 | padding_scale: 4.0
24 | padding_offset: 0.03
25 | max_update_rate: 1.0
26 | filtered_cloud_topic: filtered_cloud
27 |
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/moveit_setup_assistant/moveit_setup_app_plugins/templates/launch/generic.launch.py.template:
--------------------------------------------------------------------------------
1 | from moveit_configs_utils import MoveItConfigsBuilder
2 | from moveit_configs_utils.launches import [FUNCTION_NAME]
3 |
4 |
5 | def generate_launch_description():
6 | moveit_config = MoveItConfigsBuilder("[ROBOT_NAME]", package_name="[GENERATED_PACKAGE_NAME]").to_moveit_configs()
7 | return [FUNCTION_NAME](moveit_config)
8 |
--------------------------------------------------------------------------------
/moveit_setup_assistant/moveit_setup_assistant/launch/setup_assistant.launch.py:
--------------------------------------------------------------------------------
1 | from launch import LaunchDescription
2 | from moveit_configs_utils.launch_utils import (
3 | add_debuggable_node,
4 | DeclareBooleanLaunchArg,
5 | )
6 |
7 |
8 | def generate_launch_description():
9 | ld = LaunchDescription()
10 |
11 | ld.add_action(DeclareBooleanLaunchArg("debug", default_value=False))
12 | add_debuggable_node(
13 | ld,
14 | package="moveit_setup_assistant",
15 | executable="moveit_setup_assistant",
16 | )
17 |
18 | return ld
19 |
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/moveit_setup_assistant/moveit_setup_assistant/resources/MoveIt_Setup_Assistant2.png:
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https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_setup_assistant/moveit_setup_assistant/resources/MoveIt_Setup_Assistant2.png
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/moveit_setup_assistant/moveit_setup_controllers/launch/control.launch.py:
--------------------------------------------------------------------------------
1 | from launch import LaunchDescription
2 | from moveit_configs_utils.launch_utils import (
3 | add_debuggable_node,
4 | DeclareBooleanLaunchArg,
5 | )
6 |
7 |
8 | def generate_launch_description():
9 | ld = LaunchDescription()
10 |
11 | ld.add_action(DeclareBooleanLaunchArg("debug", default_value=False))
12 | add_debuggable_node(
13 | ld,
14 | package="moveit_setup_assistant",
15 | executable="moveit_setup_assistant",
16 | parameters=[
17 | {
18 | "setup_steps": [
19 | "moveit_setup::core::StartScreenWidget",
20 | "moveit_setup::controllers::UrdfModificationsWidget",
21 | "moveit_setup::controllers::ROS2ControllersWidget",
22 | "moveit_setup::controllers::MoveItControllersWidget",
23 | "moveit_setup::core::ConfigurationFilesWidget",
24 | ]
25 | },
26 | ],
27 | )
28 |
29 | return ld
30 |
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/moveit_setup_assistant/moveit_setup_controllers/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_setup_controllers
5 | 2.13.2
6 | MoveIt Setup Steps for ROS 2 Control
7 | David V. Lu!!
8 | BSD-3-Clause
9 | David V. Lu!!
10 |
11 | ament_cmake_ros
12 |
13 | ament_index_cpp
14 | moveit_setup_framework
15 | pluginlib
16 | rclcpp
17 |
18 | ament_cmake_gtest
19 | moveit_configs_utils
20 | moveit_resources_fanuc_moveit_config
21 | moveit_resources_panda_moveit_config
22 |
23 |
24 | ament_cmake
25 |
26 |
27 |
--------------------------------------------------------------------------------
/moveit_setup_assistant/moveit_setup_controllers/templates/config/gazebo_controllers.yaml:
--------------------------------------------------------------------------------
1 | # Publish joint_states
2 | joint_state_controller:
3 | type: joint_state_controller/JointStateController
4 | publish_rate: 50
5 |
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/moveit_setup_assistant/moveit_setup_controllers/templates/config/modified.urdf.xacro:
--------------------------------------------------------------------------------
1 |
2 |
3 | [MODIFIED_XACRO_ARGS]
4 |
5 |
6 |
7 | [MODIFIED_XACRO_IMPORTS]
8 | [MODIFIED_XACRO_COMMANDS]
9 |
10 |
--------------------------------------------------------------------------------
/moveit_setup_assistant/moveit_setup_controllers/templates/config/ros2_control.xacro:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 | mock_components/GenericSystem
10 |
11 | [ROS2_CONTROL_JOINTS]
12 |
13 |
14 |
15 |
--------------------------------------------------------------------------------
/moveit_setup_assistant/moveit_setup_core_plugins/moveit_setup_framework_plugins.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | Start Screen for loading the URDF or initial MoveIt Config
4 |
5 |
6 | The screen that actually generates the files for the Config package
7 |
8 |
9 | The screen that configures the author's name and email
10 |
11 |
12 |
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/moveit_setup_assistant/moveit_setup_core_plugins/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_setup_core_plugins
5 | 2.13.2
6 | Core (meta) plugins for MoveIt Setup Assistant
7 | David V. Lu!!
8 | BSD-3-Clause
9 | David V. Lu!!
10 |
11 | ament_cmake_ros
12 |
13 | ament_index_cpp
14 | moveit_ros_visualization
15 | moveit_setup_framework
16 | pluginlib
17 | rclcpp
18 | srdfdom
19 | urdf
20 |
21 |
22 | ament_cmake
23 |
24 |
25 |
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/moveit_setup_assistant/moveit_setup_framework/moveit_setup_framework_plugins.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | Data for the URDF
4 |
5 |
6 | Data for the SRDF
7 |
8 |
9 | Data for general settings for the MoveIt config package
10 |
11 |
12 |
--------------------------------------------------------------------------------
/moveit_setup_assistant/moveit_setup_framework/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_setup_framework
5 | 2.13.2
6 | C++ Interface for defining setup steps for MoveIt Setup Assistant
7 | David V. Lu!!
8 | BSD-3-Clause
9 | David V. Lu!!
10 |
11 | ament_cmake_ros
12 | ament_index_cpp
13 | moveit_common
14 | moveit_core
15 | moveit_ros_planning
16 | moveit_ros_visualization
17 | pluginlib
18 | rclcpp
19 | rviz_common
20 | rviz_rendering
21 | srdfdom
22 | urdf
23 | fmt
24 |
25 |
26 | ament_cmake
27 |
28 |
29 |
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/moveit_setup_assistant/moveit_setup_framework/templates/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.22)
2 | project([GENERATED_PACKAGE_NAME])
3 |
4 | find_package(ament_cmake REQUIRED)
5 |
6 | ament_package()
7 |
8 | if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch")
9 | install(
10 | DIRECTORY launch
11 | DESTINATION share/${PROJECT_NAME}
12 | PATTERN "setup_assistant.launch" EXCLUDE)
13 | endif()
14 |
15 | install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
16 | install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME})
17 |
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/moveit_setup_assistant/moveit_setup_framework/templates/config/pilz_cartesian_limits.yaml:
--------------------------------------------------------------------------------
1 | # Limits for the Pilz planner
2 | cartesian_limits:
3 | max_trans_vel: 1.0
4 | max_trans_acc: 2.25
5 | max_trans_dec: -5.0
6 | max_rot_vel: 1.57
7 |
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/moveit_setup_assistant/moveit_setup_simulation/COLCON_IGNORE:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/moveit/moveit2/4088c0ca3ddbbecc513fb07c720311fd918c7cf4/moveit_setup_assistant/moveit_setup_simulation/COLCON_IGNORE
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/moveit_setup_assistant/moveit_setup_simulation/moveit_setup_framework_plugins.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | Configures launches to generate
4 |
5 |
6 | Configures the sensor suite
7 |
8 |
9 | Data for Launch Files
10 |
11 |
12 | Data for perception step
13 |
14 |
15 | Configures the simulation
16 |
17 |
18 |
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/moveit_setup_assistant/moveit_setup_simulation/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_setup_simulation
5 | 2.5.1
6 | MoveIt Setup Steps for Simulation
7 | David V. Lu!!
8 | BSD-3-Clause
9 | David V. Lu!!
10 |
11 | ament_cmake_ros
12 |
13 | ament_index_cpp
14 | moveit_setup_framework
15 | pluginlib
16 | rclcpp
17 |
18 |
19 | ament_cmake
20 |
21 |
22 |
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/moveit_setup_assistant/moveit_setup_simulation/templates/launch/demo_gazebo.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
20 |
21 |
22 |
--------------------------------------------------------------------------------
/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 | moveit_setup_srdf_plugins
5 | 2.13.2
6 | SRDF-based plugins for MoveIt Setup Assistant
7 | David V. Lu!!
8 | BSD-3-Clause
9 | David V. Lu!!
10 |
11 | ament_cmake_ros
12 |
13 | moveit_setup_framework
14 | pluginlib
15 |
16 | ament_cmake_gtest
17 | moveit_resources_fanuc_description
18 |
19 |
20 | ament_cmake
21 |
22 |
23 |
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/moveit_setup_assistant/unported_templates/README.md:
--------------------------------------------------------------------------------
1 | * `gdb_settings.gdb`
2 | * `joystick_control.launch` - Control the Rviz Motion Planning Plugin with a joystick
3 | * `ompl-chomp_planning_pipeline.launch.xml` -
4 | * `run_benchmark_ompl.launch` - Launch file for benchmarking OMPL planners
5 |
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/moveit_setup_assistant/unported_templates/gdb_settings.gdb:
--------------------------------------------------------------------------------
1 | ## This file allows developers to set breakpoints in the move_group.launch file
2 | ## To set a breakpoint, compile with debug flag set to true. Add a line below with the source file name,
3 | ## a colon, then the line number to break on. Then launch move_group with argument debug:=true
4 |
5 | set breakpoint pending on
6 |
7 | ## Example break point:
8 | #break trajectory_execution_manager.cpp:228
9 |
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/moveit_setup_assistant/unported_templates/joystick_control.launch:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
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/moveit_setup_assistant/unported_templates/ompl-chomp_planning_pipeline.launch.xml:
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1 |
2 |
3 |
4 |
11 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
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/moveit_setup_assistant/unported_templates/run_benchmark_ompl.launch:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
20 |
21 |
22 |
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/sonar-project.properties:
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1 | sonar.projectKey=ros-planning_moveit2
2 | sonar.organization=moveit
3 |
4 | sonar.python.version=3
5 | sonar.sources=.work/target_ws/src
6 | sonar.cfamily.gcov.reportPath=.work/target_ws/coverage.info
7 | sonar.scm.exclusions.disabled=true
8 | sonar.exclusions=.work/target_ws/src/moveit2/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_solver.cpp
9 | sonar.cfamily.compile-commands=.work/target_ws/build/compile_commands.json
10 |
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