├── docs ├── README.md ├── doc_1.png ├── doc_2.png ├── doc_3.png ├── doc_4.png ├── doc_5.png ├── doc_6.png ├── doc_7.png └── doc_8.png ├── kinova.rosinstall ├── kuka.rosinstall ├── ridgeback_6_axis_kinova_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── ridgeback.srdf ├── launch │ ├── controllers.yaml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ridgeback_kinova_moveit_planning_execution.launch │ ├── ridgeback_moveit_controller_manager.launch.xml │ ├── ridgeback_moveit_sensor_manager.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── scripts │ └── customize_moveit.sh ├── ridgeback_7_axis_kinova_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── ridgeback.srdf ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ridgeback_kinova_moveit_planning_execution.launch │ ├── ridgeback_moveit_controller_manager.launch.xml │ ├── ridgeback_moveit_sensor_manager.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── scripts │ └── customize_moveit.sh ├── ridgeback_dual_6_axis_kinova_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── ridgeback.srdf ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ridgeback_kinova_moveit_planning_execution.launch │ ├── ridgeback_moveit_controller_manager.launch.xml │ ├── ridgeback_moveit_sensor_manager.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── scripts │ └── customize_moveit.sh ├── ridgeback_dual_7_axis_kinova_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── ridgeback.srdf ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ridgeback_kinova_moveit_planning_execution.launch │ ├── ridgeback_moveit_controller_manager.launch.xml │ ├── ridgeback_moveit_sensor_manager.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── scripts │ └── customize_moveit.sh ├── ridgeback_dual_gen3_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ridgeback.srdf │ ├── ros_controllers.yaml │ └── sensors_3d.yaml ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_gazebo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo.launch │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ridgeback_dual_gen3_moveit_planning_execution.launch │ ├── ridgeback_moveit_controller_manager.launch.xml │ ├── ridgeback_moveit_sensor_manager.launch.xml │ ├── ros_controllers.launch │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── scripts │ └── customize_moveit.sh ├── ridgeback_dual_ur_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── ridgeback.srdf ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ridgeback_dual_ur_moveit_planning_execution.launch │ ├── ridgeback_moveit_controller_manager.launch.xml │ ├── ridgeback_moveit_sensor_manager.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── scripts │ └── customize_moveit.sh ├── ridgeback_franka_description ├── CMakeLists.txt ├── package.xml ├── scripts │ ├── setup_ridgeback_dual_panda_envar │ ├── setup_ridgeback_dual_panda_hand_envar │ ├── setup_ridgeback_panda_envar │ └── setup_ridgeback_panda_hand_envar └── urdf │ ├── ridgeback_dual_panda_description.urdf.xacro │ ├── ridgeback_dual_panda_hand_description.urdf.xacro │ ├── ridgeback_panda_description.urdf.xacro │ └── ridgeback_panda_hand_description.urdf.xacro ├── ridgeback_franka_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ridgeback.srdf │ ├── ros_controllers.yaml │ └── sensors_3d.yaml ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_gazebo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo.launch │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ridgeback_franka_moveit_planing_execution.launch │ ├── ridgeback_moveit_controller_manager.launch.xml │ ├── ridgeback_moveit_sensor_manager.launch.xml │ ├── ros_controllers.launch │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml └── package.xml ├── ridgeback_gen3_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── ridgeback.srdf │ ├── ros_controllers.yaml │ └── sensors_3d.yaml ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_gazebo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── gazebo.launch │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ridgeback_gen3_moveit_planning_execution.launch │ ├── ridgeback_moveit_controller_manager.launch.xml │ ├── ridgeback_moveit_sensor_manager.launch.xml │ ├── ros_controllers.launch │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── scripts │ └── customize_moveit.sh ├── ridgeback_iiwa_description ├── CMakeLists.txt ├── package.xml ├── scripts │ ├── setup_ridgeback_iiwa_14_envar │ └── setup_ridgeback_iiwa_7_envar └── urdf │ ├── ridgeback_iiwa_14_description.urdf.xacro │ └── ridgeback_iiwa_7_description.urdf.xacro ├── ridgeback_iiwa_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── PositionJointInterface_controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── ridgeback.srdf ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ridgeback_moveit_controller_manager.launch.xml │ ├── ridgeback_moveit_planning_execution.launch │ ├── ridgeback_moveit_sensor_manager.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── scripts │ └── customize_moveit.sh ├── ridgeback_kinova_bringup ├── CMakeLists.txt ├── launch │ ├── ridgeback_dual_gen3_bringup.launch │ └── ridgeback_gen3_bringup.launch └── package.xml ├── ridgeback_kinova_description ├── CMakeLists.txt ├── package.xml ├── scripts │ ├── setup_ridgeback_dual_gen3_envar │ ├── setup_ridgeback_dual_gen3_robotiq_2f_140_envar │ ├── setup_ridgeback_dual_gen3_robotiq_2f_85_envar │ ├── setup_ridgeback_dual_j2n6s200_envar │ ├── setup_ridgeback_dual_j2n6s300_envar │ ├── setup_ridgeback_dual_j2n7s300_envar │ ├── setup_ridgeback_dual_j2s6s300_envar │ ├── setup_ridgeback_dual_j2s7s300_envar │ ├── setup_ridgeback_dual_m1n6s200_envar │ ├── setup_ridgeback_dual_m1n6s300_envar │ ├── setup_ridgeback_gen3_envar │ ├── setup_ridgeback_gen3_robotiq_2f_140_envar │ ├── setup_ridgeback_gen3_robotiq_2f_85_envar │ ├── setup_ridgeback_j2n6s200_envar │ ├── setup_ridgeback_j2n6s300_envar │ ├── setup_ridgeback_j2n7s300_envar │ ├── setup_ridgeback_j2s6s300_envar │ ├── setup_ridgeback_j2s7s300_envar │ ├── setup_ridgeback_m1n6s200_envar │ └── setup_ridgeback_m1n6s300_envar └── urdf │ ├── ridgeback_dual_gen3_description.urdf.xacro │ ├── ridgeback_dual_gen3_robotiq_2f_140_description.urdf.xacro │ ├── ridgeback_dual_gen3_robotiq_2f_85_description.urdf.xacro │ ├── ridgeback_dual_j2n6s200_description.urdf.xacro │ ├── ridgeback_dual_j2n6s300_description.urdf.xacro │ ├── ridgeback_dual_j2n7s300_description.urdf.xacro │ ├── ridgeback_dual_j2s6s300_description.urdf.xacro │ ├── ridgeback_dual_j2s7s300_description.urdf.xacro │ ├── ridgeback_dual_kinova_description.urdf.xacro │ ├── ridgeback_dual_m1n6s200_description.urdf.xacro │ ├── ridgeback_dual_m1n6s300_description.urdf.xacro │ ├── ridgeback_gen3_description.urdf.xacro │ ├── ridgeback_gen3_robotiq_2f_140_description.urdf.xacro │ ├── ridgeback_gen3_robotiq_2f_85_description.urdf.xacro │ ├── ridgeback_j2n6s200_description.urdf.xacro │ ├── ridgeback_j2n6s300_description.urdf.xacro │ ├── ridgeback_j2n7s300_description.urdf.xacro │ ├── ridgeback_j2s6s300_description.urdf.xacro │ ├── ridgeback_j2s7s300_description.urdf.xacro │ ├── ridgeback_kinova_description.urdf.xacro │ ├── ridgeback_m1n6s200_description.urdf.xacro │ └── ridgeback_m1n6s300_description.urdf.xacro ├── ridgeback_manipulation ├── CMakeLists.txt └── package.xml ├── ridgeback_manipulation_description ├── CMakeLists.txt ├── meshes │ ├── dual_arm_tower_body.stl │ ├── dual_arm_tower_shoulder.stl │ ├── fams-table-leg.stl │ ├── hams-arm-mount.stl │ ├── hams-table-legs.stl │ └── hams-table-top.stl ├── package.xml ├── scripts │ └── launch_delay.sh └── urdf │ ├── dual_arm_tower.urdf.xacro │ ├── fams.urdf.xacro │ └── hams.urdf.xacro ├── ridgeback_ur_bringup ├── CMakeLists.txt ├── config │ ├── default_config.yaml │ ├── left_ur_controllers.yaml │ ├── right_ur_controllers.yaml │ └── ur_controllers.yaml ├── launch │ ├── ridgeback_dual_ur_bringup.launch │ └── ridgeback_ur_bringup.launch ├── package.xml └── scripts │ └── arm_reset.py ├── ridgeback_ur_description ├── CMakeLists.txt ├── package.xml ├── scripts │ ├── setup_ridgeback_dual_ur10_e_envar │ ├── setup_ridgeback_dual_ur10_envar │ ├── setup_ridgeback_dual_ur5_e_envar │ ├── setup_ridgeback_dual_ur5_envar │ ├── setup_ridgeback_ur10_e_envar │ ├── setup_ridgeback_ur10_envar │ ├── setup_ridgeback_ur5_e_envar │ └── setup_ridgeback_ur5_envar └── urdf │ ├── ridgeback_dual_ur10_description.urdf.xacro │ ├── ridgeback_dual_ur10_e_description.urdf.xacro │ ├── ridgeback_dual_ur5_description.urdf.xacro │ ├── ridgeback_dual_ur5_e_description.urdf.xacro │ ├── ridgeback_ur10_description.urdf.xacro │ ├── ridgeback_ur10_e_description.urdf.xacro │ ├── ridgeback_ur5_description.urdf.xacro │ └── ridgeback_ur5_e_description.urdf.xacro ├── ridgeback_ur_moveit_config ├── .setup_assistant ├── CMakeLists.txt ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ └── ridgeback.srdf ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── ridgeback_moveit_controller_manager.launch.xml │ ├── ridgeback_moveit_sensor_manager.launch.xml │ ├── ridgeback_ur_moveit_planning_execution.launch │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml ├── package.xml └── scripts │ └── customize_moveit.sh ├── robotiq.rosinstall └── ur.rosinstall /docs/doc_1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ridgeback/ridgeback_manipulation/748d284978610bab37984847700497ca35a71575/docs/doc_1.png 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/ridgeback/ridgeback_manipulation/748d284978610bab37984847700497ca35a71575/docs/doc_8.png -------------------------------------------------------------------------------- /kinova.rosinstall: -------------------------------------------------------------------------------- 1 | - git: 2 | uri: https://github.com/Kinovarobotics/ros_kortex.git 3 | local-name: ros_kortex 4 | version: melodic-devel 5 | -------------------------------------------------------------------------------- /kuka.rosinstall: -------------------------------------------------------------------------------- 1 | - git: 2 | uri: https://github.com/IFL-CAMP/iiwa_stack.git 3 | local-name: iiwa_stack 4 | version: master 5 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ridgeback_description 4 | relative_path: urdf/ridgeback.urdf.xacro 5 | SRDF: 6 | relative_path: config/ridgeback.srdf 7 | CONFIG: 8 | author_name: Dave Niewinski 9 | author_email: dniewinski@clearpathrobotics.com 10 | generated_timestamp: 1519247171 -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_6_axis_kinova_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch 9 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 10 | ) 11 | install(DIRECTORY config 12 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 13 | ) 14 | install(PROGRAMS 15 | scripts/customize_moveit.sh 16 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 17 | ) 18 | 19 | if (CATKIN_ENABLE_TESTING) 20 | find_package(roslaunch REQUIRED) 21 | roslaunch_add_file_check(launch/move_group.launch) 22 | roslaunch_add_file_check(launch/ridgeback_kinova_moveit_planning_execution.launch) 23 | endif() 24 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: kinova_arm 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - kinova_arm_joint_1 7 | - kinova_arm_joint_2 8 | - kinova_arm_joint_3 9 | - kinova_arm_joint_4 10 | - kinova_arm_joint_5 11 | - kinova_arm_joint_6 12 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - kinova_arm_joint_1 5 | - kinova_arm_joint_2 6 | - kinova_arm_joint_3 7 | - kinova_arm_joint_4 8 | - kinova_arm_joint_5 9 | - kinova_arm_joint_6 -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_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 | kinova_arm_joint_1: 6 | has_velocity_limits: true 7 | max_velocity: 1 8 | has_acceleration_limits: false 9 | max_acceleration: 0 10 | kinova_arm_joint_2: 11 | has_velocity_limits: true 12 | max_velocity: 1 13 | has_acceleration_limits: false 14 | max_acceleration: 0 15 | kinova_arm_joint_3: 16 | has_velocity_limits: true 17 | max_velocity: 1 18 | has_acceleration_limits: false 19 | max_acceleration: 0 20 | kinova_arm_joint_4: 21 | has_velocity_limits: true 22 | max_velocity: 1 23 | has_acceleration_limits: false 24 | max_acceleration: 0 25 | kinova_arm_joint_5: 26 | has_velocity_limits: true 27 | max_velocity: 1 28 | has_acceleration_limits: false 29 | max_acceleration: 0 30 | kinova_arm_joint_6: 31 | has_velocity_limits: true 32 | max_velocity: 1 33 | has_acceleration_limits: false 34 | max_acceleration: 0 -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator: 2 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: kinova_arm 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - left_kinova_arm_joint_1 7 | - left_kinova_arm_joint_2 8 | - left_kinova_arm_joint_3 9 | - left_kinova_arm_joint_4 10 | - left_kinova_arm_joint_5 11 | - left_kinova_arm_joint_6 12 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/ridgeback_kinova_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/ridgeback_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/ridgeback_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_6_axis_kinova_moveit_config/scripts/customize_moveit.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | if [ $# == 1 ] 3 | then 4 | echo "Creating Directory <" $PWD"/"$1 ">" 5 | mkdir "$1" 6 | cd "$1" 7 | 8 | echo "Copying Kinova Moveit Config" 9 | cp -r $(catkin_find ridgeback_6_axis_kinova_moveit_config)/. . 10 | echo "Updating Package" 11 | grep -rli 'ridgeback_6_axis_kinova_moveit_config' * | xargs -i@ sed -i 's/ridgeback_6_axis_kinova_moveit_config/'$1'/g' @ 12 | echo "Done" 13 | 14 | else 15 | echo "USAGE: customize_moveit.sh [new_moveit_package_name]" 16 | fi 17 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ridgeback_description 4 | relative_path: urdf/ridgeback.urdf.xacro 5 | SRDF: 6 | relative_path: config/ridgeback.srdf 7 | CONFIG: 8 | author_name: Dave Niewinski 9 | author_email: dniewinski@clearpathrobotics.com 10 | generated_timestamp: 1519247465 -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_7_axis_kinova_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch 9 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 10 | ) 11 | install(DIRECTORY config 12 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 13 | ) 14 | install(PROGRAMS 15 | scripts/customize_moveit.sh 16 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 17 | ) 18 | 19 | if (CATKIN_ENABLE_TESTING) 20 | find_package(roslaunch REQUIRED) 21 | roslaunch_add_file_check(launch/move_group.launch) 22 | roslaunch_add_file_check(launch/ridgeback_kinova_moveit_planning_execution.launch) 23 | endif() 24 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: kinova_arm 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - kinova_arm_joint_1 7 | - kinova_arm_joint_2 8 | - kinova_arm_joint_3 9 | - kinova_arm_joint_4 10 | - kinova_arm_joint_5 11 | - kinova_arm_joint_6 12 | - kinova_arm_joint_7 13 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - kinova_arm_joint_1 5 | - kinova_arm_joint_2 6 | - kinova_arm_joint_3 7 | - kinova_arm_joint_4 8 | - kinova_arm_joint_5 9 | - kinova_arm_joint_6 10 | - kinova_arm_joint_7 -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator: 2 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/ridgeback_kinova_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/ridgeback_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/ridgeback_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_7_axis_kinova_moveit_config/scripts/customize_moveit.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | if [ $# == 1 ] 3 | then 4 | echo "Creating Directory <" $PWD"/"$1 ">" 5 | mkdir "$1" 6 | cd "$1" 7 | 8 | echo "Copying Kinova Moveit Config" 9 | cp -r $(catkin_find ridgeback_7_axis_kinova_moveit_config)/. . 10 | echo "Updating Package" 11 | grep -rli 'ridgeback_7_axis_kinova_moveit_config' * | xargs -i@ sed -i 's/ridgeback_7_axis_kinova_moveit_config/'$1'/g' @ 12 | echo "Done" 13 | 14 | else 15 | echo "USAGE: customize_moveit.sh [new_moveit_package_name]" 16 | fi 17 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ridgeback_description 4 | relative_path: urdf/ridgeback.urdf.xacro 5 | SRDF: 6 | relative_path: config/ridgeback.srdf 7 | CONFIG: 8 | author_name: Dave Niewinski 9 | author_email: dniewinski@clearpathrobotics.com 10 | generated_timestamp: 1519246948 -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_dual_6_axis_kinova_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch 9 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 10 | ) 11 | install(DIRECTORY config 12 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 13 | ) 14 | install(PROGRAMS 15 | scripts/customize_moveit.sh 16 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 17 | ) 18 | 19 | if (CATKIN_ENABLE_TESTING) 20 | find_package(roslaunch REQUIRED) 21 | roslaunch_add_file_check(launch/move_group.launch) 22 | roslaunch_add_file_check(launch/ridgeback_kinova_moveit_planning_execution.launch) 23 | endif() 24 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: left_kinova_arm 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - left_kinova_arm_joint_1 7 | - left_kinova_arm_joint_2 8 | - left_kinova_arm_joint_3 9 | - left_kinova_arm_joint_4 10 | - left_kinova_arm_joint_5 11 | - left_kinova_arm_joint_6 12 | - name: right_kinova_arm 13 | action_ns: follow_joint_trajectory 14 | type: FollowJointTrajectory 15 | joints: 16 | - right_kinova_arm_joint_1 17 | - right_kinova_arm_joint_2 18 | - right_kinova_arm_joint_3 19 | - right_kinova_arm_joint_4 20 | - right_kinova_arm_joint_5 21 | - right_kinova_arm_joint_6 22 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_left_controller 3 | joints: 4 | - left_kinova_arm_joint_1 5 | - left_kinova_arm_joint_2 6 | - left_kinova_arm_joint_3 7 | - left_kinova_arm_joint_4 8 | - left_kinova_arm_joint_5 9 | - left_kinova_arm_joint_6 10 | - name: fake_manipulator_right_controller 11 | joints: 12 | - right_kinova_arm_joint_1 13 | - right_kinova_arm_joint_2 14 | - right_kinova_arm_joint_3 15 | - right_kinova_arm_joint_4 16 | - right_kinova_arm_joint_5 17 | - right_kinova_arm_joint_6 -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator_left: 2 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 6 | manipulator_right: 7 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 8 | kinematics_solver_search_resolution: 0.005 9 | kinematics_solver_timeout: 0.005 10 | kinematics_solver_attempts: 3 -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/ridgeback_kinova_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/ridgeback_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/ridgeback_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_6_axis_kinova_moveit_config/scripts/customize_moveit.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | if [ $# == 1 ] 3 | then 4 | echo "Creating Directory <" $PWD"/"$1 ">" 5 | mkdir "$1" 6 | cd "$1" 7 | 8 | echo "Copying Dual Kinova Moveit Config" 9 | cp -r $(catkin_find ridgeback_dual_6_axis_kinova_moveit_config)/. . 10 | echo "Updating Package" 11 | grep -rli 'ridgeback_dual_6_axis_kinova_moveit_config' * | xargs -i@ sed -i 's/ridgeback_dual_6_axis_kinova_moveit_config/'$1'/g' @ 12 | echo "Done" 13 | 14 | else 15 | echo "USAGE: customize_moveit.sh [new_moveit_package_name]" 16 | fi 17 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ridgeback_description 4 | relative_path: urdf/ridgeback.urdf.xacro 5 | SRDF: 6 | relative_path: config/ridgeback.srdf 7 | CONFIG: 8 | author_name: Dave Niewinski 9 | author_email: dniewinski@clearpathrobotics.com 10 | generated_timestamp: 1518805299 -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_dual_7_axis_kinova_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch 9 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 10 | ) 11 | install(DIRECTORY config 12 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 13 | ) 14 | install(PROGRAMS 15 | scripts/customize_moveit.sh 16 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 17 | ) 18 | 19 | if (CATKIN_ENABLE_TESTING) 20 | find_package(roslaunch REQUIRED) 21 | roslaunch_add_file_check(launch/move_group.launch) 22 | roslaunch_add_file_check(launch/ridgeback_kinova_moveit_planning_execution.launch) 23 | endif() 24 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: left_kinova_arm 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - left_kinova_arm_joint_1 7 | - left_kinova_arm_joint_2 8 | - left_kinova_arm_joint_3 9 | - left_kinova_arm_joint_4 10 | - left_kinova_arm_joint_5 11 | - left_kinova_arm_joint_6 12 | - left_kinova_arm_joint_7 13 | - name: right_kinova_arm 14 | action_ns: follow_joint_trajectory 15 | type: FollowJointTrajectory 16 | joints: 17 | - right_kinova_arm_joint_1 18 | - right_kinova_arm_joint_2 19 | - right_kinova_arm_joint_3 20 | - right_kinova_arm_joint_4 21 | - right_kinova_arm_joint_5 22 | - right_kinova_arm_joint_6 23 | - right_kinova_arm_joint_7 24 | 25 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_left_controller 3 | joints: 4 | - left_kinova_arm_joint_1 5 | - left_kinova_arm_joint_2 6 | - left_kinova_arm_joint_3 7 | - left_kinova_arm_joint_4 8 | - left_kinova_arm_joint_5 9 | - left_kinova_arm_joint_6 10 | - left_kinova_arm_joint_7 11 | - name: fake_manipulator_right_controller 12 | joints: 13 | - right_kinova_arm_joint_1 14 | - right_kinova_arm_joint_2 15 | - right_kinova_arm_joint_3 16 | - right_kinova_arm_joint_4 17 | - right_kinova_arm_joint_5 18 | - right_kinova_arm_joint_6 19 | - right_kinova_arm_joint_7 -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator_left: 2 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 6 | manipulator_right: 7 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 8 | kinematics_solver_search_resolution: 0.005 9 | kinematics_solver_timeout: 0.005 10 | kinematics_solver_attempts: 3 -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/ridgeback_kinova_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/ridgeback_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/ridgeback_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_7_axis_kinova_moveit_config/scripts/customize_moveit.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | if [ $# == 1 ] 3 | then 4 | echo "Creating Directory <" $PWD"/"$1 ">" 5 | mkdir "$1" 6 | cd "$1" 7 | 8 | echo "Copying Dual Kinova Moveit Config" 9 | cp -r $(catkin_find ridgeback_dual_7_axis_kinova_moveit_config)/. . 10 | echo "Updating Package" 11 | grep -rli 'ridgeback_dual_7_axis_kinova_moveit_config' * | xargs -i@ sed -i 's/ridgeback_dual_7_axis_kinova_moveit_config/'$1'/g' @ 12 | echo "Done" 13 | 14 | else 15 | echo "USAGE: customize_moveit.sh [new_moveit_package_name]" 16 | fi 17 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ridgeback_description 4 | relative_path: urdf/ridgeback.urdf.xacro 5 | xacro_args: "--inorder " 6 | SRDF: 7 | relative_path: config/ridgeback.srdf 8 | CONFIG: 9 | author_name: Dave Niewinski 10 | author_email: dniewinski@clearpathrobotics.com 11 | generated_timestamp: 1587060894 -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_dual_gen3_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 9 | PATTERN "setup_assistant.launch" EXCLUDE) 10 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 11 | install(PROGRAMS 12 | scripts/customize_moveit.sh 13 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 14 | ) 15 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/config/chomp_planning.yaml: -------------------------------------------------------------------------------- 1 | planning_time_limit: 10.0 2 | max_iterations: 200 3 | max_iterations_after_collision_free: 5 4 | smoothness_cost_weight: 0.1 5 | obstacle_cost_weight: 1.0 6 | learning_rate: 0.01 7 | smoothness_cost_velocity: 0.0 8 | smoothness_cost_acceleration: 1.0 9 | smoothness_cost_jerk: 0.0 10 | ridge_factor: 0.01 11 | use_pseudo_inverse: false 12 | pseudo_inverse_ridge_factor: 1e-4 13 | joint_update_limit: 0.1 14 | collision_clearence: 0.2 15 | collision_threshold: 0.07 16 | use_stochastic_descent: true 17 | enable_failure_recovery: true 18 | max_recovery_attempts: 5 -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_right_controller 3 | joints: 4 | - right_kinova_arm_joint_1 5 | - right_kinova_arm_joint_2 6 | - right_kinova_arm_joint_3 7 | - right_kinova_arm_joint_4 8 | - right_kinova_arm_joint_5 9 | - right_kinova_arm_joint_6 10 | - right_kinova_arm_joint_7 11 | - name: fake_manipulator_left_controller 12 | joints: 13 | - left_kinova_arm_joint_1 14 | - left_kinova_arm_joint_2 15 | - left_kinova_arm_joint_3 16 | - left_kinova_arm_joint_4 17 | - left_kinova_arm_joint_5 18 | - left_kinova_arm_joint_6 19 | - left_kinova_arm_joint_7 -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator_left: 2 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 3 | solve_type: Distance 4 | kinematics_solver_search_resolution: 0.005 5 | kinematics_solver_timeout: 0.005 6 | kinematics_solver_attempts: 3 7 | manipulator_right: 8 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 9 | solve_type: Distance 10 | kinematics_solver_search_resolution: 0.005 11 | kinematics_solver_timeout: 0.005 12 | kinematics_solver_attempts: 3 13 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - filtered_cloud_topic: filtered_cloud 4 | max_range: 5.0 5 | max_update_rate: 1.0 6 | padding_offset: 0.1 7 | padding_scale: 1.0 8 | point_cloud_topic: /head_mount_kinect/depth_registered/points 9 | point_subsample: 1 10 | sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/chomp_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/planning_context.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/ridgeback_dual_gen3_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/ridgeback_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/ridgeback_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/ros_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_dual_gen3_moveit_config/scripts/customize_moveit.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | if [ $# == 1 ] 3 | then 4 | echo "Creating Directory <" $PWD"/"$1 ">" 5 | mkdir "$1" 6 | cd "$1" 7 | 8 | echo "Copying Dual Gen3 Moveit Config" 9 | cp -r $(catkin_find ridgeback_dual_gen3_moveit_config)/. . 10 | echo "Updating Package" 11 | grep -rli 'ridgeback_dual_gen3_moveit_config' * | xargs -i@ sed -i 's/ridgeback_dual_gen3_moveit_config/'$1'/g' @ 12 | echo "Done" 13 | 14 | else 15 | echo "USAGE: customize_moveit.sh [new_moveit_package_name]" 16 | fi 17 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ridgeback_description 4 | relative_path: urdf/ridgeback.urdf.xacro 5 | SRDF: 6 | relative_path: config/ridgeback.srdf 7 | CONFIG: 8 | author_name: Dave Niewinski 9 | author_email: dniewinski@clearpathrobotics.com 10 | generated_timestamp: 1513958096 -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_dual_ur_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch 9 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 10 | ) 11 | install(DIRECTORY config 12 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 13 | ) 14 | install(PROGRAMS 15 | scripts/customize_moveit.sh 16 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 17 | ) 18 | 19 | if (CATKIN_ENABLE_TESTING) 20 | find_package(roslaunch REQUIRED) 21 | roslaunch_add_file_check(launch/move_group.launch) 22 | roslaunch_add_file_check(launch/ridgeback_dual_ur_moveit_planning_execution.launch) 23 | endif() 24 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: /left_ur/left_ur_arm_scaled_pos_joint_traj_controller 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - left_ur_arm_shoulder_pan_joint 7 | - left_ur_arm_shoulder_lift_joint 8 | - left_ur_arm_elbow_joint 9 | - left_ur_arm_wrist_1_joint 10 | - left_ur_arm_wrist_2_joint 11 | - left_ur_arm_wrist_3_joint 12 | - name: /right_ur/right_ur_arm_scaled_pos_joint_traj_controller 13 | action_ns: follow_joint_trajectory 14 | type: FollowJointTrajectory 15 | joints: 16 | - right_ur_arm_shoulder_pan_joint 17 | - right_ur_arm_shoulder_lift_joint 18 | - right_ur_arm_elbow_joint 19 | - right_ur_arm_wrist_1_joint 20 | - right_ur_arm_wrist_2_joint 21 | - right_ur_arm_wrist_3_joint 22 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_left_controller 3 | joints: 4 | - left_ur_arm_shoulder_pan_joint 5 | - left_ur_arm_shoulder_lift_joint 6 | - left_ur_arm_elbow_joint 7 | - left_ur_arm_wrist_1_joint 8 | - left_ur_arm_wrist_2_joint 9 | - left_ur_arm_wrist_3_joint 10 | - name: fake_manipulator_right_controller 11 | joints: 12 | - right_ur_arm_shoulder_pan_joint 13 | - right_ur_arm_shoulder_lift_joint 14 | - right_ur_arm_elbow_joint 15 | - right_ur_arm_wrist_1_joint 16 | - right_ur_arm_wrist_2_joint 17 | - right_ur_arm_wrist_3_joint -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator_left: 2 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 3 | solve_type: Distance 4 | kinematics_solver_search_resolution: 0.005 5 | kinematics_solver_timeout: 0.005 6 | kinematics_solver_attempts: 3 7 | manipulator_right: 8 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 9 | solve_type: Distance 10 | kinematics_solver_search_resolution: 0.005 11 | kinematics_solver_timeout: 0.005 12 | kinematics_solver_attempts: 3 13 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/ridgeback_dual_ur_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/ridgeback_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/ridgeback_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_dual_ur_moveit_config/scripts/customize_moveit.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | if [ $# == 1 ] 3 | then 4 | echo "Creating Directory <" $PWD"/"$1 ">" 5 | mkdir "$1" 6 | cd "$1" 7 | 8 | echo "Copying Dual UR Moveit Config" 9 | cp -r $(catkin_find ridgeback_dual_ur_moveit_config)/. . 10 | echo "Updating Package" 11 | grep -rli 'ridgeback_dual_ur_moveit_config' * | xargs -i@ sed -i 's/ridgeback_dual_ur_moveit_config/'$1'/g' @ 12 | echo "Done" 13 | 14 | else 15 | echo "USAGE: customize_moveit.sh [new_moveit_package_name]" 16 | fi 17 | -------------------------------------------------------------------------------- /ridgeback_franka_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_franka_description) 3 | find_package(catkin REQUIRED) 4 | 5 | catkin_package() 6 | 7 | include_directories() 8 | 9 | install(DIRECTORY urdf 10 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 11 | ) 12 | install(PROGRAMS 13 | scripts/setup_ridgeback_dual_panda_envar 14 | scripts/setup_ridgeback_dual_panda_hand_envar 15 | scripts/setup_ridgeback_panda_envar 16 | scripts/setup_ridgeback_panda_hand_envar 17 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 18 | ) 19 | -------------------------------------------------------------------------------- /ridgeback_franka_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ridgeback_franka_description 4 | 0.0.0 5 | The ridgeback_franka_description package 6 | 7 | Dave Niewinski 8 | 9 | BSD 10 | 11 | catkin 12 | franka_description 13 | ridgeback_description 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_franka_description/scripts/setup_ridgeback_dual_panda_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_franka_description urdf/ridgeback_dual_panda_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_franka_description/scripts/setup_ridgeback_dual_panda_hand_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_franka_description urdf/ridgeback_dual_panda_hand_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_franka_description/scripts/setup_ridgeback_panda_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_franka_description urdf/ridgeback_panda_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_franka_description/scripts/setup_ridgeback_panda_hand_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_franka_description urdf/ridgeback_panda_hand_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_franka_description/urdf/ridgeback_dual_panda_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /ridgeback_franka_description/urdf/ridgeback_dual_panda_hand_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /ridgeback_franka_description/urdf/ridgeback_panda_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_franka_description/urdf/ridgeback_panda_hand_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ridgeback_description 4 | relative_path: urdf/ridgeback.urdf.xacro 5 | xacro_args: "" 6 | SRDF: 7 | relative_path: config/ridgeback.srdf 8 | CONFIG: 9 | author_name: Dave Niewinski 10 | author_email: dniewinski@clearpathrobotics.com 11 | generated_timestamp: 1621267024 -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1.3) 2 | project(ridgeback_franka_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 9 | PATTERN "setup_assistant.launch" EXCLUDE) 10 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 11 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/config/chomp_planning.yaml: -------------------------------------------------------------------------------- 1 | planning_time_limit: 10.0 2 | max_iterations: 200 3 | max_iterations_after_collision_free: 5 4 | smoothness_cost_weight: 0.1 5 | obstacle_cost_weight: 1.0 6 | learning_rate: 0.01 7 | smoothness_cost_velocity: 0.0 8 | smoothness_cost_acceleration: 1.0 9 | smoothness_cost_jerk: 0.0 10 | ridge_factor: 0.01 11 | use_pseudo_inverse: false 12 | pseudo_inverse_ridge_factor: 1e-4 13 | joint_update_limit: 0.1 14 | collision_clearence: 0.2 15 | collision_threshold: 0.07 16 | use_stochastic_descent: true 17 | enable_failure_recovery: true 18 | max_recovery_attempts: 5 -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: position_joint_trajectory_controller 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | default: true 6 | joints: 7 | - panda_joint1 8 | - panda_joint2 9 | - panda_joint3 10 | - panda_joint4 11 | - panda_joint5 12 | - panda_joint6 13 | - panda_joint7 14 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - panda_joint1 5 | - panda_joint2 6 | - panda_joint3 7 | - panda_joint4 8 | - panda_joint5 9 | - panda_joint6 10 | - panda_joint7 11 | initial: # Define initial robot poses. 12 | - group: manipulator 13 | pose: stow -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator: 2 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/config/ros_controllers.yaml: -------------------------------------------------------------------------------- 1 | # Simulation settings for using moveit_sim_controllers 2 | moveit_sim_hw_interface: 3 | joint_model_group: manipulator 4 | joint_model_group_pose: stow 5 | # Settings for ros_control_boilerplate control loop 6 | generic_hw_control_loop: 7 | loop_hz: 300 8 | cycle_time_error_threshold: 0.01 9 | # Settings for ros_control hardware interface 10 | hardware_interface: 11 | joints: 12 | - front_rocker 13 | - front_left_wheel 14 | - front_right_wheel 15 | - rear_left_wheel 16 | - rear_right_wheel 17 | - panda_joint1 18 | - panda_joint2 19 | - panda_joint3 20 | - panda_joint4 21 | - panda_joint5 22 | - panda_joint6 23 | - panda_joint7 24 | - panda_finger_joint1 25 | sim_control_mode: 1 # 0: position, 1: velocity 26 | # Publish all joint states 27 | # Creates the /joint_states topic necessary in ROS 28 | joint_state_controller: 29 | type: joint_state_controller/JointStateController 30 | publish_rate: 50 31 | controller_list: 32 | [] -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - filtered_cloud_topic: filtered_cloud 4 | max_range: 5.0 5 | max_update_rate: 1.0 6 | padding_offset: 0.1 7 | padding_scale: 1.0 8 | point_cloud_topic: /head_mount_kinect/depth_registered/points 9 | point_subsample: 1 10 | sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/chomp_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 7 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/planning_context.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/ridgeback_franka_moveit_planing_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/ridgeback_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/ridgeback_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/ros_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_franka_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ridgeback_description 4 | relative_path: urdf/ridgeback.urdf.xacro 5 | xacro_args: "--inorder " 6 | SRDF: 7 | relative_path: config/ridgeback.srdf 8 | CONFIG: 9 | author_name: Dave Niewinski 10 | author_email: dniewinskI@clearpathrobotics.com 11 | generated_timestamp: 1587052751 -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_gen3_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 9 | PATTERN "setup_assistant.launch" EXCLUDE) 10 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 11 | install(PROGRAMS 12 | scripts/customize_moveit.sh 13 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 14 | ) 15 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/config/chomp_planning.yaml: -------------------------------------------------------------------------------- 1 | planning_time_limit: 10.0 2 | max_iterations: 200 3 | max_iterations_after_collision_free: 5 4 | smoothness_cost_weight: 0.1 5 | obstacle_cost_weight: 1.0 6 | learning_rate: 0.01 7 | smoothness_cost_velocity: 0.0 8 | smoothness_cost_acceleration: 1.0 9 | smoothness_cost_jerk: 0.0 10 | ridge_factor: 0.01 11 | use_pseudo_inverse: false 12 | pseudo_inverse_ridge_factor: 1e-4 13 | joint_update_limit: 0.1 14 | collision_clearence: 0.2 15 | collision_threshold: 0.07 16 | use_stochastic_descent: true 17 | enable_failure_recovery: true 18 | max_recovery_attempts: 5 -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - kinova_arm_joint_1 5 | - kinova_arm_joint_2 6 | - kinova_arm_joint_3 7 | - kinova_arm_joint_4 8 | - kinova_arm_joint_5 9 | - kinova_arm_joint_6 10 | - kinova_arm_joint_7 -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator: 2 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 6 | solve_type: Distance 7 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - filtered_cloud_topic: filtered_cloud 4 | max_range: 5.0 5 | max_update_rate: 1.0 6 | padding_offset: 0.1 7 | padding_scale: 1.0 8 | point_cloud_topic: /head_mount_kinect/depth_registered/points 9 | point_subsample: 1 10 | sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/chomp_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/planning_context.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/ridgeback_gen3_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/ridgeback_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/ridgeback_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/ros_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_gen3_moveit_config/scripts/customize_moveit.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | if [ $# == 1 ] 3 | then 4 | echo "Creating Directory <" $PWD"/"$1 ">" 5 | mkdir "$1" 6 | cd "$1" 7 | 8 | echo "Copying Gen3 Moveit Config" 9 | cp -r $(catkin_find ridgeback_gen3_moveit_config)/. . 10 | echo "Updating Package" 11 | grep -rli 'ridgeback_gen3_moveit_config' * | xargs -i@ sed -i 's/ridgeback_gen3_moveit_config/'$1'/g' @ 12 | echo "Done" 13 | 14 | else 15 | echo "USAGE: customize_moveit.sh [new_moveit_package_name]" 16 | fi 17 | -------------------------------------------------------------------------------- /ridgeback_iiwa_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_iiwa_description) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() 7 | 8 | include_directories( 9 | ${catkin_INCLUDE_DIRS} 10 | ) 11 | 12 | install(DIRECTORY urdf 13 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 14 | ) 15 | 16 | install(PROGRAMS 17 | scripts/setup_ridgeback_iiwa_14_envar 18 | scripts/setup_ridgeback_iiwa_7_envar 19 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 20 | ) 21 | -------------------------------------------------------------------------------- /ridgeback_iiwa_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ridgeback_iiwa_description 4 | 0.0.0 5 | The ridgeback_iiwa_description package 6 | 7 | Dave Niewinski 8 | 9 | BSD 10 | 11 | catkin 12 | 13 | iiwa_description 14 | ridgeback_description 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_iiwa_description/scripts/setup_ridgeback_iiwa_14_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_ARM_HEIGHT=0.445 3 | export RIDGEBACK_ARM_ANGLE=-1.5708 4 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_iiwa_description urdf/ridgeback_iiwa_14_description.urdf.xacro --first-only) 5 | -------------------------------------------------------------------------------- /ridgeback_iiwa_description/scripts/setup_ridgeback_iiwa_7_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_ARM_HEIGHT=0.445 3 | export RIDGEBACK_ARM_ANGLE=-1.5708 4 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_iiwa_description urdf/ridgeback_iiwa_7_description.urdf.xacro --first-only) 5 | -------------------------------------------------------------------------------- /ridgeback_iiwa_description/urdf/ridgeback_iiwa_14_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_iiwa_description/urdf/ridgeback_iiwa_7_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ridgeback_description 4 | relative_path: urdf/ridgeback.urdf.xacro 5 | SRDF: 6 | relative_path: config/ridgeback.srdf 7 | CONFIG: 8 | author_name: Dave Niewinski 9 | author_email: dniewinski@clearpathrobotics.com 10 | generated_timestamp: 1518810924 -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_iiwa_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch 9 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 10 | ) 11 | install(DIRECTORY config 12 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 13 | ) 14 | install(PROGRAMS 15 | scripts/customize_moveit.sh 16 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 17 | ) 18 | 19 | if (CATKIN_ENABLE_TESTING) 20 | find_package(roslaunch REQUIRED) 21 | roslaunch_add_file_check(launch/move_group.launch) 22 | roslaunch_add_file_check(launch/ridgeback_moveit_planning_execution.launch) 23 | endif() 24 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/config/PositionJointInterface_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: iiwa/PositionJointInterface_trajectory_controller 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | default: true 6 | joints: 7 | - iiwa_joint_1 8 | - iiwa_joint_2 9 | - iiwa_joint_3 10 | - iiwa_joint_4 11 | - iiwa_joint_5 12 | - iiwa_joint_6 13 | - iiwa_joint_7 14 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - iiwa_joint_1 5 | - iiwa_joint_2 6 | - iiwa_joint_3 7 | - iiwa_joint_4 8 | - iiwa_joint_5 9 | - iiwa_joint_6 10 | - iiwa_joint_7 -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator: 2 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/ridgeback_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/ridgeback_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_iiwa_moveit_config/scripts/customize_moveit.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | if [ $# == 1 ] 3 | then 4 | echo "Creating Directory <" $PWD"/"$1 ">" 5 | mkdir "$1" 6 | cd "$1" 7 | 8 | echo "Copying IIWA Moveit Config" 9 | cp -r $(catkin_find ridgeback_iiwa_moveit_config)/. . 10 | echo "Updating Package" 11 | grep -rli 'ridgeback_iiwa_moveit_config' * | xargs -i@ sed -i 's/ridgeback_iiwa_moveit_config/'$1'/g' @ 12 | echo "Done" 13 | 14 | else 15 | echo "USAGE: customize_moveit.sh [new_moveit_package_name]" 16 | fi 17 | -------------------------------------------------------------------------------- /ridgeback_kinova_bringup/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_kinova_bringup) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | if (CATKIN_ENABLE_TESTING) 9 | find_package(roslaunch REQUIRED) 10 | roslaunch_add_file_check(launch/ridgeback_gen3_bringup.launch) 11 | roslaunch_add_file_check(launch/ridgeback_dual_gen3_bringup.launch) 12 | endif() 13 | 14 | install(DIRECTORY launch 15 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 16 | ) 17 | -------------------------------------------------------------------------------- /ridgeback_kinova_bringup/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ridgeback_kinova_bringup 4 | 0.0.0 5 | The ridgeback_kinova_bringup package 6 | 7 | Dave Niewinski 8 | 9 | BSD 10 | 11 | catkin 12 | 13 | kinova_driver 14 | topic_tools 15 | robot_state_publisher 16 | ridgeback_manipulation_description 17 | kortex_driver 18 | 19 | roslaunch 20 | 21 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ridgeback_kinova_description 4 | 0.0.0 5 | The ridgeback_kinova_description package 6 | 7 | Dave Niewinski 8 | 9 | BSD 10 | 11 | catkin 12 | 13 | kinova_description 14 | ridgeback_description 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_dual_gen3_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_dual_gen3_description.urdf.xacro --first-only) 4 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_dual_gen3_robotiq_2f_140_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_dual_gen3_robotiq_2f_140_description.urdf.xacro --first-only) 4 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_dual_gen3_robotiq_2f_85_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_dual_gen3_robotiq_2f_85_description.urdf.xacro --first-only) 4 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_dual_j2n6s200_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_dual_j2n6s200_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_dual_j2n6s300_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_dual_j2n6s300_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_dual_j2n7s300_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_dual_j2n7s300_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_dual_j2s6s300_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_dual_j2s6s300_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_dual_j2s7s300_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_dual_j2s7s300_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_dual_m1n6s200_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_dual_m1n6s200_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_dual_m1n6s300_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_dual_m1n6s300_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_gen3_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_gen3_description.urdf.xacro --first-only) 4 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_gen3_robotiq_2f_140_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_gen3_robotiq_2f_140_description.urdf.xacro --first-only) 4 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_gen3_robotiq_2f_85_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_gen3_robotiq_2f_85_description.urdf.xacro --first-only) 4 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_j2n6s200_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_j2n6s200_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_j2n6s300_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_j2n6s300_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_j2n7s300_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_j2n7s300_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_j2s6s300_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_j2s6s300_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_j2s7s300_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_j2s7s300_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_m1n6s200_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_m1n6s200_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/scripts/setup_ridgeback_m1n6s300_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_kinova_description urdf/ridgeback_m1n6s300_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_dual_j2n6s200_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_dual_j2n6s300_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_dual_j2n7s300_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_dual_j2s6s300_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_dual_j2s7s300_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_dual_kinova_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_dual_m1n6s200_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_dual_m1n6s300_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_gen3_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_gen3_robotiq_2f_140_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_gen3_robotiq_2f_85_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_j2n6s200_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_j2n6s300_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_j2n7s300_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_j2s6s300_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_j2s7s300_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_kinova_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_m1n6s200_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /ridgeback_kinova_description/urdf/ridgeback_m1n6s300_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /ridgeback_manipulation/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_manipulation) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /ridgeback_manipulation/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ridgeback_manipulation 4 | 0.0.0 5 | The ridgeback_manipulation package 6 | 7 | Dave Niewinski 8 | 9 | BSD 10 | 11 | catkin 12 | 13 | ridgeback_6_axis_kinova_moveit_config 14 | ridgeback_dual_7_axis_kinova_moveit_config 15 | ridgeback_iiwa_moveit_config 16 | ridgeback_ur_description 17 | ridgeback_7_axis_kinova_moveit_config 18 | ridgeback_dual_ur_moveit_config 19 | ridgeback_kinova_bringup 20 | ridgeback_manipulation_description 21 | ridgeback_ur_moveit_config 22 | ridgeback_dual_6_axis_kinova_moveit_config 23 | ridgeback_iiwa_description 24 | ridgeback_kinova_description 25 | ridgeback_ur_bringup 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /ridgeback_manipulation_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_manipulation_description) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() 7 | 8 | include_directories( 9 | ${catkin_INCLUDE_DIRS} 10 | ) 11 | 12 | install(DIRECTORY meshes urdf 13 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 14 | ) 15 | 16 | install(PROGRAMS 17 | scripts/launch_delay.sh 18 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 19 | ) 20 | -------------------------------------------------------------------------------- /ridgeback_manipulation_description/meshes/dual_arm_tower_body.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ridgeback/ridgeback_manipulation/748d284978610bab37984847700497ca35a71575/ridgeback_manipulation_description/meshes/dual_arm_tower_body.stl 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/ridgeback/ridgeback_manipulation/748d284978610bab37984847700497ca35a71575/ridgeback_manipulation_description/meshes/hams-arm-mount.stl -------------------------------------------------------------------------------- /ridgeback_manipulation_description/meshes/hams-table-legs.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ridgeback/ridgeback_manipulation/748d284978610bab37984847700497ca35a71575/ridgeback_manipulation_description/meshes/hams-table-legs.stl -------------------------------------------------------------------------------- /ridgeback_manipulation_description/meshes/hams-table-top.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ridgeback/ridgeback_manipulation/748d284978610bab37984847700497ca35a71575/ridgeback_manipulation_description/meshes/hams-table-top.stl -------------------------------------------------------------------------------- /ridgeback_manipulation_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ridgeback_manipulation_description 4 | 0.0.0 5 | The ridgeback_manipulation_description package 6 | 7 | Dave Niewinski 8 | 9 | BSD 10 | 11 | catkin 12 | 13 | -------------------------------------------------------------------------------- /ridgeback_ur_bringup/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_ur_bringup) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() 7 | 8 | include_directories( 9 | ${catkin_INCLUDE_DIRS} 10 | ) 11 | 12 | if (CATKIN_ENABLE_TESTING) 13 | find_package(roslaunch REQUIRED) 14 | roslaunch_add_file_check(launch/ridgeback_ur_bringup.launch) 15 | roslaunch_add_file_check(launch/ridgeback_dual_ur_bringup.launch) 16 | endif() 17 | 18 | install(DIRECTORY launch 19 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 20 | ) 21 | 22 | install(PROGRAMS 23 | scripts/arm_reset.py 24 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 25 | ) 26 | -------------------------------------------------------------------------------- /ridgeback_ur_bringup/config/default_config.yaml: -------------------------------------------------------------------------------- 1 | kinematics: 2 | shoulder: 3 | x: 0 4 | y: 0 5 | z: 0.08933948999404991 6 | roll: -0 7 | pitch: 0 8 | yaw: 6.166407340059626e-06 9 | upper_arm: 10 | x: 5.285724533519687e-05 11 | y: 0 12 | z: 0 13 | roll: 1.572142197610849 14 | pitch: 0 15 | yaw: -2.105502758263638e-05 16 | forearm: 17 | x: -0.4250148767783398 18 | y: 0 19 | z: 0 20 | roll: 3.140835813503944 21 | pitch: -3.139875312813028 22 | yaw: 3.141588352653504 23 | wrist_1: 24 | x: -0.3922429604646504 25 | y: -0.000566626438629965 26 | z: 0.1095830150041468 27 | roll: 0.005170704500051893 28 | pitch: -0.000805039869751392 29 | yaw: -5.969098341020096e-05 30 | wrist_2: 31 | x: 0.0001456149561093611 32 | y: -0.09480837707416102 33 | z: 5.122515383309204e-05 34 | roll: 1.570256024867691 35 | pitch: 0 36 | yaw: -1.993075094980621e-05 37 | wrist_3: 38 | x: 5.862123494124877e-05 39 | y: 0.08263034549514471 40 | z: -1.100205731687057e-06 41 | roll: 1.570783012004488 42 | pitch: 3.141592653589793 43 | yaw: 3.141413026466608 44 | hash: calib_5865542449241075532 45 | -------------------------------------------------------------------------------- /ridgeback_ur_bringup/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ridgeback_ur_bringup 4 | 0.0.0 5 | The ridgeback_ur_bringup package 6 | 7 | Dave Niewinski 8 | 9 | BSD 10 | 11 | catkin 12 | 13 | tf2_ros 14 | ur_robot_driver 15 | topic_tools 16 | 17 | roslaunch 18 | 19 | -------------------------------------------------------------------------------- /ridgeback_ur_bringup/scripts/arm_reset.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/python 2 | 3 | import socket 4 | import sys 5 | import time 6 | 7 | 8 | # Create a TCP/IP socket 9 | sock = socket.create_connection(('192.168.131.40', 29999)) 10 | 11 | try: 12 | # Send data 13 | message = 'close safety popup' + '\n' 14 | print >>sys.stderr, 'sending "%s"' % message 15 | sock.send(message) 16 | 17 | data = sock.recv(4096) 18 | print("Received", (data)) 19 | 20 | message = 'power on' + '\n' 21 | print >>sys.stderr, 'sending "%s"' % message 22 | sock.send(message) 23 | 24 | data = sock.recv(4096) 25 | print("Received", (data)) 26 | 27 | message = 'brake release' + '\n' 28 | print >>sys.stderr, 'sending "%s"' % message 29 | sock.send(message) 30 | 31 | data = sock.recv(4096) 32 | print("Received", (data)) 33 | 34 | 35 | 36 | finally: 37 | print >>sys.stderr, 'closing socket' 38 | sock.close() 39 | -------------------------------------------------------------------------------- /ridgeback_ur_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_ur_description) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() 7 | 8 | include_directories( 9 | ${catkin_INCLUDE_DIRS} 10 | ) 11 | 12 | install(DIRECTORY urdf 13 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 14 | ) 15 | 16 | install(PROGRAMS 17 | scripts/setup_ridgeback_dual_ur10_e_envar 18 | scripts/setup_ridgeback_dual_ur10_envar 19 | scripts/setup_ridgeback_dual_ur5_e_envar 20 | scripts/setup_ridgeback_dual_ur5_envar 21 | scripts/setup_ridgeback_ur10_e_envar 22 | scripts/setup_ridgeback_ur10_envar 23 | scripts/setup_ridgeback_ur5_e_envar 24 | scripts/setup_ridgeback_ur5_envar 25 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 26 | ) 27 | -------------------------------------------------------------------------------- /ridgeback_ur_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ridgeback_ur_description 4 | 0.0.0 5 | The ridgeback_ur_description package 6 | 7 | Dave Niewinski 8 | Joey Yang 9 | 10 | BSD 11 | 12 | catkin 13 | 14 | ur_description 15 | ridgeback_description 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_ur_description/scripts/setup_ridgeback_dual_ur10_e_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_ur_description urdf/ridgeback_dual_ur10_e_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_ur_description/scripts/setup_ridgeback_dual_ur10_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_ur_description urdf/ridgeback_dual_ur10_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_ur_description/scripts/setup_ridgeback_dual_ur5_e_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_ur_description urdf/ridgeback_dual_ur5_e_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_ur_description/scripts/setup_ridgeback_dual_ur5_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_ur_description urdf/ridgeback_dual_ur5_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_ur_description/scripts/setup_ridgeback_ur10_e_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_ur_description urdf/ridgeback_ur10_e_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_ur_description/scripts/setup_ridgeback_ur10_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_ur_description urdf/ridgeback_ur10_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_ur_description/scripts/setup_ridgeback_ur5_e_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_ur_description urdf/ridgeback_ur5_e_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_ur_description/scripts/setup_ridgeback_ur5_envar: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_ur_description urdf/ridgeback_ur5_description.urdf.xacro --first-only) 3 | -------------------------------------------------------------------------------- /ridgeback_ur_description/urdf/ridgeback_dual_ur10_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /ridgeback_ur_description/urdf/ridgeback_dual_ur10_e_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /ridgeback_ur_description/urdf/ridgeback_dual_ur5_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /ridgeback_ur_description/urdf/ridgeback_dual_ur5_e_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /ridgeback_ur_description/urdf/ridgeback_ur10_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /ridgeback_ur_description/urdf/ridgeback_ur10_e_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /ridgeback_ur_description/urdf/ridgeback_ur5_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /ridgeback_ur_description/urdf/ridgeback_ur5_e_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: ridgeback_description 4 | relative_path: urdf/ridgeback.urdf.xacro 5 | SRDF: 6 | relative_path: config/ridgeback.srdf 7 | CONFIG: 8 | author_name: Dave Niewinski 9 | author_email: dniewinski@clearpathrobotics.com 10 | generated_timestamp: 1513958517 -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ridgeback_ur_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch 9 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 10 | ) 11 | install(DIRECTORY config 12 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 13 | ) 14 | install(PROGRAMS 15 | scripts/customize_moveit.sh 16 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 17 | ) 18 | 19 | if (CATKIN_ENABLE_TESTING) 20 | find_package(roslaunch REQUIRED) 21 | roslaunch_add_file_check(launch/move_group.launch) 22 | roslaunch_add_file_check(launch/ridgeback_ur_moveit_planning_execution.launch) 23 | endif() 24 | 25 | install(DIRECTORY config launch 26 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 27 | ) 28 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: '/ur/ur_arm_scaled_pos_joint_traj_controller' 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - ur_arm_shoulder_pan_joint 7 | - ur_arm_shoulder_lift_joint 8 | - ur_arm_elbow_joint 9 | - ur_arm_wrist_1_joint 10 | - ur_arm_wrist_2_joint 11 | - ur_arm_wrist_3_joint 12 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - ur_arm_shoulder_pan_joint 5 | - ur_arm_shoulder_lift_joint 6 | - ur_arm_elbow_joint 7 | - ur_arm_wrist_1_joint 8 | - ur_arm_wrist_2_joint 9 | - ur_arm_wrist_3_joint -------------------------------------------------------------------------------- /ridgeback_ur_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 | ur_arm_elbow_joint: 6 | has_velocity_limits: true 7 | max_velocity: 3.15 8 | has_acceleration_limits: false 9 | max_acceleration: 0 10 | ur_arm_shoulder_lift_joint: 11 | has_velocity_limits: true 12 | max_velocity: 2.16 13 | has_acceleration_limits: false 14 | max_acceleration: 0 15 | ur_arm_shoulder_pan_joint: 16 | has_velocity_limits: true 17 | max_velocity: 2.16 18 | has_acceleration_limits: false 19 | max_acceleration: 0 20 | ur_arm_wrist_1_joint: 21 | has_velocity_limits: true 22 | max_velocity: 3.2 23 | has_acceleration_limits: false 24 | max_acceleration: 0 25 | ur_arm_wrist_2_joint: 26 | has_velocity_limits: true 27 | max_velocity: 3.2 28 | has_acceleration_limits: false 29 | max_acceleration: 0 30 | ur_arm_wrist_3_joint: 31 | has_velocity_limits: true 32 | max_velocity: 3.2 33 | has_acceleration_limits: false 34 | max_acceleration: 0 -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator: 2 | kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/planning_context.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/ridgeback_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/ridgeback_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/ridgeback_ur_moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/run_benchmark_ompl.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ridgeback_ur_moveit_config/scripts/customize_moveit.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | if [ $# == 1 ] 3 | then 4 | echo "Creating Directory <" $PWD"/"$1 ">" 5 | mkdir "$1" 6 | cd "$1" 7 | 8 | echo "Copying Single UR Moveit Config" 9 | cp -r $(catkin_find ridgeback_ur_moveit_config)/. . 10 | echo "Updating Package" 11 | grep -rli 'ridgeback_ur_moveit_config' * | xargs -i@ sed -i 's/ridgeback_ur_moveit_config/'$1'/g' @ 12 | echo "Done" 13 | 14 | else 15 | echo "USAGE: customize_moveit.sh [new_moveit_package_name]" 16 | fi 17 | -------------------------------------------------------------------------------- /robotiq.rosinstall: -------------------------------------------------------------------------------- 1 | - git: 2 | uri: https://github.com/clearpathrobotics/robotiq.git 3 | local-name: robotiq 4 | version: kinetic-devel 5 | -------------------------------------------------------------------------------- /ur.rosinstall: -------------------------------------------------------------------------------- 1 | - git: 2 | uri: https://github.com/fmauch/universal_robot.git 3 | local-name: fmauch_universal_robot 4 | version: calibration_devel 5 | - git: 6 | uri: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git 7 | local-name: universal_robots_ros_driver 8 | version: master 9 | - git: 10 | uri: https://github.com/UniversalRobots/Universal_Robots_ROS_scaled_controllers.git 11 | local-name: universal_robots_scaled_controllers 12 | version: main 13 | --------------------------------------------------------------------------------