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move capabilities arguments into planning pipeline #460

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Nov 17, 2020
Merged

move capabilities arguments into planning pipeline #460

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d45d38f
move capabilities arguments into planning pipeline
jschleicher Oct 16, 2020
aeeeb7e
fixup
jschleicher Oct 16, 2020
f0ebfba
Merge branch 'melodic-devel' into launch/move-capabilities-to-pipeline
ct2034 Nov 3, 2020
53a3945
Merge branch 'melodic-devel' into launch/move-capabilities-to-pipeline
martiniil Nov 17, 2020
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13 changes: 2 additions & 11 deletions prbt_moveit_config/launch/move_group.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -27,15 +27,6 @@
<!-- Enable/Disable gripper -->
<arg name="gripper" default="" />

<!-- add sequence capabilities for pilz_command_planner pipeline -->
<arg name="_capabilities" value="$(arg capabilities)" unless="$(eval arg('pipeline')=='pilz_command_planner' or arg('pipeline')=='pilz_industrial_motion_planner')" />
<arg name="_capabilities"
value="$(arg capabilities) pilz_trajectory_generation/MoveGroupSequenceAction pilz_trajectory_generation/MoveGroupSequenceService"
if="$(eval arg('pipeline')=='pilz_command_planner')" />
<arg name="_capabilities"
value="$(arg capabilities) pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService"
if="$(eval arg('pipeline')=='pilz_industrial_motion_planner')" />

<!-- load robot models -->
<include file="$(find prbt_moveit_config)/launch/planning_context.launch" >
<arg name="gripper" value="$(arg gripper)" />
Expand All @@ -45,6 +36,8 @@
<!-- Planning Functionality -->
<include ns="move_group" file="$(find prbt_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg pipeline)" />
<arg name="capabilities" value="$(arg capabilities)"/>
<arg name="disable_capabilities" value="$(arg disable_capabilities)"/>
</include>

<!-- Trajectory Execution Functionality -->
Expand All @@ -68,8 +61,6 @@
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<param name="capabilities" value="$(arg _capabilities)"/>
<param name="disable_capabilities" value="$(arg disable_capabilities)"/>

<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
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8 changes: 8 additions & 0 deletions prbt_moveit_config/launch/ompl_planning_pipeline.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,12 @@
<!-- OMPL Plugin for MoveIt! -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />

<!-- define capabilites that are loaded on start (space seperated) -->
<arg name="capabilities" default=""/>

<!-- inhibit capabilites (space seperated) -->
<arg name="disable_capabilities" default=""/>

<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
Expand All @@ -16,6 +22,8 @@
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="capabilities" value="$(arg capabilities)" />
<param name="disable_capabilities" value="$(arg disable_capabilities)" />

<rosparam command="load" file="$(find prbt_moveit_config)/config/ompl_planning.yaml"/>

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14 changes: 14 additions & 0 deletions prbt_moveit_config/launch/pilz_command_planner_planning_pipeline.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,26 @@
<!-- Pilz Command Planner Plugin for MoveIt! -->
<arg name="planning_plugin" value="pilz::CommandPlanner" />

<!-- The request adapters (plugins) used when planning.
ORDER MATTERS -->
<arg name="planning_adapters" value="" />

<!-- define capabilites that are loaded on start (space seperated) -->
<arg name="capabilities" default=""/>

<!-- inhibit capabilites (space seperated) -->
<arg name="disable_capabilities" default=""/>

<arg name="start_state_max_bounds_error" value="0.1" />

<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />

<!-- MoveGroup capabilities to load, append sequence capability -->
<param name="capabilities" value="$(arg capabilities)
pilz_trajectory_generation/MoveGroupSequenceAction
pilz_trajectory_generation/MoveGroupSequenceService
" />
<param name="disable_capabilities" value="$(arg disable_capabilities)" />
</launch>
14 changes: 14 additions & 0 deletions prbt_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,26 @@
<!-- Pilz Command Planner Plugin for MoveIt! -->
<arg name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />

<!-- The request adapters (plugins) used when planning.
ORDER MATTERS -->
<arg name="planning_adapters" value="" />

<!-- define capabilites that are loaded on start (space seperated) -->
<arg name="capabilities" default=""/>

<!-- inhibit capabilites (space seperated) -->
<arg name="disable_capabilities" default=""/>

<arg name="start_state_max_bounds_error" value="0.1" />

<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />

<!-- MoveGroup capabilities to load, append sequence capability -->
<param name="capabilities" value="$(arg capabilities)
pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceService
" />
<param name="disable_capabilities" value="$(arg disable_capabilities)" />
</launch>
15 changes: 12 additions & 3 deletions prbt_moveit_config/launch/planning_pipeline.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,10 +1,19 @@
<launch>

<!-- This file makes it easy to include different planning pipelines;
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
<!-- This file makes it easy to include different planning pipelines;
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->

<arg name="pipeline" default="ompl" />

<include file="$(find prbt_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
<!-- define capabilites that are loaded on start (space seperated) -->
<arg name="capabilities" default=""/>

<!-- inhibit capabilites (space seperated) -->
<arg name="disable_capabilities" default=""/>

<include file="$(find prbt_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml">
<arg name="capabilities" value="$(arg capabilities)"/>
<arg name="disable_capabilities" value="$(arg disable_capabilities)"/>
</include>

</launch>