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Backport of Add explanation about IK plugins for servo (#474) to humble #477

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Backport of Add explanation about IK plugins for servo (#474) to humble #477

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a845098
Add explanation about IK plugins for servo (#474)
wyattrees Jul 22, 2022
203fa4c
Adding moveit2 to CI's upstream.repos
wyattrees Jul 25, 2022
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4 changes: 4 additions & 0 deletions .github/upstream.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -15,3 +15,7 @@ repositories:
type: git
url: https://github.com/PickNikRobotics/rosparam_shortcuts
version: ros2
moveit2:
type: git
url: https://github.com/ros-planning/moveit2.git
version: 2.5.2
35 changes: 35 additions & 0 deletions doc/examples/realtime_servo/realtime_servo_tutorial.rst
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Expand Up @@ -107,6 +107,41 @@ Servo includes a number of nice features:
5. Joint position and velocity limits enforced
6. Inputs are generic ROS messages

Inverse Kinematics in Servo
^^^^^^^^^^^^^^^^^^^^^^^^^^^

Inverse Kinematics may be handled internally by MoveIt Servo via inverse Jacobian calculations. However, you may also use an IK plugin.
To configure an IK plugin for use in Servo, your robot config package must define one in a :code:`kinematics.yaml` file, such as the one
in the `Panda config package <https://github.com/ros-planning/moveit_resources/blob/master/panda_moveit_config/config/kinematics.yaml>`_.
Several IK plugins are available `within MoveIt <https://github.com/ros-planning/moveit2/tree/main/moveit_kinematics>`_,
as well as `externally <https://github.com/PickNikRobotics/bio_ik/tree/ros2>`_.
:code:`bio_ik/BioIKKinematicsPlugin` is the most common choice.

Once your :code:`kinematics.yaml` file has been populated, include it with the ROS parameters passed to the servo node in your launch file:

.. code-block:: python

moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.to_moveit_configs()
)
servo_node = Node(
package="moveit_servo",
executable="servo_node_main",
parameters=[
servo_params,
moveit_config.robot_description,
moveit_config.robot_description_semantic,
moveit_config.robot_description_kinematics, # here is where kinematics plugin parameters are passed
],
)


The above excerpt is taken from `servo_example.launch.py <https://github.com/ros-planning/moveit2/blob/main/moveit_ros/moveit_servo/launch/servo_example.launch.py>`_ in MoveIt.
In the above example, the :code:`kinematics.yaml` file is taken from the `moveit_resources <https://github.com/ros-planning/moveit_resources>`_ repository in the workspace, specifically :code:`moveit_resources/panda_moveit_config/config/kinematics.yaml`.
The actual ROS parameter names that get passed by loading the yaml file are of the form :code:`robot_description_kinematics.<group_name>.<param_name>`, e.g. :code:`robot_description_kinematics.panda_arm.kinematics_solver`.

Setup on a New Robot
--------------------

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