Rework collision models for hand #95
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This was done since the `moveit_setup_assistant` currently doesn't propagate `xacro` arguments you supply to the `urdf.xacro` file (see [this issue](moveit/moveit#1691)). We need to manually add a way to enable or disable the gripper. This can be done by creating a `panda.srdf.xacro` file.
This argument is needed for the [quickstart_in_rviz_tutorial](https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html).
As Franka changed the collision geometries from meshes to coarse shapes (matching the collision model of the internal controller) we now observe various self-collisions in some default poses. This commit disables collision checks between link8 and links 5+6.
This file can be used to control a real Panda using MoveIt.
This commit adds the files needed for running the trajopt planner example that is found in the [moveit_tutorials](https://ros-planning.github.io/moveit_tutorials/doc/trajopt_planner/trajopt_planner_tutorial.html). This planner is not included into `move_group.launch` by default but can be invoked via the `pipeline` argument. This was done since it is not yet officially released (see moveit/moveit#1467).
* Add stomp planner This commit adds all the scripts needed to run the STOMP planner example in the [stomp_planner_tutorial](https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html).
Keep manually adjusted joint limits from the original Melodic branch.
Adds files needed to run the [lerp_planning_example](https://ros-planning.github.io/moveit_tutorials/doc/creating_moveit_plugins/plugin_tutorial.html)
* Add demo_chomp.launch * Restore original 'chomp_planning.yaml' config * Add CHOMP post-processing example, using OMPL+CHOMP
This commit removes the kinematics from the `run_benchmark_trajopt.launch` launch file since they are already handled in `planning_context.launch`.
This commit adds demo_gazebo.launch using the gazebo simulation of the franka_gazebo package Additionally, the virtual_joint is removed from the move group definition.
We can define all available controllers in a single file, even if we don't actually use those controllers. Thus, we don't need an extra set of files for panda_gripper.
Fixes the following error: [FATAL] ros.moveit_ros_planning.trajectory_execution_manager: Exception while loading controller manager 'panda': According to the loaded plugin descriptions the class panda with base class type moveit_controller_manager::MoveItControllerManager does not exist.
- headless = !gazebo_gui - Remove arg load_robot_description: We always load the robot description via franka_gazebo to enable Gazebo features in URDF - Use <group> tag to declare namespace once
- Use factors of pi - Fix joint limit violation for "extended" pose
Collision between them is handled by joint limits already
... utilizing a new feature of MoveIt / SRDF Now, it's possible to disable collision for a specific collision name by default. The definition of specific collision pairs will override this default. This allows disabling collision for the coarse hand geometries and enabling it for selected pairs of links only (for self-collision checking). On the other hand, the detailed hand collision geometries are enabled by default, but selectively disabled for self-collision checking for all arm links.
This was referenced Nov 2, 2021
rhaschke
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This PR utilizes a new feature of MoveIt / SRDF, namely moveit/moveit#2938 and moveit/srdfdom#97.
Now, it's possible to disable collision for a specific collision name by default.
The definition of specific collision pairs will override this default.
This allows disabling collision for the coarse hand geometries and enabling it for selected pairs of links only (for self-collision checking).
On the other hand, the detailed hand collision geometries are enabled by default, but selectively disabled for self-collision checking for all arm links.
This goes in line with:
Rework hand collision frankaemika/franka_ros#189Provide detailed and coarse collision models frankaemika/franka_ros#199
defining detailed (panda_hand) and coarse (panda_hand_coarse) collision models
allowing collision checking to be disabled by default for specific links
extending the syntax of SRDF to specify these defaults (and exceptions)