├── youbot_moveit_config
    ├── launch
    │   ├── youbot_moveit_sensor_manager.launch.xml
    │   ├── planning_pipeline.launch.xml
    │   ├── fake_moveit_controller_manager.launch.xml
    │   ├── youbot_moveit_controller_manager.launch.xml
    │   ├── warehouse.launch
    │   ├── default_warehouse_db.launch
    │   ├── setup_assistant.launch
    │   ├── warehouse_settings.launch.xml
    │   ├── joystick_control.launch
    │   ├── sensor_manager.launch.xml
    │   ├── moveit_rviz.launch
    │   ├── run_benchmark_ompl.launch
    │   ├── ompl_planning_pipeline.launch.xml
    │   ├── trajectory_execution.launch.xml
    │   ├── planning_context.launch
    │   ├── demo.launch
    │   ├── move_group.launch
    │   └── moveit.rviz
    ├── config
    │   ├── kinematics.yaml
    │   ├── fake_controllers.yaml
    │   ├── youbot_controllers.yaml
    │   ├── joint_limits.yaml
    │   ├── ompl_planning.yaml
    │   └── youbot.srdf
    ├── .setup_assistant
    ├── CMakeLists.txt
    └── package.xml
├── youbot_navigation
    ├── config
    │   ├── global_costmap_params.yaml
    │   ├── base_local_planner_params.yaml
    │   ├── local_costmap_params.yaml
    │   └── costmap_common_params.yaml
    ├── launch
    │   └── navigation_no_map.launch
    ├── package.xml
    └── CMakeLists.txt
├── youbot_launch
    ├── launch
    │   └── youbot_simulation.launch
    ├── package.xml
    ├── CMakeLists.txt
    └── config
    │   └── motion_planning.rviz
└── README.md


/youbot_moveit_config/launch/youbot_moveit_sensor_manager.launch.xml:
--------------------------------------------------------------------------------
1 | <launch>
2 | 
3 | </launch>
4 | 


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/youbot_navigation/config/global_costmap_params.yaml:
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1 | global_costmap:
2 |   global_frame: /odom
3 |   robot_base_frame: base_link
4 |   update_frequency: 5.0
5 |   static_map: false
6 | 


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/youbot_moveit_config/config/kinematics.yaml:
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1 | arm:
2 |   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
3 |   kinematics_solver_search_resolution: 0.005
4 |   kinematics_solver_timeout: 0.005
5 |   kinematics_solver_attempts: 3


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/youbot_moveit_config/.setup_assistant:
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1 | moveit_setup_assistant_config:
2 |   URDF:
3 |     package: youbot_description
4 |     relative_path: robots/youbot.urdf.xacro
5 |   SRDF:
6 |     relative_path: config/youbot.srdf
7 |   CONFIG:
8 |     generated_timestamp: 1447104013


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/youbot_navigation/config/base_local_planner_params.yaml:
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 1 | TrajectoryPlannerROS:
 2 |   max_vel_x: 0.45
 3 |   min_vel_x: 0.1
 4 |   max_vel_theta: 1.0
 5 |   min_in_place_vel_theta: 0.4
 6 | 
 7 |   acc_lim_theta: 3.2
 8 |   acc_lim_x: 2.5
 9 |   acc_lim_y: 2.5
10 | 
11 |   holonomic_robot: true
12 | 


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/youbot_navigation/config/local_costmap_params.yaml:
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 1 | local_costmap:
 2 |   global_frame: odom
 3 |   robot_base_frame: base_link
 4 |   update_frequency: 5.0
 5 |   publish_frequency: 2.0
 6 |   static_map: false
 7 |   rolling_window: true
 8 |   width: 6.0
 9 |   height: 6.0
10 |   resolution: 0.05
11 | 


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/youbot_moveit_config/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 2.8.3)
 2 | project(youbot_moveit_config)
 3 | 
 4 | find_package(catkin REQUIRED)
 5 | 
 6 | catkin_package()
 7 | 
 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 9 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
10 | 


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/youbot_moveit_config/config/fake_controllers.yaml:
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 1 | controller_list:
 2 |   - name: fake_arm_controller
 3 |     joints:
 4 |       - arm_joint_1
 5 |       - arm_joint_2
 6 |       - arm_joint_3
 7 |       - arm_joint_4
 8 |       - arm_joint_5
 9 |   - name: fake_gripper_controller
10 |     joints:
11 |       - gripper_finger_joint_l
12 |       - gripper_finger_joint_r


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/youbot_moveit_config/launch/planning_pipeline.launch.xml:
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 1 | <launch>
 2 | 
 3 |   <!-- This file makes it easy to include different planning pipelines; 
 4 |        It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->  
 5 | 
 6 |   <arg name="pipeline" default="ompl" />
 7 | 
 8 |   <include file="$(find youbot_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
 9 | 
10 | </launch>
11 | 


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/youbot_moveit_config/launch/fake_moveit_controller_manager.launch.xml:
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 1 | <launch>
 2 | 
 3 |   <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
 4 |   <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
 5 | 
 6 |   <!-- The rest of the params are specific to this plugin -->
 7 |   <rosparam file="$(find youbot_moveit_config)/config/fake_controllers.yaml"/>
 8 | 
 9 | </launch>
10 | 


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/youbot_moveit_config/launch/youbot_moveit_controller_manager.launch.xml:
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 1 | <launch>
 2 | 
 3 |   <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
 4 |   <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
 5 | 
 6 |   <!-- The rest of the params are specific to this plugin -->
 7 |   <rosparam file="$(find youbot_moveit_config)/config/youbot_controllers.yaml"/>
 8 | 
 9 | </launch>
10 | 


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/youbot_moveit_config/config/youbot_controllers.yaml:
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 1 | controller_list:
 2 |   - name: /arm_1/arm_controller
 3 |     action_ns: follow_joint_trajectory
 4 |     type: FollowJointTrajectory
 5 |     default: true
 6 |     joints:
 7 |       - arm_joint_1
 8 |       - arm_joint_2
 9 |       - arm_joint_3
10 |       - arm_joint_4
11 |       - arm_joint_5
12 |   - name: /arm_1/gripper_controller
13 |     action_ns: follow_joint_trajectory
14 |     type: FollowJointTrajectory
15 |     default: true
16 |     joints:
17 |       - gripper_finger_joint_l
18 |       - gripper_finger_joint_r
19 | 


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/youbot_launch/launch/youbot_simulation.launch:
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 1 | <launch>
 2 | 
 3 |   <include file="$(find youbot_gazebo_robot)/launch/youbot.launch">
 4 |     <arg name="world" value="tower_of_hanoi" />
 5 |   </include>
 6 |   
 7 | 
 8 |   <include file="$(find youbot_moveit_config)/launch/move_group.launch" />
 9 | 
10 |   <include file="$(find youbot_navigation)/launch/navigation_no_map.launch" />
11 | 
12 |   <include file="$(find flexbe_onboard)/launch/behavior_onboard.launch" />
13 | 
14 |   <node name="rviz" type="rviz" pkg="rviz" args="-d $(find youbot_launch)/config/motion_planning.rviz" />
15 | 
16 | </launch>
17 | 


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/README.md:
--------------------------------------------------------------------------------
 1 | # YouBot Integration
 2 | Collection of ROS packages to enable MoveIt!, move_base, FlexBE, etc. for the Kuka YouBot.
 3 | 
 4 | ### Additionally required repos
 5 | 
 6 | * [youbot_description](https://github.com/mas-group/youbot_description)
 7 | * [youbot_simulation](https://github.com/mas-group/youbot_simulation)
 8 | * [flexbe_behavior_engine](https://github.com/team-vigir/flexbe_behavior_engine)
 9 | 
10 | ### Further recommended repos
11 | 
12 | * [youbot_behaviors](https://github.com/FlexBE/youbot_behaviors)
13 | 
14 | ### Usage
15 | 
16 |     roslaunch youbot_launch youbot_simulation.launch
17 | 


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/youbot_moveit_config/launch/warehouse.launch:
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 1 | <launch>
 2 |   
 3 |   <!-- The path to the database must be specified -->
 4 |   <arg name="moveit_warehouse_database_path" />
 5 | 
 6 |   <!-- Load warehouse parameters -->  
 7 |   <include file="$(find youbot_moveit_config)/launch/warehouse_settings.launch.xml" />
 8 | 
 9 |   <!-- Run the DB server -->
10 |   <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros">
11 |     <param name="overwrite" value="false"/>
12 |     <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
13 |   </node>
14 | 
15 | </launch>
16 | 


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/youbot_moveit_config/launch/default_warehouse_db.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <arg name="reset" default="false"/>
 4 | 
 5 |   <!-- Launch the warehouse with a default database location -->  
 6 |   <include file="$(find youbot_moveit_config)/launch/warehouse.launch">
 7 |     <arg name="moveit_warehouse_database_path" value="$(find youbot_moveit_config)/default_warehouse_mongo_db" />
 8 |   </include>
 9 | 
10 |   <!-- If we want to reset the database, run this node -->
11 |   <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
12 | 
13 | </launch>
14 | 


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/youbot_moveit_config/launch/setup_assistant.launch:
--------------------------------------------------------------------------------
 1 | <!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
 2 | <launch>
 3 | 
 4 |   <!-- Debug Info -->
 5 |   <arg name="debug" default="false" />
 6 |   <arg unless="$(arg debug)" name="launch_prefix" value="" />
 7 |   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 8 | 
 9 |   <!-- Run -->
10 |   <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" 
11 | 	args="--config_pkg=youbot_moveit_config"
12 | 	launch-prefix="$(arg launch_prefix)"
13 |         output="screen" />
14 | 
15 | </launch>
16 | 


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/youbot_moveit_config/launch/warehouse_settings.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   <!-- Set the parameters for the warehouse and run the mongodb server. -->
 3 | 
 4 |   <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->  
 5 |   <arg name="moveit_warehouse_port" default="33829" /> 
 6 | 
 7 |   <!-- The default DB host for moveit -->
 8 |   <arg name="moveit_warehouse_host" default="localhost" /> 
 9 |   
10 |   <!-- Set parameters for the warehouse -->
11 |   <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
12 |   <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
13 |   <param name="warehouse_exec" value="mongod" />
14 | 
15 | </launch>
16 | 


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/youbot_moveit_config/launch/joystick_control.launch:
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 1 | <launch>
 2 |   <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
 3 | 
 4 |   <arg name="dev" default="/dev/input/js0" />
 5 | 
 6 |   <!-- Launch joy node -->
 7 |   <node pkg="joy" type="joy_node" name="joy">
 8 |     <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
 9 |     <param name="deadzone" value="0.2" />
10 |     <param name="autorepeat_rate" value="40" />
11 |     <param name="coalesce_interval" value="0.025" />
12 |   </node>
13 | 
14 |   <!-- Launch python interface -->
15 |   <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
16 |         
17 | </launch>
18 | 


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/youbot_navigation/launch/navigation_no_map.launch:
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 1 | <launch>
 2 | 
 3 |   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
 4 |     <rosparam file="$(find youbot_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
 5 |     <rosparam file="$(find youbot_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
 6 |     <rosparam file="$(find youbot_navigation)/config/local_costmap_params.yaml" command="load" />
 7 |     <rosparam file="$(find youbot_navigation)/config/global_costmap_params.yaml" command="load" />
 8 |     <rosparam file="$(find youbot_navigation)/config/base_local_planner_params.yaml" command="load" />
 9 |   </node>
10 | 
11 | </launch>
12 | 


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/youbot_moveit_config/launch/sensor_manager.launch.xml:
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 1 | <launch>
 2 | 
 3 |   <!-- This file makes it easy to include the settings for sensor managers -->  
 4 | 
 5 |   <!-- Params for the octomap monitor -->
 6 |   <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
 7 |   <param name="octomap_resolution" type="double" value="0.025" />
 8 |   <param name="max_range" type="double" value="5.0" />
 9 | 
10 |   <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
11 |   <arg name="moveit_sensor_manager" default="youbot" />
12 |   <include file="$(find youbot_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
13 |   
14 | </launch>
15 | 


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/youbot_moveit_config/launch/moveit_rviz.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <arg name="debug" default="false" />
 4 |   <arg unless="$(arg debug)" name="launch_prefix" value="" />
 5 |   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 6 | 
 7 |   <arg name="config" default="false" />
 8 |   <arg unless="$(arg config)" name="command_args" value="" />
 9 |   <arg     if="$(arg config)" name="command_args" value="-d $(find youbot_moveit_config)/launch/moveit.rviz" />
10 |   
11 |   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
12 | 	args="$(arg command_args)" output="screen">
13 |     <rosparam command="load" file="$(find youbot_moveit_config)/config/kinematics.yaml"/>
14 |   </node>
15 | 
16 | </launch>
17 | 


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/youbot_navigation/config/costmap_common_params.yaml:
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 1 | global_frame: odom
 2 | robot_base_frame: base_link
 3 | update_frequency: 20.0
 4 | publish_frequency: 20.0
 5 | publish_voxel_map: true
 6 | static_map: false
 7 | rolling_window: true
 8 | width: 6.0
 9 | height: 6.0
10 | resolution: 0.025
11 | 
12 | map_type: voxel
13 | origin_z: 0.0
14 | z_resolution: 1
15 | z_voxels: 32
16 | unknown_threshold: 10
17 | mark_threshold: 1
18 | 
19 | transform_tolerance: 0.3
20 | obstacle_range: 2.5
21 | max_obstacle_height: 1.0
22 | min_obstacle_height: -0.2 # front laser is at approx. -0.03
23 | raytrace_range: 3.0
24 | cost_scaling_factor: 10.0
25 | lethal_cost_threshold: 100
26 | 
27 | obstacle_range: 2.5
28 | raytrace_range: 3.0
29 | footprint: [[0.25, 0.18], [-0.25, 0.18], [-0.25,-0.18], [0.25,-0.18]]
30 | inflation_radius: 0.1
31 | 
32 | observation_sources: laser_scan_sensor
33 | 
34 | laser_scan_sensor: {sensor_frame: base_laser_front_link, data_type: LaserScan, topic: scan_front, marking: true, clearing: true}
35 | 


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/youbot_moveit_config/launch/run_benchmark_ompl.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- This argument must specify the list of .cfg files to process for benchmarking -->
 4 |   <arg name="cfg" />
 5 | 
 6 |   <!-- Load URDF -->
 7 |   <include file="$(find youbot_moveit_config)/launch/planning_context.launch">
 8 |     <arg name="load_robot_description" value="true"/>
 9 |   </include>
10 | 
11 |   <!-- Start the database -->
12 |   <include file="$(find youbot_moveit_config)/launch/warehouse.launch">
13 |     <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
14 |   </include>  
15 | 
16 |   <!-- Start Benchmark Executable -->
17 |   <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
18 |     <rosparam command="load" file="$(find youbot_moveit_config)/config/kinematics.yaml"/>
19 |     <rosparam command="load" file="$(find youbot_moveit_config)/config/ompl_planning.yaml"/>
20 |   </node>
21 | 
22 | </launch>
23 | 


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/youbot_moveit_config/launch/ompl_planning_pipeline.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- OMPL Plugin for MoveIt! -->
 4 |   <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
 5 | 
 6 |   <!-- The request adapters (plugins) used when planning with OMPL. 
 7 |        ORDER MATTERS -->
 8 |   <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
 9 | 				       default_planner_request_adapters/FixWorkspaceBounds
10 | 				       default_planner_request_adapters/FixStartStateBounds
11 | 				       default_planner_request_adapters/FixStartStateCollision
12 | 				       default_planner_request_adapters/FixStartStatePathConstraints" />
13 | 
14 |   <arg name="start_state_max_bounds_error" value="0.1" />
15 | 
16 |   <param name="planning_plugin" value="$(arg planning_plugin)" />
17 |   <param name="request_adapters" value="$(arg planning_adapters)" />
18 |   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
19 | 
20 |   <rosparam command="load" file="$(find youbot_moveit_config)/config/ompl_planning.yaml"/>
21 | 
22 | </launch>
23 | 


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/youbot_moveit_config/launch/trajectory_execution.launch.xml:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- This file makes it easy to include the settings for trajectory execution  -->  
 4 | 
 5 |   <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
 6 |   <arg name="moveit_manage_controllers" default="true"/>
 7 |   <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
 8 | 
 9 |   <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
10 |   <param name="allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
11 |   <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
12 |   <param name="allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
13 |   
14 |   <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
15 |   <arg name="moveit_controller_manager" default="youbot" />
16 |   <include file="$(find youbot_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
17 |   
18 | </launch>
19 | 


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/youbot_moveit_config/package.xml:
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 1 | <package>
 2 | 
 3 |   <name>youbot_moveit_config</name>
 4 |   <version>0.2.0</version>
 5 |   <description>
 6 |      An automatically generated package with all the configuration and launch files for using the youbot with the MoveIt Motion Planning Framework
 7 |   </description>
 8 |   <author email="assistant@moveit.ros.org">MoveIt Setup Assistant</author>
 9 |   <maintainer email="assistant@moveit.ros.org">MoveIt Setup Assistant</maintainer>
10 | 
11 |   <license>BSD</license>
12 | 
13 |   <url type="website">http://moveit.ros.org/</url>
14 |   <url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
15 |   <url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
16 | 
17 |   <run_depend>moveit_ros_move_group</run_depend>
18 |   <run_depend>moveit_planners_ompl</run_depend>
19 |   <run_depend>moveit_ros_visualization</run_depend>
20 |   <run_depend>joint_state_publisher</run_depend>
21 |   <run_depend>robot_state_publisher</run_depend>
22 |   <run_depend>xacro</run_depend>
23 |   <build_depend>youbot_description</build_depend>
24 |   <run_depend>youbot_description</run_depend>
25 | 
26 | 
27 |   <buildtool_depend>catkin</buildtool_depend>
28 |   
29 | </package>
30 | 


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/youbot_moveit_config/launch/planning_context.launch:
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 1 | <launch>
 2 |   <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
 3 |   <arg name="load_robot_description" default="false"/>
 4 | 
 5 |   <!-- The name of the parameter under which the URDF is loaded -->
 6 |   <arg name="robot_description" default="robot_description"/>
 7 | 
 8 |   <!-- Load universal robot description format (URDF) -->
 9 |   <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find youbot_description)/robots/youbot.urdf.xacro'"/>
10 | 
11 |   <!-- The semantic description that corresponds to the URDF -->
12 |   <param name="$(arg robot_description)_semantic" textfile="$(find youbot_moveit_config)/config/youbot.srdf" />
13 |   
14 |   <!-- Load updated joint limits (override information from URDF) -->
15 |   <group ns="$(arg robot_description)_planning">
16 |     <rosparam command="load" file="$(find youbot_moveit_config)/config/joint_limits.yaml"/>
17 |   </group>
18 | 
19 |   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
20 |   <group ns="$(arg robot_description)_kinematics">
21 |     <rosparam command="load" file="$(find youbot_moveit_config)/config/kinematics.yaml"/>
22 |   </group>
23 |   
24 | </launch>
25 | 


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/youbot_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 |   arm_joint_1:
 6 |     has_velocity_limits: true
 7 |     max_velocity: 1.57079632679
 8 |     has_acceleration_limits: false
 9 |     max_acceleration: 0
10 |   arm_joint_2:
11 |     has_velocity_limits: true
12 |     max_velocity: 1.57079632679
13 |     has_acceleration_limits: false
14 |     max_acceleration: 0
15 |   arm_joint_3:
16 |     has_velocity_limits: true
17 |     max_velocity: 1.57079632679
18 |     has_acceleration_limits: false
19 |     max_acceleration: 0
20 |   arm_joint_4:
21 |     has_velocity_limits: true
22 |     max_velocity: 1.57079632679
23 |     has_acceleration_limits: false
24 |     max_acceleration: 0
25 |   arm_joint_5:
26 |     has_velocity_limits: true
27 |     max_velocity: 1.57079632679
28 |     has_acceleration_limits: false
29 |     max_acceleration: 0
30 |   gripper_finger_joint_l:
31 |     has_velocity_limits: true
32 |     max_velocity: 0.1
33 |     has_acceleration_limits: false
34 |     max_acceleration: 0
35 |   gripper_finger_joint_r:
36 |     has_velocity_limits: true
37 |     max_velocity: 0.1
38 |     has_acceleration_limits: false
39 |     max_acceleration: 0


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/youbot_launch/package.xml:
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 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>youbot_launch</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The youbot_launch package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="philipp.schillinger@de.bosch.com">Philipp Schillinger</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>BSD</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/youbot_launch</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, mutiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintianers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *_depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use build_depend for packages you need at compile time: -->
35 |   <!--   <build_depend>message_generation</build_depend> -->
36 |   <!-- Use buildtool_depend for build tool packages: -->
37 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
38 |   <!-- Use run_depend for packages you need at runtime: -->
39 |   <!--   <run_depend>message_runtime</run_depend> -->
40 |   <!-- Use test_depend for packages you need only for testing: -->
41 |   <!--   <test_depend>gtest</test_depend> -->
42 |   <buildtool_depend>catkin</buildtool_depend>
43 | 
44 | 
45 |   <!-- The export tag contains other, unspecified, tags -->
46 |   <export>
47 |     <!-- Other tools can request additional information be placed here -->
48 | 
49 |   </export>
50 | </package>
51 | 


--------------------------------------------------------------------------------
/youbot_navigation/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>youbot_navigation</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The youbot_navigation package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="philipp.schillinger@de.bosch.com">Philipp Schillinger</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>BSD</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/youbot_navigation</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, mutiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintianers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *_depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use build_depend for packages you need at compile time: -->
35 |   <!--   <build_depend>message_generation</build_depend> -->
36 |   <!-- Use buildtool_depend for build tool packages: -->
37 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
38 |   <!-- Use run_depend for packages you need at runtime: -->
39 |   <!--   <run_depend>message_runtime</run_depend> -->
40 |   <!-- Use test_depend for packages you need only for testing: -->
41 |   <!--   <test_depend>gtest</test_depend> -->
42 |   <buildtool_depend>catkin</buildtool_depend>
43 | 
44 | 
45 |   <!-- The export tag contains other, unspecified, tags -->
46 |   <export>
47 |     <!-- Other tools can request additional information be placed here -->
48 | 
49 |   </export>
50 | </package>
51 | 


--------------------------------------------------------------------------------
/youbot_moveit_config/launch/demo.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- By default, we do not start a database (it can be large) -->
 4 |   <arg name="db" default="false" />
 5 | 
 6 |   <!-- By default, we are not in debug mode -->
 7 |   <arg name="debug" default="false" />
 8 | 
 9 |   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
10 |   <include file="$(find youbot_moveit_config)/launch/planning_context.launch">
11 |     <arg name="load_robot_description" value="true"/>
12 |   </include>
13 | 
14 |   <!-- If needed, broadcast static tf for robot root -->
15 |     <node pkg="tf" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 odom base_footprint 100" />
16 | 
17 | 
18 |   <!-- We do not have a robot connected, so publish fake joint states -->
19 |   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
20 |     <param name="/use_gui" value="false"/> 
21 |     <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
22 |   </node>
23 |   
24 |   <!-- Given the published joint states, publish tf for the robot links -->
25 |   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
26 | 
27 |   <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
28 |   <include file="$(find youbot_moveit_config)/launch/move_group.launch">
29 |     <arg name="allow_trajectory_execution" value="true"/>  
30 |     <arg name="fake_execution" value="true"/>
31 |     <arg name="info" value="true"/>
32 |     <arg name="debug" value="$(arg debug)"/>
33 |   </include>
34 | 
35 |   <!-- Run Rviz and load the default config to see the state of the move_group node -->
36 |   <include file="$(find youbot_moveit_config)/launch/moveit_rviz.launch">
37 |     <arg name="config" value="true"/>
38 |     <arg name="debug" value="$(arg debug)"/>
39 |   </include>
40 | 
41 |   <!-- If database loading was enabled, start mongodb as well -->
42 |   <include file="$(find youbot_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"/>
43 | 
44 | </launch>
45 | 


--------------------------------------------------------------------------------
/youbot_moveit_config/launch/move_group.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <include file="$(find youbot_moveit_config)/launch/planning_context.launch" />
 4 | 
 5 |   <!-- GDB Debug Option -->
 6 |   <arg name="debug" default="false" />
 7 |   <arg unless="$(arg debug)" name="launch_prefix" value="" />
 8 |   <arg     if="$(arg debug)" name="launch_prefix"
 9 | 	   value="gdb -x $(find youbot_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
10 | 
11 |   <!-- Verbose Mode Option -->
12 |   <arg name="info" default="$(arg debug)" />
13 |   <arg unless="$(arg info)" name="command_args" value="" />
14 |   <arg     if="$(arg info)" name="command_args" value="--debug" />
15 | 
16 |   <!-- move_group settings -->
17 |   <arg name="allow_trajectory_execution" default="true"/>
18 |   <arg name="fake_execution" default="false"/>
19 |   <arg name="max_safe_path_cost" default="1"/>
20 |   <arg name="jiggle_fraction" default="0.05" />
21 |   <arg name="publish_monitored_planning_scene" default="true"/>
22 | 
23 |   <!-- Planning Functionality -->
24 |   <include ns="move_group" file="$(find youbot_moveit_config)/launch/planning_pipeline.launch.xml">
25 |     <arg name="pipeline" value="ompl" />
26 |   </include>
27 | 
28 |   <!-- Trajectory Execution Functionality -->
29 |   <include ns="move_group" file="$(find youbot_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
30 |     <arg name="moveit_manage_controllers" value="true" />
31 |     <arg name="moveit_controller_manager" value="youbot" unless="$(arg fake_execution)"/>
32 |     <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
33 |   </include>
34 | 
35 |   <!-- Sensors Functionality -->
36 |   <include ns="move_group" file="$(find youbot_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
37 |     <arg name="moveit_sensor_manager" value="youbot" />
38 |   </include>
39 | 
40 |   <!-- Start the actual move_group node/action server -->
41 |   <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
42 |     <!-- Set the display variable, in case OpenGL code is used internally -->
43 |     <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
44 | 
45 |     <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
46 |     <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
47 |     <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
48 | 
49 |     <!-- MoveGroup capabilities to load -->
50 |     <param name="capabilities" value="move_group/MoveGroupCartesianPathService
51 | 				      move_group/MoveGroupExecuteService
52 | 				      move_group/MoveGroupKinematicsService
53 | 				      move_group/MoveGroupMoveAction
54 | 				      move_group/MoveGroupPickPlaceAction
55 | 				      move_group/MoveGroupPlanService
56 | 				      move_group/MoveGroupQueryPlannersService
57 | 				      move_group/MoveGroupStateValidationService
58 | 				      move_group/MoveGroupGetPlanningSceneService
59 | 				      move_group/ClearOctomapService
60 | 				      " />
61 | 
62 |     <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
63 |     <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
64 |     <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
65 |     <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
66 |     <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
67 |   </node>
68 | 
69 | </launch>
70 | 


--------------------------------------------------------------------------------
/youbot_moveit_config/config/ompl_planning.yaml:
--------------------------------------------------------------------------------
 1 | planner_configs:
 2 |   SBLkConfigDefault:
 3 |     type: geometric::SBL
 4 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
 5 |   ESTkConfigDefault:
 6 |     type: geometric::EST
 7 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
 8 |     goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
 9 |   LBKPIECEkConfigDefault:
10 |     type: geometric::LBKPIECE
11 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
12 |     border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
13 |     min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
14 |   BKPIECEkConfigDefault:
15 |     type: geometric::BKPIECE
16 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
17 |     border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
18 |     failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
19 |     min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
20 |   KPIECEkConfigDefault:
21 |     type: geometric::KPIECE
22 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
23 |     goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05 
24 |     border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
25 |     failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
26 |     min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
27 |   RRTkConfigDefault:
28 |     type: geometric::RRT
29 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
30 |     goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
31 |   RRTConnectkConfigDefault:
32 |     type: geometric::RRTConnect
33 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
34 |   RRTstarkConfigDefault:
35 |     type: geometric::RRTstar
36 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
37 |     goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
38 |     delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
39 |   TRRTkConfigDefault:
40 |     type: geometric::TRRT
41 |     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
42 |     goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
43 |     max_states_failed: 10  # when to start increasing temp. default: 10
44 |     temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
45 |     min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
46 |     init_temperature: 10e-6  # initial temperature. default: 10e-6
47 |     frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() 
48 |     frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
49 |     k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
50 |   PRMkConfigDefault:
51 |     type: geometric::PRM
52 |     max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
53 |   PRMstarkConfigDefault:
54 |     type: geometric::PRMstar
55 | arm:
56 |   planner_configs:
57 |     - SBLkConfigDefault
58 |     - ESTkConfigDefault
59 |     - LBKPIECEkConfigDefault
60 |     - BKPIECEkConfigDefault
61 |     - KPIECEkConfigDefault
62 |     - RRTkConfigDefault
63 |     - RRTConnectkConfigDefault
64 |     - RRTstarkConfigDefault
65 |     - TRRTkConfigDefault
66 |     - PRMkConfigDefault
67 |     - PRMstarkConfigDefault
68 | gripper:
69 |   planner_configs:
70 |     - SBLkConfigDefault
71 |     - ESTkConfigDefault
72 |     - LBKPIECEkConfigDefault
73 |     - BKPIECEkConfigDefault
74 |     - KPIECEkConfigDefault
75 |     - RRTkConfigDefault
76 |     - RRTConnectkConfigDefault
77 |     - RRTstarkConfigDefault
78 |     - TRRTkConfigDefault
79 |     - PRMkConfigDefault
80 |     - PRMstarkConfigDefault


--------------------------------------------------------------------------------
/youbot_launch/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(youbot_launch)
  3 | 
  4 | ## Find catkin macros and libraries
  5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  6 | ## is used, also find other catkin packages
  7 | find_package(catkin REQUIRED)
  8 | 
  9 | ## System dependencies are found with CMake's conventions
 10 | # find_package(Boost REQUIRED COMPONENTS system)
 11 | 
 12 | 
 13 | ## Uncomment this if the package has a setup.py. This macro ensures
 14 | ## modules and global scripts declared therein get installed
 15 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 16 | # catkin_python_setup()
 17 | 
 18 | ################################################
 19 | ## Declare ROS messages, services and actions ##
 20 | ################################################
 21 | 
 22 | ## To declare and build messages, services or actions from within this
 23 | ## package, follow these steps:
 24 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 25 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 26 | ## * In the file package.xml:
 27 | ##   * add a build_depend tag for "message_generation"
 28 | ##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
 29 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 30 | ##     but can be declared for certainty nonetheless:
 31 | ##     * add a run_depend tag for "message_runtime"
 32 | ## * In this file (CMakeLists.txt):
 33 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 34 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 35 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 36 | ##     catkin_package(CATKIN_DEPENDS ...)
 37 | ##   * uncomment the add_*_files sections below as needed
 38 | ##     and list every .msg/.srv/.action file to be processed
 39 | ##   * uncomment the generate_messages entry below
 40 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 41 | 
 42 | ## Generate messages in the 'msg' folder
 43 | # add_message_files(
 44 | #   FILES
 45 | #   Message1.msg
 46 | #   Message2.msg
 47 | # )
 48 | 
 49 | ## Generate services in the 'srv' folder
 50 | # add_service_files(
 51 | #   FILES
 52 | #   Service1.srv
 53 | #   Service2.srv
 54 | # )
 55 | 
 56 | ## Generate actions in the 'action' folder
 57 | # add_action_files(
 58 | #   FILES
 59 | #   Action1.action
 60 | #   Action2.action
 61 | # )
 62 | 
 63 | ## Generate added messages and services with any dependencies listed here
 64 | # generate_messages(
 65 | #   DEPENDENCIES
 66 | #   std_msgs  # Or other packages containing msgs
 67 | # )
 68 | 
 69 | ################################################
 70 | ## Declare ROS dynamic reconfigure parameters ##
 71 | ################################################
 72 | 
 73 | ## To declare and build dynamic reconfigure parameters within this
 74 | ## package, follow these steps:
 75 | ## * In the file package.xml:
 76 | ##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
 77 | ## * In this file (CMakeLists.txt):
 78 | ##   * add "dynamic_reconfigure" to
 79 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 80 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 81 | ##     and list every .cfg file to be processed
 82 | 
 83 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 84 | # generate_dynamic_reconfigure_options(
 85 | #   cfg/DynReconf1.cfg
 86 | #   cfg/DynReconf2.cfg
 87 | # )
 88 | 
 89 | ###################################
 90 | ## catkin specific configuration ##
 91 | ###################################
 92 | ## The catkin_package macro generates cmake config files for your package
 93 | ## Declare things to be passed to dependent projects
 94 | ## INCLUDE_DIRS: uncomment this if you package contains header files
 95 | ## LIBRARIES: libraries you create in this project that dependent projects also need
 96 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 97 | ## DEPENDS: system dependencies of this project that dependent projects also need
 98 | catkin_package(
 99 | #  INCLUDE_DIRS include
100 | #  LIBRARIES youbot_launch
101 | #  CATKIN_DEPENDS other_catkin_pkg
102 | #  DEPENDS system_lib
103 | )
104 | 
105 | ###########
106 | ## Build ##
107 | ###########
108 | 
109 | ## Specify additional locations of header files
110 | ## Your package locations should be listed before other locations
111 | # include_directories(include)
112 | 
113 | ## Declare a C++ library
114 | # add_library(youbot_launch
115 | #   src/${PROJECT_NAME}/youbot_launch.cpp
116 | # )
117 | 
118 | ## Add cmake target dependencies of the library
119 | ## as an example, code may need to be generated before libraries
120 | ## either from message generation or dynamic reconfigure
121 | # add_dependencies(youbot_launch ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
122 | 
123 | ## Declare a C++ executable
124 | # add_executable(youbot_launch_node src/youbot_launch_node.cpp)
125 | 
126 | ## Add cmake target dependencies of the executable
127 | ## same as for the library above
128 | # add_dependencies(youbot_launch_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
129 | 
130 | ## Specify libraries to link a library or executable target against
131 | # target_link_libraries(youbot_launch_node
132 | #   ${catkin_LIBRARIES}
133 | # )
134 | 
135 | #############
136 | ## Install ##
137 | #############
138 | 
139 | # all install targets should use catkin DESTINATION variables
140 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
141 | 
142 | ## Mark executable scripts (Python etc.) for installation
143 | ## in contrast to setup.py, you can choose the destination
144 | # install(PROGRAMS
145 | #   scripts/my_python_script
146 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
147 | # )
148 | 
149 | ## Mark executables and/or libraries for installation
150 | # install(TARGETS youbot_launch youbot_launch_node
151 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
152 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
153 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
154 | # )
155 | 
156 | ## Mark cpp header files for installation
157 | # install(DIRECTORY include/${PROJECT_NAME}/
158 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
159 | #   FILES_MATCHING PATTERN "*.h"
160 | #   PATTERN ".svn" EXCLUDE
161 | # )
162 | 
163 | ## Mark other files for installation (e.g. launch and bag files, etc.)
164 | # install(FILES
165 | #   # myfile1
166 | #   # myfile2
167 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
168 | # )
169 | 
170 | #############
171 | ## Testing ##
172 | #############
173 | 
174 | ## Add gtest based cpp test target and link libraries
175 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_youbot_launch.cpp)
176 | # if(TARGET ${PROJECT_NAME}-test)
177 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
178 | # endif()
179 | 
180 | ## Add folders to be run by python nosetests
181 | # catkin_add_nosetests(test)
182 | 


--------------------------------------------------------------------------------
/youbot_navigation/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(youbot_navigation)
  3 | 
  4 | ## Find catkin macros and libraries
  5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  6 | ## is used, also find other catkin packages
  7 | find_package(catkin REQUIRED)
  8 | 
  9 | ## System dependencies are found with CMake's conventions
 10 | # find_package(Boost REQUIRED COMPONENTS system)
 11 | 
 12 | 
 13 | ## Uncomment this if the package has a setup.py. This macro ensures
 14 | ## modules and global scripts declared therein get installed
 15 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 16 | # catkin_python_setup()
 17 | 
 18 | ################################################
 19 | ## Declare ROS messages, services and actions ##
 20 | ################################################
 21 | 
 22 | ## To declare and build messages, services or actions from within this
 23 | ## package, follow these steps:
 24 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 25 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 26 | ## * In the file package.xml:
 27 | ##   * add a build_depend tag for "message_generation"
 28 | ##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
 29 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 30 | ##     but can be declared for certainty nonetheless:
 31 | ##     * add a run_depend tag for "message_runtime"
 32 | ## * In this file (CMakeLists.txt):
 33 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 34 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 35 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 36 | ##     catkin_package(CATKIN_DEPENDS ...)
 37 | ##   * uncomment the add_*_files sections below as needed
 38 | ##     and list every .msg/.srv/.action file to be processed
 39 | ##   * uncomment the generate_messages entry below
 40 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 41 | 
 42 | ## Generate messages in the 'msg' folder
 43 | # add_message_files(
 44 | #   FILES
 45 | #   Message1.msg
 46 | #   Message2.msg
 47 | # )
 48 | 
 49 | ## Generate services in the 'srv' folder
 50 | # add_service_files(
 51 | #   FILES
 52 | #   Service1.srv
 53 | #   Service2.srv
 54 | # )
 55 | 
 56 | ## Generate actions in the 'action' folder
 57 | # add_action_files(
 58 | #   FILES
 59 | #   Action1.action
 60 | #   Action2.action
 61 | # )
 62 | 
 63 | ## Generate added messages and services with any dependencies listed here
 64 | # generate_messages(
 65 | #   DEPENDENCIES
 66 | #   std_msgs  # Or other packages containing msgs
 67 | # )
 68 | 
 69 | ################################################
 70 | ## Declare ROS dynamic reconfigure parameters ##
 71 | ################################################
 72 | 
 73 | ## To declare and build dynamic reconfigure parameters within this
 74 | ## package, follow these steps:
 75 | ## * In the file package.xml:
 76 | ##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
 77 | ## * In this file (CMakeLists.txt):
 78 | ##   * add "dynamic_reconfigure" to
 79 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 80 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 81 | ##     and list every .cfg file to be processed
 82 | 
 83 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 84 | # generate_dynamic_reconfigure_options(
 85 | #   cfg/DynReconf1.cfg
 86 | #   cfg/DynReconf2.cfg
 87 | # )
 88 | 
 89 | ###################################
 90 | ## catkin specific configuration ##
 91 | ###################################
 92 | ## The catkin_package macro generates cmake config files for your package
 93 | ## Declare things to be passed to dependent projects
 94 | ## INCLUDE_DIRS: uncomment this if you package contains header files
 95 | ## LIBRARIES: libraries you create in this project that dependent projects also need
 96 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 97 | ## DEPENDS: system dependencies of this project that dependent projects also need
 98 | catkin_package(
 99 | #  INCLUDE_DIRS include
100 | #  LIBRARIES youbot_navigation
101 | #  CATKIN_DEPENDS other_catkin_pkg
102 | #  DEPENDS system_lib
103 | )
104 | 
105 | ###########
106 | ## Build ##
107 | ###########
108 | 
109 | ## Specify additional locations of header files
110 | ## Your package locations should be listed before other locations
111 | # include_directories(include)
112 | 
113 | ## Declare a C++ library
114 | # add_library(youbot_navigation
115 | #   src/${PROJECT_NAME}/youbot_navigation.cpp
116 | # )
117 | 
118 | ## Add cmake target dependencies of the library
119 | ## as an example, code may need to be generated before libraries
120 | ## either from message generation or dynamic reconfigure
121 | # add_dependencies(youbot_navigation ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
122 | 
123 | ## Declare a C++ executable
124 | # add_executable(youbot_navigation_node src/youbot_navigation_node.cpp)
125 | 
126 | ## Add cmake target dependencies of the executable
127 | ## same as for the library above
128 | # add_dependencies(youbot_navigation_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
129 | 
130 | ## Specify libraries to link a library or executable target against
131 | # target_link_libraries(youbot_navigation_node
132 | #   ${catkin_LIBRARIES}
133 | # )
134 | 
135 | #############
136 | ## Install ##
137 | #############
138 | 
139 | # all install targets should use catkin DESTINATION variables
140 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
141 | 
142 | ## Mark executable scripts (Python etc.) for installation
143 | ## in contrast to setup.py, you can choose the destination
144 | # install(PROGRAMS
145 | #   scripts/my_python_script
146 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
147 | # )
148 | 
149 | ## Mark executables and/or libraries for installation
150 | # install(TARGETS youbot_navigation youbot_navigation_node
151 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
152 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
153 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
154 | # )
155 | 
156 | ## Mark cpp header files for installation
157 | # install(DIRECTORY include/${PROJECT_NAME}/
158 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
159 | #   FILES_MATCHING PATTERN "*.h"
160 | #   PATTERN ".svn" EXCLUDE
161 | # )
162 | 
163 | ## Mark other files for installation (e.g. launch and bag files, etc.)
164 | # install(FILES
165 | #   # myfile1
166 | #   # myfile2
167 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
168 | # )
169 | 
170 | #############
171 | ## Testing ##
172 | #############
173 | 
174 | ## Add gtest based cpp test target and link libraries
175 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_youbot_navigation.cpp)
176 | # if(TARGET ${PROJECT_NAME}-test)
177 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
178 | # endif()
179 | 
180 | ## Add folders to be run by python nosetests
181 | # catkin_add_nosetests(test)
182 | 


--------------------------------------------------------------------------------
/youbot_moveit_config/config/youbot.srdf:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" ?>
  2 | <!--This does not replace URDF, and is not an extension of URDF.
  3 |     This is a format for representing semantic information about the robot structure.
  4 |     A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
  5 | -->
  6 | <robot name="youbot">
  7 |     <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
  8 |     <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
  9 |     <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
 10 |     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
 11 |     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
 12 |     <group name="arm">
 13 |         <joint name="arm_joint_0" />
 14 |         <joint name="arm_joint_1" />
 15 |         <joint name="arm_joint_2" />
 16 |         <joint name="arm_joint_3" />
 17 |         <joint name="arm_joint_4" />
 18 |         <joint name="arm_joint_5" />
 19 |     </group>
 20 |     <group name="gripper">
 21 |         <link name="gripper_palm_link" />
 22 |         <link name="gripper_finger_link_l" />
 23 |         <link name="gripper_finger_link_r" />
 24 |     </group>
 25 |     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
 26 |     <group_state name="default" group="arm">
 27 |         <joint name="arm_joint_1" value="0" />
 28 |         <joint name="arm_joint_2" value="0" />
 29 |         <joint name="arm_joint_3" value="0" />
 30 |         <joint name="arm_joint_4" value="0" />
 31 |         <joint name="arm_joint_5" value="0" />
 32 |     </group_state>
 33 |     <group_state name="up" group="arm">
 34 |         <joint name="arm_joint_1" value="0" />
 35 |         <joint name="arm_joint_2" value="1.1094" />
 36 |         <joint name="arm_joint_3" value="-2.5627" />
 37 |         <joint name="arm_joint_4" value="1.789" />
 38 |         <joint name="arm_joint_5" value="0" />
 39 |     </group_state>
 40 |     <group_state name="front" group="arm">
 41 |         <joint name="arm_joint_1" value="0" />
 42 |         <joint name="arm_joint_2" value="1.1094" />
 43 |         <joint name="arm_joint_3" value="-4.0187" />
 44 |         <joint name="arm_joint_4" value="1.789" />
 45 |         <joint name="arm_joint_5" value="0" />
 46 |     </group_state>
 47 |     <group_state name="back" group="arm">
 48 |         <joint name="arm_joint_1" value="2.9827" />
 49 |         <joint name="arm_joint_2" value="0.7295" />
 50 |         <joint name="arm_joint_3" value="-4.1644" />
 51 |         <joint name="arm_joint_4" value="1.8292" />
 52 |         <joint name="arm_joint_5" value="0" />
 53 |     </group_state>
 54 |     <group_state name="opened" group="gripper">
 55 |         <joint name="gripper_finger_joint_l" value="0.011" />
 56 |         <joint name="gripper_finger_joint_r" value="0.011" />
 57 |     </group_state>
 58 |     <group_state name="closed" group="gripper">
 59 |         <joint name="gripper_finger_joint_l" value="0.001" />
 60 |         <joint name="gripper_finger_joint_r" value="0.001" />
 61 |     </group_state>
 62 |     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
 63 |     <end_effector name="gripper_eef" parent_link="arm_link_5" group="gripper" />
 64 |     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
 65 |     <virtual_joint name="floating_base" type="planar" parent_frame="odom" child_link="base_footprint" />
 66 |     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
 67 |     <disable_collisions link1="arm_link_0" link2="arm_link_1" reason="Adjacent" />
 68 |     <disable_collisions link1="arm_link_0" link2="arm_link_2" reason="Never" />
 69 |     <disable_collisions link1="arm_link_0" link2="base_footprint" reason="Never" />
 70 |     <disable_collisions link1="arm_link_0" link2="base_laser_front_link" reason="Never" />
 71 |     <disable_collisions link1="arm_link_0" link2="base_link" reason="Adjacent" />
 72 |     <disable_collisions link1="arm_link_0" link2="plate_link" reason="Never" />
 73 |     <disable_collisions link1="arm_link_0" link2="wheel_link_bl" reason="Never" />
 74 |     <disable_collisions link1="arm_link_0" link2="wheel_link_br" reason="Never" />
 75 |     <disable_collisions link1="arm_link_0" link2="wheel_link_fl" reason="Never" />
 76 |     <disable_collisions link1="arm_link_0" link2="wheel_link_fr" reason="Never" />
 77 |     <disable_collisions link1="arm_link_1" link2="arm_link_2" reason="Adjacent" />
 78 |     <disable_collisions link1="arm_link_1" link2="base_footprint" reason="Never" />
 79 |     <disable_collisions link1="arm_link_1" link2="base_laser_front_link" reason="Never" />
 80 |     <disable_collisions link1="arm_link_1" link2="base_link" reason="Never" />
 81 |     <disable_collisions link1="arm_link_1" link2="plate_link" reason="Never" />
 82 |     <disable_collisions link1="arm_link_1" link2="wheel_link_bl" reason="Never" />
 83 |     <disable_collisions link1="arm_link_1" link2="wheel_link_br" reason="Never" />
 84 |     <disable_collisions link1="arm_link_1" link2="wheel_link_fl" reason="Never" />
 85 |     <disable_collisions link1="arm_link_1" link2="wheel_link_fr" reason="Never" />
 86 |     <disable_collisions link1="arm_link_2" link2="arm_link_3" reason="Adjacent" />
 87 |     <disable_collisions link1="arm_link_2" link2="base_footprint" reason="Never" />
 88 |     <disable_collisions link1="arm_link_2" link2="base_laser_front_link" reason="Never" />
 89 |     <disable_collisions link1="arm_link_2" link2="base_link" reason="Never" />
 90 |     <disable_collisions link1="arm_link_2" link2="plate_link" reason="Never" />
 91 |     <disable_collisions link1="arm_link_2" link2="wheel_link_bl" reason="Never" />
 92 |     <disable_collisions link1="arm_link_2" link2="wheel_link_br" reason="Never" />
 93 |     <disable_collisions link1="arm_link_2" link2="wheel_link_fl" reason="Never" />
 94 |     <disable_collisions link1="arm_link_2" link2="wheel_link_fr" reason="Never" />
 95 |     <disable_collisions link1="arm_link_3" link2="arm_link_4" reason="Adjacent" />
 96 |     <disable_collisions link1="arm_link_3" link2="arm_link_5" reason="Never" />
 97 |     <disable_collisions link1="arm_link_3" link2="base_footprint" reason="Never" />
 98 |     <disable_collisions link1="arm_link_3" link2="base_laser_front_link" reason="Never" />
 99 |     <disable_collisions link1="arm_link_3" link2="gripper_finger_link_l" reason="Never" />
100 |     <disable_collisions link1="arm_link_3" link2="gripper_finger_link_r" reason="Never" />
101 |     <disable_collisions link1="arm_link_3" link2="gripper_palm_link" reason="Never" />
102 |     <disable_collisions link1="arm_link_3" link2="wheel_link_bl" reason="Never" />
103 |     <disable_collisions link1="arm_link_3" link2="wheel_link_br" reason="Never" />
104 |     <disable_collisions link1="arm_link_4" link2="arm_link_5" reason="Adjacent" />
105 |     <disable_collisions link1="arm_link_4" link2="base_footprint" reason="Never" />
106 |     <disable_collisions link1="arm_link_4" link2="gripper_finger_link_l" reason="Never" />
107 |     <disable_collisions link1="arm_link_4" link2="gripper_finger_link_r" reason="Never" />
108 |     <disable_collisions link1="arm_link_4" link2="gripper_palm_link" reason="Never" />
109 |     <disable_collisions link1="arm_link_4" link2="wheel_link_bl" reason="Never" />
110 |     <disable_collisions link1="arm_link_4" link2="wheel_link_br" reason="Never" />
111 |     <disable_collisions link1="arm_link_5" link2="base_footprint" reason="Never" />
112 |     <disable_collisions link1="arm_link_5" link2="gripper_finger_link_l" reason="Never" />
113 |     <disable_collisions link1="arm_link_5" link2="gripper_finger_link_r" reason="Never" />
114 |     <disable_collisions link1="arm_link_5" link2="gripper_palm_link" reason="Adjacent" />
115 |     <disable_collisions link1="arm_link_5" link2="wheel_link_bl" reason="Never" />
116 |     <disable_collisions link1="arm_link_5" link2="wheel_link_br" reason="Never" />
117 |     <disable_collisions link1="base_footprint" link2="base_laser_front_link" reason="Never" />
118 |     <disable_collisions link1="base_footprint" link2="base_link" reason="Adjacent" />
119 |     <disable_collisions link1="base_footprint" link2="gripper_finger_link_l" reason="Never" />
120 |     <disable_collisions link1="base_footprint" link2="gripper_finger_link_r" reason="Never" />
121 |     <disable_collisions link1="base_footprint" link2="plate_link" reason="Never" />
122 |     <disable_collisions link1="base_footprint" link2="wheel_link_bl" reason="Never" />
123 |     <disable_collisions link1="base_footprint" link2="wheel_link_br" reason="Never" />
124 |     <disable_collisions link1="base_footprint" link2="wheel_link_fl" reason="Never" />
125 |     <disable_collisions link1="base_footprint" link2="wheel_link_fr" reason="Never" />
126 |     <disable_collisions link1="base_laser_front_link" link2="base_link" reason="Adjacent" />
127 |     <disable_collisions link1="base_laser_front_link" link2="plate_link" reason="Never" />
128 |     <disable_collisions link1="base_laser_front_link" link2="wheel_link_bl" reason="Never" />
129 |     <disable_collisions link1="base_laser_front_link" link2="wheel_link_br" reason="Never" />
130 |     <disable_collisions link1="base_laser_front_link" link2="wheel_link_fl" reason="Never" />
131 |     <disable_collisions link1="base_laser_front_link" link2="wheel_link_fr" reason="Never" />
132 |     <disable_collisions link1="base_link" link2="plate_link" reason="Adjacent" />
133 |     <disable_collisions link1="base_link" link2="wheel_link_bl" reason="Adjacent" />
134 |     <disable_collisions link1="base_link" link2="wheel_link_br" reason="Adjacent" />
135 |     <disable_collisions link1="base_link" link2="wheel_link_fl" reason="Adjacent" />
136 |     <disable_collisions link1="base_link" link2="wheel_link_fr" reason="Adjacent" />
137 |     <disable_collisions link1="gripper_finger_link_l" link2="gripper_finger_link_r" reason="Never" />
138 |     <disable_collisions link1="gripper_finger_link_l" link2="gripper_palm_link" reason="Adjacent" />
139 |     <disable_collisions link1="gripper_finger_link_r" link2="gripper_palm_link" reason="Adjacent" />
140 |     <disable_collisions link1="gripper_palm_link" link2="wheel_link_bl" reason="Never" />
141 |     <disable_collisions link1="plate_link" link2="wheel_link_bl" reason="Never" />
142 |     <disable_collisions link1="plate_link" link2="wheel_link_br" reason="Never" />
143 |     <disable_collisions link1="plate_link" link2="wheel_link_fl" reason="Never" />
144 |     <disable_collisions link1="plate_link" link2="wheel_link_fr" reason="Never" />
145 |     <disable_collisions link1="wheel_link_bl" link2="wheel_link_br" reason="Never" />
146 |     <disable_collisions link1="wheel_link_bl" link2="wheel_link_fl" reason="Never" />
147 |     <disable_collisions link1="wheel_link_bl" link2="wheel_link_fr" reason="Never" />
148 |     <disable_collisions link1="wheel_link_br" link2="wheel_link_fl" reason="Never" />
149 |     <disable_collisions link1="wheel_link_br" link2="wheel_link_fr" reason="Never" />
150 |     <disable_collisions link1="wheel_link_fl" link2="wheel_link_fr" reason="Never" />
151 | </robot>
152 | 


--------------------------------------------------------------------------------
/youbot_launch/config/motion_planning.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /TF1/Frames1
  8 |         - /MotionPlanning1
  9 |       Splitter Ratio: 0.5
 10 |     Tree Height: 121
 11 |   - Class: rviz/Selection
 12 |     Name: Selection
 13 |   - Class: rviz/Tool Properties
 14 |     Expanded:
 15 |       - /2D Pose Estimate1
 16 |       - /2D Nav Goal1
 17 |       - /Publish Point1
 18 |     Name: Tool Properties
 19 |     Splitter Ratio: 0.588679
 20 |   - Class: rviz/Views
 21 |     Expanded:
 22 |       - /Current View1
 23 |     Name: Views
 24 |     Splitter Ratio: 0.5
 25 |   - Class: rviz/Time
 26 |     Experimental: false
 27 |     Name: Time
 28 |     SyncMode: 0
 29 |     SyncSource: LaserScan
 30 | Visualization Manager:
 31 |   Class: ""
 32 |   Displays:
 33 |     - Alpha: 0.5
 34 |       Cell Size: 1
 35 |       Class: rviz/Grid
 36 |       Color: 160; 160; 164
 37 |       Enabled: true
 38 |       Line Style:
 39 |         Line Width: 0.03
 40 |         Value: Lines
 41 |       Name: Grid
 42 |       Normal Cell Count: 0
 43 |       Offset:
 44 |         X: 0
 45 |         Y: 0
 46 |         Z: 0
 47 |       Plane: XY
 48 |       Plane Cell Count: 10
 49 |       Reference Frame: <Fixed Frame>
 50 |       Value: true
 51 |     - Alpha: 0.2
 52 |       Class: rviz/RobotModel
 53 |       Collision Enabled: false
 54 |       Enabled: true
 55 |       Links:
 56 |         All Links Enabled: true
 57 |         Expand Joint Details: false
 58 |         Expand Link Details: false
 59 |         Expand Tree: false
 60 |         Link Tree Style: Links in Alphabetic Order
 61 |         arm_link_0:
 62 |           Alpha: 1
 63 |           Show Axes: false
 64 |           Show Trail: false
 65 |           Value: true
 66 |         arm_link_1:
 67 |           Alpha: 1
 68 |           Show Axes: false
 69 |           Show Trail: false
 70 |           Value: true
 71 |         arm_link_2:
 72 |           Alpha: 1
 73 |           Show Axes: false
 74 |           Show Trail: false
 75 |           Value: true
 76 |         arm_link_3:
 77 |           Alpha: 1
 78 |           Show Axes: false
 79 |           Show Trail: false
 80 |           Value: true
 81 |         arm_link_4:
 82 |           Alpha: 1
 83 |           Show Axes: false
 84 |           Show Trail: false
 85 |           Value: true
 86 |         arm_link_5:
 87 |           Alpha: 1
 88 |           Show Axes: false
 89 |           Show Trail: false
 90 |           Value: true
 91 |         base_footprint:
 92 |           Alpha: 1
 93 |           Show Axes: false
 94 |           Show Trail: false
 95 |           Value: true
 96 |         base_laser_front_link:
 97 |           Alpha: 1
 98 |           Show Axes: false
 99 |           Show Trail: false
100 |           Value: true
101 |         base_link:
102 |           Alpha: 1
103 |           Show Axes: false
104 |           Show Trail: false
105 |           Value: true
106 |         caster_link_bl:
107 |           Alpha: 1
108 |           Show Axes: false
109 |           Show Trail: false
110 |         caster_link_br:
111 |           Alpha: 1
112 |           Show Axes: false
113 |           Show Trail: false
114 |         caster_link_fl:
115 |           Alpha: 1
116 |           Show Axes: false
117 |           Show Trail: false
118 |         caster_link_fr:
119 |           Alpha: 1
120 |           Show Axes: false
121 |           Show Trail: false
122 |         gripper_finger_link_l:
123 |           Alpha: 1
124 |           Show Axes: false
125 |           Show Trail: false
126 |           Value: true
127 |         gripper_finger_link_r:
128 |           Alpha: 1
129 |           Show Axes: false
130 |           Show Trail: false
131 |           Value: true
132 |         gripper_palm_link:
133 |           Alpha: 1
134 |           Show Axes: false
135 |           Show Trail: false
136 |           Value: true
137 |         plate_link:
138 |           Alpha: 1
139 |           Show Axes: false
140 |           Show Trail: false
141 |           Value: true
142 |         wheel_link_bl:
143 |           Alpha: 1
144 |           Show Axes: false
145 |           Show Trail: false
146 |           Value: true
147 |         wheel_link_br:
148 |           Alpha: 1
149 |           Show Axes: false
150 |           Show Trail: false
151 |           Value: true
152 |         wheel_link_fl:
153 |           Alpha: 1
154 |           Show Axes: false
155 |           Show Trail: false
156 |           Value: true
157 |         wheel_link_fr:
158 |           Alpha: 1
159 |           Show Axes: false
160 |           Show Trail: false
161 |           Value: true
162 |       Name: RobotModel
163 |       Robot Description: robot_description
164 |       TF Prefix: ""
165 |       Update Interval: 0
166 |       Value: true
167 |       Visual Enabled: true
168 |     - Class: rviz/TF
169 |       Enabled: true
170 |       Frame Timeout: 15
171 |       Frames:
172 |         All Enabled: true
173 |         arm_link_0:
174 |           Value: true
175 |         arm_link_1:
176 |           Value: true
177 |         arm_link_2:
178 |           Value: true
179 |         arm_link_3:
180 |           Value: true
181 |         arm_link_4:
182 |           Value: true
183 |         arm_link_5:
184 |           Value: true
185 |         base_footprint:
186 |           Value: true
187 |         base_laser_front_link:
188 |           Value: true
189 |         base_link:
190 |           Value: true
191 |         caster_link_bl:
192 |           Value: true
193 |         caster_link_br:
194 |           Value: true
195 |         caster_link_fl:
196 |           Value: true
197 |         caster_link_fr:
198 |           Value: true
199 |         gripper_finger_link_l:
200 |           Value: true
201 |         gripper_finger_link_r:
202 |           Value: true
203 |         gripper_palm_link:
204 |           Value: true
205 |         odom:
206 |           Value: true
207 |         plate_link:
208 |           Value: true
209 |         wheel_link_bl:
210 |           Value: true
211 |         wheel_link_br:
212 |           Value: true
213 |         wheel_link_fl:
214 |           Value: true
215 |         wheel_link_fr:
216 |           Value: true
217 |       Marker Scale: 0.2
218 |       Name: TF
219 |       Show Arrows: true
220 |       Show Axes: true
221 |       Show Names: true
222 |       Tree:
223 |         odom:
224 |           base_footprint:
225 |             base_link:
226 |               arm_link_0:
227 |                 arm_link_1:
228 |                   arm_link_2:
229 |                     arm_link_3:
230 |                       arm_link_4:
231 |                         arm_link_5:
232 |                           gripper_palm_link:
233 |                             gripper_finger_link_l:
234 |                               {}
235 |                             gripper_finger_link_r:
236 |                               {}
237 |               base_laser_front_link:
238 |                 {}
239 |               caster_link_bl:
240 |                 wheel_link_bl:
241 |                   {}
242 |               caster_link_br:
243 |                 wheel_link_br:
244 |                   {}
245 |               caster_link_fl:
246 |                 wheel_link_fl:
247 |                   {}
248 |               caster_link_fr:
249 |                 wheel_link_fr:
250 |                   {}
251 |               plate_link:
252 |                 {}
253 |       Update Interval: 0
254 |       Value: true
255 |     - Alpha: 0.7
256 |       Class: rviz/Map
257 |       Color Scheme: costmap
258 |       Draw Behind: true
259 |       Enabled: true
260 |       Name: Local Costmap
261 |       Topic: /move_base/local_costmap/costmap
262 |       Value: true
263 |     - Alpha: 1
264 |       Autocompute Intensity Bounds: true
265 |       Autocompute Value Bounds:
266 |         Max Value: 10
267 |         Min Value: -10
268 |         Value: true
269 |       Axis: Z
270 |       Channel Name: intensity
271 |       Class: rviz/LaserScan
272 |       Color: 255; 255; 255
273 |       Color Transformer: Intensity
274 |       Decay Time: 0
275 |       Enabled: true
276 |       Invert Rainbow: false
277 |       Max Color: 255; 255; 255
278 |       Max Intensity: 999999
279 |       Min Color: 0; 0; 0
280 |       Min Intensity: 5.60519e-45
281 |       Name: LaserScan
282 |       Position Transformer: XYZ
283 |       Queue Size: 10
284 |       Selectable: true
285 |       Size (Pixels): 3
286 |       Size (m): 0.01
287 |       Style: Flat Squares
288 |       Topic: /scan_front
289 |       Use Fixed Frame: true
290 |       Use rainbow: true
291 |       Value: true
292 |     - Class: moveit_rviz_plugin/MotionPlanning
293 |       Enabled: true
294 |       Move Group Namespace: ""
295 |       MoveIt_Goal_Tolerance: 0
296 |       MoveIt_Planning_Attempts: 10
297 |       MoveIt_Planning_Time: 5
298 |       MoveIt_Use_Constraint_Aware_IK: true
299 |       MoveIt_Warehouse_Host: 127.0.0.1
300 |       MoveIt_Warehouse_Port: 33829
301 |       Name: MotionPlanning
302 |       Planned Path:
303 |         Links:
304 |           All Links Enabled: true
305 |           Expand Joint Details: false
306 |           Expand Link Details: false
307 |           Expand Tree: false
308 |           Link Tree Style: Links in Alphabetic Order
309 |           arm_link_0:
310 |             Alpha: 1
311 |             Show Axes: false
312 |             Show Trail: false
313 |             Value: true
314 |           arm_link_1:
315 |             Alpha: 1
316 |             Show Axes: false
317 |             Show Trail: false
318 |             Value: true
319 |           arm_link_2:
320 |             Alpha: 1
321 |             Show Axes: false
322 |             Show Trail: false
323 |             Value: true
324 |           arm_link_3:
325 |             Alpha: 1
326 |             Show Axes: false
327 |             Show Trail: false
328 |             Value: true
329 |           arm_link_4:
330 |             Alpha: 1
331 |             Show Axes: false
332 |             Show Trail: false
333 |             Value: true
334 |           arm_link_5:
335 |             Alpha: 1
336 |             Show Axes: false
337 |             Show Trail: false
338 |             Value: true
339 |           base_footprint:
340 |             Alpha: 1
341 |             Show Axes: false
342 |             Show Trail: false
343 |             Value: true
344 |           base_laser_front_link:
345 |             Alpha: 1
346 |             Show Axes: false
347 |             Show Trail: false
348 |             Value: true
349 |           base_link:
350 |             Alpha: 1
351 |             Show Axes: false
352 |             Show Trail: false
353 |             Value: true
354 |           caster_link_bl:
355 |             Alpha: 1
356 |             Show Axes: false
357 |             Show Trail: false
358 |           caster_link_br:
359 |             Alpha: 1
360 |             Show Axes: false
361 |             Show Trail: false
362 |           caster_link_fl:
363 |             Alpha: 1
364 |             Show Axes: false
365 |             Show Trail: false
366 |           caster_link_fr:
367 |             Alpha: 1
368 |             Show Axes: false
369 |             Show Trail: false
370 |           gripper_finger_link_l:
371 |             Alpha: 1
372 |             Show Axes: false
373 |             Show Trail: false
374 |             Value: true
375 |           gripper_finger_link_r:
376 |             Alpha: 1
377 |             Show Axes: false
378 |             Show Trail: false
379 |             Value: true
380 |           gripper_palm_link:
381 |             Alpha: 1
382 |             Show Axes: false
383 |             Show Trail: false
384 |             Value: true
385 |           plate_link:
386 |             Alpha: 1
387 |             Show Axes: false
388 |             Show Trail: false
389 |             Value: true
390 |           wheel_link_bl:
391 |             Alpha: 1
392 |             Show Axes: false
393 |             Show Trail: false
394 |             Value: true
395 |           wheel_link_br:
396 |             Alpha: 1
397 |             Show Axes: false
398 |             Show Trail: false
399 |             Value: true
400 |           wheel_link_fl:
401 |             Alpha: 1
402 |             Show Axes: false
403 |             Show Trail: false
404 |             Value: true
405 |           wheel_link_fr:
406 |             Alpha: 1
407 |             Show Axes: false
408 |             Show Trail: false
409 |             Value: true
410 |         Loop Animation: false
411 |         Robot Alpha: 0.5
412 |         Show Robot Collision: false
413 |         Show Robot Visual: true
414 |         Show Trail: false
415 |         State Display Time: 0.05 s
416 |         Trajectory Topic: /move_group/display_planned_path
417 |       Planning Metrics:
418 |         Payload: 1
419 |         Show Joint Torques: false
420 |         Show Manipulability: false
421 |         Show Manipulability Index: false
422 |         Show Weight Limit: false
423 |         TextHeight: 0.08
424 |       Planning Request:
425 |         Colliding Link Color: 255; 0; 0
426 |         Goal State Alpha: 1
427 |         Goal State Color: 250; 128; 0
428 |         Interactive Marker Size: 0
429 |         Joint Violation Color: 255; 0; 255
430 |         Planning Group: arm
431 |         Query Goal State: true
432 |         Query Start State: false
433 |         Show Workspace: false
434 |         Start State Alpha: 1
435 |         Start State Color: 0; 255; 0
436 |       Planning Scene Topic: planning_scene
437 |       Robot Description: robot_description
438 |       Scene Geometry:
439 |         Scene Alpha: 0.9
440 |         Scene Color: 50; 230; 50
441 |         Scene Display Time: 0.2
442 |         Show Scene Geometry: true
443 |         Voxel Coloring: Z-Axis
444 |         Voxel Rendering: Occupied Voxels
445 |       Scene Robot:
446 |         Attached Body Color: 150; 50; 150
447 |         Links:
448 |           All Links Enabled: true
449 |           Expand Joint Details: false
450 |           Expand Link Details: false
451 |           Expand Tree: false
452 |           Link Tree Style: Links in Alphabetic Order
453 |           arm_link_0:
454 |             Alpha: 1
455 |             Show Axes: false
456 |             Show Trail: false
457 |             Value: true
458 |           arm_link_1:
459 |             Alpha: 1
460 |             Show Axes: false
461 |             Show Trail: false
462 |             Value: true
463 |           arm_link_2:
464 |             Alpha: 1
465 |             Show Axes: false
466 |             Show Trail: false
467 |             Value: true
468 |           arm_link_3:
469 |             Alpha: 1
470 |             Show Axes: false
471 |             Show Trail: false
472 |             Value: true
473 |           arm_link_4:
474 |             Alpha: 1
475 |             Show Axes: false
476 |             Show Trail: false
477 |             Value: true
478 |           arm_link_5:
479 |             Alpha: 1
480 |             Show Axes: false
481 |             Show Trail: false
482 |             Value: true
483 |           base_footprint:
484 |             Alpha: 1
485 |             Show Axes: false
486 |             Show Trail: false
487 |             Value: true
488 |           base_laser_front_link:
489 |             Alpha: 1
490 |             Show Axes: false
491 |             Show Trail: false
492 |             Value: true
493 |           base_link:
494 |             Alpha: 1
495 |             Show Axes: false
496 |             Show Trail: false
497 |             Value: true
498 |           caster_link_bl:
499 |             Alpha: 1
500 |             Show Axes: false
501 |             Show Trail: false
502 |           caster_link_br:
503 |             Alpha: 1
504 |             Show Axes: false
505 |             Show Trail: false
506 |           caster_link_fl:
507 |             Alpha: 1
508 |             Show Axes: false
509 |             Show Trail: false
510 |           caster_link_fr:
511 |             Alpha: 1
512 |             Show Axes: false
513 |             Show Trail: false
514 |           gripper_finger_link_l:
515 |             Alpha: 1
516 |             Show Axes: false
517 |             Show Trail: false
518 |             Value: true
519 |           gripper_finger_link_r:
520 |             Alpha: 1
521 |             Show Axes: false
522 |             Show Trail: false
523 |             Value: true
524 |           gripper_palm_link:
525 |             Alpha: 1
526 |             Show Axes: false
527 |             Show Trail: false
528 |             Value: true
529 |           plate_link:
530 |             Alpha: 1
531 |             Show Axes: false
532 |             Show Trail: false
533 |             Value: true
534 |           wheel_link_bl:
535 |             Alpha: 1
536 |             Show Axes: false
537 |             Show Trail: false
538 |             Value: true
539 |           wheel_link_br:
540 |             Alpha: 1
541 |             Show Axes: false
542 |             Show Trail: false
543 |             Value: true
544 |           wheel_link_fl:
545 |             Alpha: 1
546 |             Show Axes: false
547 |             Show Trail: false
548 |             Value: true
549 |           wheel_link_fr:
550 |             Alpha: 1
551 |             Show Axes: false
552 |             Show Trail: false
553 |             Value: true
554 |         Robot Alpha: 0.5
555 |         Show Robot Collision: false
556 |         Show Robot Visual: false
557 |       Value: true
558 |   Enabled: true
559 |   Global Options:
560 |     Background Color: 48; 48; 48
561 |     Fixed Frame: odom
562 |     Frame Rate: 30
563 |   Name: root
564 |   Tools:
565 |     - Class: rviz/Interact
566 |       Hide Inactive Objects: true
567 |     - Class: rviz/MoveCamera
568 |     - Class: rviz/Select
569 |     - Class: rviz/FocusCamera
570 |     - Class: rviz/Measure
571 |     - Class: rviz/SetInitialPose
572 |       Topic: /initialpose
573 |     - Class: rviz/SetGoal
574 |       Topic: /move_base_simple/goal
575 |     - Class: rviz/PublishPoint
576 |       Single click: true
577 |       Topic: /clicked_point
578 |   Value: true
579 |   Views:
580 |     Current:
581 |       Class: rviz/Orbit
582 |       Distance: 2.37657
583 |       Enable Stereo Rendering:
584 |         Stereo Eye Separation: 0.06
585 |         Stereo Focal Distance: 1
586 |         Swap Stereo Eyes: false
587 |         Value: false
588 |       Focal Point:
589 |         X: 0.054302
590 |         Y: 0.187393
591 |         Z: 0.33855
592 |       Name: Current View
593 |       Near Clip Distance: 0.01
594 |       Pitch: 0.460399
595 |       Target Frame: <Fixed Frame>
596 |       Value: Orbit (rviz)
597 |       Yaw: 2.18039
598 |     Saved: ~
599 | Window Geometry:
600 |   Displays:
601 |     collapsed: false
602 |   Height: 846
603 |   Hide Left Dock: false
604 |   Hide Right Dock: true
605 |   Motion Planning:
606 |     collapsed: false
607 |   QMainWindow State: 000000ff00000000fd0000000400000000000002b1000002c4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000108000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000136000001b6000001ab00ffffff000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004eb0000003efc0100000002fb0000000800540069006d00650100000000000004eb000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000234000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
608 |   Selection:
609 |     collapsed: false
610 |   Time:
611 |     collapsed: false
612 |   Tool Properties:
613 |     collapsed: false
614 |   Views:
615 |     collapsed: true
616 |   Width: 1259
617 |   X: 436
618 |   Y: 106
619 | 


--------------------------------------------------------------------------------
/youbot_moveit_config/launch/moveit.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 84
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /MotionPlanning1
  8 |       Splitter Ratio: 0.74256
  9 |     Tree Height: 664
 10 |   - Class: rviz/Help
 11 |     Name: Help
 12 |   - Class: rviz/Views
 13 |     Expanded:
 14 |       - /Current View1
 15 |     Name: Views
 16 |     Splitter Ratio: 0.5
 17 | Visualization Manager:
 18 |   Class: ""
 19 |   Displays:
 20 |     - Alpha: 0.5
 21 |       Cell Size: 1
 22 |       Class: rviz/Grid
 23 |       Color: 160; 160; 164
 24 |       Enabled: true
 25 |       Line Style:
 26 |         Line Width: 0.03
 27 |         Value: Lines
 28 |       Name: Grid
 29 |       Normal Cell Count: 0
 30 |       Offset:
 31 |         X: 0
 32 |         Y: 0
 33 |         Z: 0
 34 |       Plane: XY
 35 |       Plane Cell Count: 10
 36 |       Reference Frame: <Fixed Frame>
 37 |       Value: true
 38 |     - Class: moveit_rviz_plugin/MotionPlanning
 39 |       Enabled: true
 40 |       MoveIt_Goal_Tolerance: 0
 41 |       MoveIt_Planning_Time: 5
 42 |       MoveIt_Use_Constraint_Aware_IK: true
 43 |       MoveIt_Warehouse_Host: 127.0.0.1
 44 |       MoveIt_Warehouse_Port: 33829
 45 |       Name: MotionPlanning
 46 |       Planned Path:
 47 |         Links:
 48 |           base_bellow_link:
 49 |             Alpha: 1
 50 |             Show Axes: false
 51 |             Show Trail: false
 52 |             Value: true
 53 |           base_footprint:
 54 |             Alpha: 1
 55 |             Show Axes: false
 56 |             Show Trail: false
 57 |             Value: true
 58 |           base_link:
 59 |             Alpha: 1
 60 |             Show Axes: false
 61 |             Show Trail: false
 62 |             Value: true
 63 |           bl_caster_l_wheel_link:
 64 |             Alpha: 1
 65 |             Show Axes: false
 66 |             Show Trail: false
 67 |             Value: true
 68 |           bl_caster_r_wheel_link:
 69 |             Alpha: 1
 70 |             Show Axes: false
 71 |             Show Trail: false
 72 |             Value: true
 73 |           bl_caster_rotation_link:
 74 |             Alpha: 1
 75 |             Show Axes: false
 76 |             Show Trail: false
 77 |             Value: true
 78 |           br_caster_l_wheel_link:
 79 |             Alpha: 1
 80 |             Show Axes: false
 81 |             Show Trail: false
 82 |             Value: true
 83 |           br_caster_r_wheel_link:
 84 |             Alpha: 1
 85 |             Show Axes: false
 86 |             Show Trail: false
 87 |             Value: true
 88 |           br_caster_rotation_link:
 89 |             Alpha: 1
 90 |             Show Axes: false
 91 |             Show Trail: false
 92 |             Value: true
 93 |           double_stereo_link:
 94 |             Alpha: 1
 95 |             Show Axes: false
 96 |             Show Trail: false
 97 |             Value: true
 98 |           fl_caster_l_wheel_link:
 99 |             Alpha: 1
100 |             Show Axes: false
101 |             Show Trail: false
102 |             Value: true
103 |           fl_caster_r_wheel_link:
104 |             Alpha: 1
105 |             Show Axes: false
106 |             Show Trail: false
107 |             Value: true
108 |           fl_caster_rotation_link:
109 |             Alpha: 1
110 |             Show Axes: false
111 |             Show Trail: false
112 |             Value: true
113 |           fr_caster_l_wheel_link:
114 |             Alpha: 1
115 |             Show Axes: false
116 |             Show Trail: false
117 |             Value: true
118 |           fr_caster_r_wheel_link:
119 |             Alpha: 1
120 |             Show Axes: false
121 |             Show Trail: false
122 |             Value: true
123 |           fr_caster_rotation_link:
124 |             Alpha: 1
125 |             Show Axes: false
126 |             Show Trail: false
127 |             Value: true
128 |           head_mount_kinect_ir_link:
129 |             Alpha: 1
130 |             Show Axes: false
131 |             Show Trail: false
132 |             Value: true
133 |           head_mount_kinect_rgb_link:
134 |             Alpha: 1
135 |             Show Axes: false
136 |             Show Trail: false
137 |             Value: true
138 |           head_mount_link:
139 |             Alpha: 1
140 |             Show Axes: false
141 |             Show Trail: false
142 |             Value: true
143 |           head_mount_prosilica_link:
144 |             Alpha: 1
145 |             Show Axes: false
146 |             Show Trail: false
147 |             Value: true
148 |           head_pan_link:
149 |             Alpha: 1
150 |             Show Axes: false
151 |             Show Trail: false
152 |             Value: true
153 |           head_plate_frame:
154 |             Alpha: 1
155 |             Show Axes: false
156 |             Show Trail: false
157 |             Value: true
158 |           head_tilt_link:
159 |             Alpha: 1
160 |             Show Axes: false
161 |             Show Trail: false
162 |             Value: true
163 |           l_elbow_flex_link:
164 |             Alpha: 1
165 |             Show Axes: false
166 |             Show Trail: false
167 |             Value: true
168 |           l_forearm_link:
169 |             Alpha: 1
170 |             Show Axes: false
171 |             Show Trail: false
172 |             Value: true
173 |           l_forearm_roll_link:
174 |             Alpha: 1
175 |             Show Axes: false
176 |             Show Trail: false
177 |             Value: true
178 |           l_gripper_l_finger_link:
179 |             Alpha: 1
180 |             Show Axes: false
181 |             Show Trail: false
182 |             Value: true
183 |           l_gripper_l_finger_tip_link:
184 |             Alpha: 1
185 |             Show Axes: false
186 |             Show Trail: false
187 |             Value: true
188 |           l_gripper_motor_accelerometer_link:
189 |             Alpha: 1
190 |             Show Axes: false
191 |             Show Trail: false
192 |             Value: true
193 |           l_gripper_palm_link:
194 |             Alpha: 1
195 |             Show Axes: false
196 |             Show Trail: false
197 |             Value: true
198 |           l_gripper_r_finger_link:
199 |             Alpha: 1
200 |             Show Axes: false
201 |             Show Trail: false
202 |             Value: true
203 |           l_gripper_r_finger_tip_link:
204 |             Alpha: 1
205 |             Show Axes: false
206 |             Show Trail: false
207 |             Value: true
208 |           l_shoulder_lift_link:
209 |             Alpha: 1
210 |             Show Axes: false
211 |             Show Trail: false
212 |             Value: true
213 |           l_shoulder_pan_link:
214 |             Alpha: 1
215 |             Show Axes: false
216 |             Show Trail: false
217 |             Value: true
218 |           l_upper_arm_link:
219 |             Alpha: 1
220 |             Show Axes: false
221 |             Show Trail: false
222 |             Value: true
223 |           l_upper_arm_roll_link:
224 |             Alpha: 1
225 |             Show Axes: false
226 |             Show Trail: false
227 |             Value: true
228 |           l_wrist_flex_link:
229 |             Alpha: 1
230 |             Show Axes: false
231 |             Show Trail: false
232 |             Value: true
233 |           l_wrist_roll_link:
234 |             Alpha: 1
235 |             Show Axes: false
236 |             Show Trail: false
237 |             Value: true
238 |           laser_tilt_mount_link:
239 |             Alpha: 1
240 |             Show Axes: false
241 |             Show Trail: false
242 |             Value: true
243 |           r_elbow_flex_link:
244 |             Alpha: 1
245 |             Show Axes: false
246 |             Show Trail: false
247 |             Value: true
248 |           r_forearm_link:
249 |             Alpha: 1
250 |             Show Axes: false
251 |             Show Trail: false
252 |             Value: true
253 |           r_forearm_roll_link:
254 |             Alpha: 1
255 |             Show Axes: false
256 |             Show Trail: false
257 |             Value: true
258 |           r_gripper_l_finger_link:
259 |             Alpha: 1
260 |             Show Axes: false
261 |             Show Trail: false
262 |             Value: true
263 |           r_gripper_l_finger_tip_link:
264 |             Alpha: 1
265 |             Show Axes: false
266 |             Show Trail: false
267 |             Value: true
268 |           r_gripper_motor_accelerometer_link:
269 |             Alpha: 1
270 |             Show Axes: false
271 |             Show Trail: false
272 |             Value: true
273 |           r_gripper_palm_link:
274 |             Alpha: 1
275 |             Show Axes: false
276 |             Show Trail: false
277 |             Value: true
278 |           r_gripper_r_finger_link:
279 |             Alpha: 1
280 |             Show Axes: false
281 |             Show Trail: false
282 |             Value: true
283 |           r_gripper_r_finger_tip_link:
284 |             Alpha: 1
285 |             Show Axes: false
286 |             Show Trail: false
287 |             Value: true
288 |           r_shoulder_lift_link:
289 |             Alpha: 1
290 |             Show Axes: false
291 |             Show Trail: false
292 |             Value: true
293 |           r_shoulder_pan_link:
294 |             Alpha: 1
295 |             Show Axes: false
296 |             Show Trail: false
297 |             Value: true
298 |           r_upper_arm_link:
299 |             Alpha: 1
300 |             Show Axes: false
301 |             Show Trail: false
302 |             Value: true
303 |           r_upper_arm_roll_link:
304 |             Alpha: 1
305 |             Show Axes: false
306 |             Show Trail: false
307 |             Value: true
308 |           r_wrist_flex_link:
309 |             Alpha: 1
310 |             Show Axes: false
311 |             Show Trail: false
312 |             Value: true
313 |           r_wrist_roll_link:
314 |             Alpha: 1
315 |             Show Axes: false
316 |             Show Trail: false
317 |             Value: true
318 |           sensor_mount_link:
319 |             Alpha: 1
320 |             Show Axes: false
321 |             Show Trail: false
322 |             Value: true
323 |           torso_lift_link:
324 |             Alpha: 1
325 |             Show Axes: false
326 |             Show Trail: false
327 |             Value: true
328 |         Loop Animation: true
329 |         Robot Alpha: 0.5
330 |         Show Robot Collision: false
331 |         Show Robot Visual: true
332 |         Show Trail: false
333 |         State Display Time: 0.05 s
334 |         Trajectory Topic: move_group/display_planned_path
335 |       Planning Metrics:
336 |         Payload: 1
337 |         Show Joint Torques: false
338 |         Show Manipulability: false
339 |         Show Manipulability Index: false
340 |         Show Weight Limit: false
341 |       Planning Request:
342 |         Colliding Link Color: 255; 0; 0
343 |         Goal State Alpha: 1
344 |         Goal State Color: 250; 128; 0
345 |         Interactive Marker Size: 0
346 |         Joint Violation Color: 255; 0; 255
347 |         Planning Group: left_arm
348 |         Query Goal State: true
349 |         Query Start State: false
350 |         Show Workspace: false
351 |         Start State Alpha: 1
352 |         Start State Color: 0; 255; 0
353 |       Planning Scene Topic: move_group/monitored_planning_scene
354 |       Robot Description: robot_description
355 |       Scene Geometry:
356 |         Scene Alpha: 1
357 |         Scene Color: 50; 230; 50
358 |         Scene Display Time: 0.2
359 |         Show Scene Geometry: true
360 |         Voxel Coloring: Z-Axis
361 |         Voxel Rendering: Occupied Voxels
362 |       Scene Robot:
363 |         Attached Body Color: 150; 50; 150
364 |         Links:
365 |           base_bellow_link:
366 |             Alpha: 1
367 |             Show Axes: false
368 |             Show Trail: false
369 |             Value: true
370 |           base_footprint:
371 |             Alpha: 1
372 |             Show Axes: false
373 |             Show Trail: false
374 |             Value: true
375 |           base_link:
376 |             Alpha: 1
377 |             Show Axes: false
378 |             Show Trail: false
379 |             Value: true
380 |           bl_caster_l_wheel_link:
381 |             Alpha: 1
382 |             Show Axes: false
383 |             Show Trail: false
384 |             Value: true
385 |           bl_caster_r_wheel_link:
386 |             Alpha: 1
387 |             Show Axes: false
388 |             Show Trail: false
389 |             Value: true
390 |           bl_caster_rotation_link:
391 |             Alpha: 1
392 |             Show Axes: false
393 |             Show Trail: false
394 |             Value: true
395 |           br_caster_l_wheel_link:
396 |             Alpha: 1
397 |             Show Axes: false
398 |             Show Trail: false
399 |             Value: true
400 |           br_caster_r_wheel_link:
401 |             Alpha: 1
402 |             Show Axes: false
403 |             Show Trail: false
404 |             Value: true
405 |           br_caster_rotation_link:
406 |             Alpha: 1
407 |             Show Axes: false
408 |             Show Trail: false
409 |             Value: true
410 |           double_stereo_link:
411 |             Alpha: 1
412 |             Show Axes: false
413 |             Show Trail: false
414 |             Value: true
415 |           fl_caster_l_wheel_link:
416 |             Alpha: 1
417 |             Show Axes: false
418 |             Show Trail: false
419 |             Value: true
420 |           fl_caster_r_wheel_link:
421 |             Alpha: 1
422 |             Show Axes: false
423 |             Show Trail: false
424 |             Value: true
425 |           fl_caster_rotation_link:
426 |             Alpha: 1
427 |             Show Axes: false
428 |             Show Trail: false
429 |             Value: true
430 |           fr_caster_l_wheel_link:
431 |             Alpha: 1
432 |             Show Axes: false
433 |             Show Trail: false
434 |             Value: true
435 |           fr_caster_r_wheel_link:
436 |             Alpha: 1
437 |             Show Axes: false
438 |             Show Trail: false
439 |             Value: true
440 |           fr_caster_rotation_link:
441 |             Alpha: 1
442 |             Show Axes: false
443 |             Show Trail: false
444 |             Value: true
445 |           head_mount_kinect_ir_link:
446 |             Alpha: 1
447 |             Show Axes: false
448 |             Show Trail: false
449 |             Value: true
450 |           head_mount_kinect_rgb_link:
451 |             Alpha: 1
452 |             Show Axes: false
453 |             Show Trail: false
454 |             Value: true
455 |           head_mount_link:
456 |             Alpha: 1
457 |             Show Axes: false
458 |             Show Trail: false
459 |             Value: true
460 |           head_mount_prosilica_link:
461 |             Alpha: 1
462 |             Show Axes: false
463 |             Show Trail: false
464 |             Value: true
465 |           head_pan_link:
466 |             Alpha: 1
467 |             Show Axes: false
468 |             Show Trail: false
469 |             Value: true
470 |           head_plate_frame:
471 |             Alpha: 1
472 |             Show Axes: false
473 |             Show Trail: false
474 |             Value: true
475 |           head_tilt_link:
476 |             Alpha: 1
477 |             Show Axes: false
478 |             Show Trail: false
479 |             Value: true
480 |           l_elbow_flex_link:
481 |             Alpha: 1
482 |             Show Axes: false
483 |             Show Trail: false
484 |             Value: true
485 |           l_forearm_link:
486 |             Alpha: 1
487 |             Show Axes: false
488 |             Show Trail: false
489 |             Value: true
490 |           l_forearm_roll_link:
491 |             Alpha: 1
492 |             Show Axes: false
493 |             Show Trail: false
494 |             Value: true
495 |           l_gripper_l_finger_link:
496 |             Alpha: 1
497 |             Show Axes: false
498 |             Show Trail: false
499 |             Value: true
500 |           l_gripper_l_finger_tip_link:
501 |             Alpha: 1
502 |             Show Axes: false
503 |             Show Trail: false
504 |             Value: true
505 |           l_gripper_motor_accelerometer_link:
506 |             Alpha: 1
507 |             Show Axes: false
508 |             Show Trail: false
509 |             Value: true
510 |           l_gripper_palm_link:
511 |             Alpha: 1
512 |             Show Axes: false
513 |             Show Trail: false
514 |             Value: true
515 |           l_gripper_r_finger_link:
516 |             Alpha: 1
517 |             Show Axes: false
518 |             Show Trail: false
519 |             Value: true
520 |           l_gripper_r_finger_tip_link:
521 |             Alpha: 1
522 |             Show Axes: false
523 |             Show Trail: false
524 |             Value: true
525 |           l_shoulder_lift_link:
526 |             Alpha: 1
527 |             Show Axes: false
528 |             Show Trail: false
529 |             Value: true
530 |           l_shoulder_pan_link:
531 |             Alpha: 1
532 |             Show Axes: false
533 |             Show Trail: false
534 |             Value: true
535 |           l_upper_arm_link:
536 |             Alpha: 1
537 |             Show Axes: false
538 |             Show Trail: false
539 |             Value: true
540 |           l_upper_arm_roll_link:
541 |             Alpha: 1
542 |             Show Axes: false
543 |             Show Trail: false
544 |             Value: true
545 |           l_wrist_flex_link:
546 |             Alpha: 1
547 |             Show Axes: false
548 |             Show Trail: false
549 |             Value: true
550 |           l_wrist_roll_link:
551 |             Alpha: 1
552 |             Show Axes: false
553 |             Show Trail: false
554 |             Value: true
555 |           laser_tilt_mount_link:
556 |             Alpha: 1
557 |             Show Axes: false
558 |             Show Trail: false
559 |             Value: true
560 |           r_elbow_flex_link:
561 |             Alpha: 1
562 |             Show Axes: false
563 |             Show Trail: false
564 |             Value: true
565 |           r_forearm_link:
566 |             Alpha: 1
567 |             Show Axes: false
568 |             Show Trail: false
569 |             Value: true
570 |           r_forearm_roll_link:
571 |             Alpha: 1
572 |             Show Axes: false
573 |             Show Trail: false
574 |             Value: true
575 |           r_gripper_l_finger_link:
576 |             Alpha: 1
577 |             Show Axes: false
578 |             Show Trail: false
579 |             Value: true
580 |           r_gripper_l_finger_tip_link:
581 |             Alpha: 1
582 |             Show Axes: false
583 |             Show Trail: false
584 |             Value: true
585 |           r_gripper_motor_accelerometer_link:
586 |             Alpha: 1
587 |             Show Axes: false
588 |             Show Trail: false
589 |             Value: true
590 |           r_gripper_palm_link:
591 |             Alpha: 1
592 |             Show Axes: false
593 |             Show Trail: false
594 |             Value: true
595 |           r_gripper_r_finger_link:
596 |             Alpha: 1
597 |             Show Axes: false
598 |             Show Trail: false
599 |             Value: true
600 |           r_gripper_r_finger_tip_link:
601 |             Alpha: 1
602 |             Show Axes: false
603 |             Show Trail: false
604 |             Value: true
605 |           r_shoulder_lift_link:
606 |             Alpha: 1
607 |             Show Axes: false
608 |             Show Trail: false
609 |             Value: true
610 |           r_shoulder_pan_link:
611 |             Alpha: 1
612 |             Show Axes: false
613 |             Show Trail: false
614 |             Value: true
615 |           r_upper_arm_link:
616 |             Alpha: 1
617 |             Show Axes: false
618 |             Show Trail: false
619 |             Value: true
620 |           r_upper_arm_roll_link:
621 |             Alpha: 1
622 |             Show Axes: false
623 |             Show Trail: false
624 |             Value: true
625 |           r_wrist_flex_link:
626 |             Alpha: 1
627 |             Show Axes: false
628 |             Show Trail: false
629 |             Value: true
630 |           r_wrist_roll_link:
631 |             Alpha: 1
632 |             Show Axes: false
633 |             Show Trail: false
634 |             Value: true
635 |           sensor_mount_link:
636 |             Alpha: 1
637 |             Show Axes: false
638 |             Show Trail: false
639 |             Value: true
640 |           torso_lift_link:
641 |             Alpha: 1
642 |             Show Axes: false
643 |             Show Trail: false
644 |             Value: true
645 |         Robot Alpha: 0.5
646 |         Show Scene Robot: true
647 |       Value: true
648 |   Enabled: true
649 |   Global Options:
650 |     Background Color: 48; 48; 48
651 |     Fixed Frame: /odom
652 |   Name: root
653 |   Tools:
654 |     - Class: rviz/Interact
655 |       Hide Inactive Objects: true
656 |     - Class: rviz/MoveCamera
657 |     - Class: rviz/Select
658 |   Value: true
659 |   Views:
660 |     Current:
661 |       Class: rviz/XYOrbit
662 |       Distance: 2.9965
663 |       Focal Point:
664 |         X: 0.113567
665 |         Y: 0.10592
666 |         Z: 2.23518e-07
667 |       Name: Current View
668 |       Near Clip Distance: 0.01
669 |       Pitch: 0.509797
670 |       Target Frame: /base_footprint
671 |       Value: XYOrbit (rviz)
672 |       Yaw: 5.65995
673 |     Saved: ~
674 | Window Geometry:
675 |   Displays:
676 |     collapsed: false
677 |   Height: 1337
678 |   Help:
679 |     collapsed: false
680 |   Hide Left Dock: false
681 |   Hide Right Dock: false
682 |   Motion Planning:
683 |     collapsed: false
684 |   QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
685 |   Views:
686 |     collapsed: false
687 |   Width: 1828
688 |   X: 459
689 |   Y: -243
690 | 


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