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PILZ planner integration #4

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merged 3 commits into from
Oct 1, 2024
Merged

PILZ planner integration #4

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88f64b0
Acceleration limits defined
yilmazabdurrah Oct 1, 2024
f84a63c
PILZ planner setup
yilmazabdurrah Oct 1, 2024
ab71d88
OMPL and PILZ planner made optional, parameter defined to choose
yilmazabdurrah Oct 1, 2024
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14 changes: 7 additions & 7 deletions franka_description/robots/panda_arm.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@
<parent link="${arm_id}_link0"/>
<child link="${arm_id}_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.7473" upper="2.7473" velocity="2.1750"/>
<limit effort="87" lower="-2.7473" upper="2.7473" velocity="2.1750" acceleration="1.0"/>
</joint>
<link name="${arm_id}_link2">
<visual>
Expand Down Expand Up @@ -99,7 +99,7 @@
<parent link="${arm_id}_link1"/>
<child link="${arm_id}_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-1.6728" upper="1.6728" velocity="2.1750"/>
<limit effort="87" lower="-1.6728" upper="1.6728" velocity="2.1750" acceleration="1.0"/>
</joint>
<link name="${arm_id}_link3">
<visual>
Expand Down Expand Up @@ -132,7 +132,7 @@
<parent link="${arm_id}_link2"/>
<child link="${arm_id}_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.7473" upper="2.7473" velocity="2.1750"/>
<limit effort="87" lower="-2.7473" upper="2.7473" velocity="2.1750" acceleration="1.0"/>
</joint>
<link name="${arm_id}_link4">
<visual>
Expand Down Expand Up @@ -165,7 +165,7 @@
<parent link="${arm_id}_link3"/>
<child link="${arm_id}_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9218" upper="-0.2198" velocity="2.1750"/>
<limit effort="87" lower="-2.9218" upper="-0.2198" velocity="2.1750" acceleration="1.0"/>
</joint>
<link name="${arm_id}_link5">
<visual>
Expand Down Expand Up @@ -217,7 +217,7 @@
<parent link="${arm_id}_link4"/>
<child link="${arm_id}_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.7473" upper="2.7473" velocity="2.6100"/>
<limit effort="12" lower="-2.7473" upper="2.7473" velocity="2.6100" acceleration="1.0"/>
</joint>
<link name="${arm_id}_link6">
<visual>
Expand Down Expand Up @@ -250,7 +250,7 @@
<parent link="${arm_id}_link5"/>
<child link="${arm_id}_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-0.0775" upper="3.6025" velocity="2.6100"/>
<limit effort="12" lower="-0.0775" upper="3.6025" velocity="2.6100" acceleration="1.0"/>
</joint>
<link name="${arm_id}_link7">
<visual>
Expand Down Expand Up @@ -283,7 +283,7 @@
<parent link="${arm_id}_link6"/>
<child link="${arm_id}_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.7473" upper="2.7473" velocity="2.6100"/>
<limit effort="12" lower="-2.7473" upper="2.7473" velocity="2.6100" acceleration="1.0"/>
</joint>
<link name="${arm_id}_link8">
<collision>
Expand Down
42 changes: 34 additions & 8 deletions franka_moveit_config/config/ompl_planning.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -132,16 +132,39 @@ planner_configs:
range: 0.0
goal_bias: 0.05
delay_collision_checking: 1
pilz_lin:
PILZ_LIN:
type: pilz_industrial_motion_planner/Linear
planner_id: "LIN"
planning_time: 10.0
max_velocity_scaling_factor: 0.5
max_acceleration_scaling_factor: 0.5
pilz_circ:
PILZ_CIRC:
type: pilz_industrial_motion_planner/Circular
planner_id: "CIRC"
planning_time: 10.0
max_velocity_scaling_factor: 0.5
max_acceleration_scaling_factor: 0.5
PILZ_PTP:
type: pilz_industrial_motion_planner/Circular
planner_id: "PTP"
planning_time: 10.0
max_velocity_scaling_factor: 0.5
max_acceleration_scaling_factor: 0.5

robot_description_planning:
cartesian_limits:
max_trans_vel: 0.2 # Maximum translational velocity (m/s)
max_trans_acc: 0.5 # Maximum translational acceleration (m/s^2)
max_trans_dec: 0.5 # Maximum translational deceleration (m/s^2)
max_rot_vel: 1.0 # Maximum rotational velocity (rad/s)

planning_pipelines:
default:
planner_configs: OMPL
ompl:
planner_configs: OMPL
pilz:
planner_configs: [PILZ_LIN, PILZ_CIRC, PILZ_PTP]

panda_arm:
enforce_constrained_state_space: true
Expand Down Expand Up @@ -171,8 +194,9 @@ panda_arm:
- SPARSkConfigDefault
- SPARStwokConfigDefault
- TrajOptDefault
- pilz_lin
- pilz_circ
- PILZ_LIN
- PILZ_CIRC
- OMPL
panda_arm_hand:
enforce_constrained_state_space: true
projection_evaluator: joints(panda_joint1, panda_joint2)
Expand Down Expand Up @@ -201,8 +225,9 @@ panda_arm_hand:
- SPARSkConfigDefault
- SPARStwokConfigDefault
- TrajOptDefault
- pilz_lin
- pilz_circ
- PILZ_LIN
- PILZ_CIRC
- OMPL
panda_vision:
enforce_constrained_state_space: true
projection_evaluator: joints(panda_joint1, panda_joint2)
Expand Down Expand Up @@ -231,6 +256,7 @@ panda_vision:
- SPARSkConfigDefault
- SPARStwokConfigDefault
- TrajOptDefault
- pilz_lin
- pilz_circ
- PILZ_LIN
- PILZ_CIRC
- OMPL

36 changes: 33 additions & 3 deletions franka_moveit_config/launch/moveit_real_arm_platform.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ def generate_launch_description():
load_gripper_parameter_name = 'load_gripper'
fake_sensor_commands_parameter_name = 'fake_sensor_commands'
load_camera_parameter_name = 'load_camera'
planner_parameter_name = 'planner'

camera_id_parameter_name = 'serial'
camera_model_parameter_name = 'camera_type'
Expand All @@ -59,6 +60,8 @@ def generate_launch_description():
camera_id = LaunchConfiguration(camera_id_parameter_name)
camera_model = LaunchConfiguration(camera_model_parameter_name)

planner_ = LaunchConfiguration(planner_parameter_name)

# Command-line arguments
db_arg = DeclareLaunchArgument(
'db', default_value='False', description='Database flag'
Expand Down Expand Up @@ -149,9 +152,32 @@ def generate_launch_description():

combined_planning_pipelines_config = {
'move_group': {
'planning_pipelines': 'ompl, pilz',
'planning_plugin': planner_,
'request_adapters': 'default_planner_request_adapters/AddTimeOptimalParameterization '
'default_planner_request_adapters/ResolveConstraintFrames '
'default_planner_request_adapters/FixWorkspaceBounds '
'default_planner_request_adapters/FixStartStateBounds '
'default_planner_request_adapters/FixStartStateCollision '
'default_planner_request_adapters/FixStartStatePathConstraints'
'default_planning_request_adapters/CheckStartStateBounds'
'default_planning_request_adapters/CheckStartStateCollision'
'default_planning_request_adapters/ValidateWorkspaceBounds',
'start_state_max_bounds_error': 0.1,
'default_planner_config': 'PTP',
},
'robot_description_planning':{
'cartesian_limits': {
'max_trans_vel': 0.2,
'max_trans_acc': 1.0,
'max_trans_dec': -1.0,
'max_rot_vel': 0.5
}
}
}
combined_planning_yaml = load_yaml(
'franka_moveit_config', 'config/ompl_planning.yaml'
)
combined_planning_pipelines_config['move_group'].update(combined_planning_yaml)

# Start the actual move_group node/action server
run_move_group_node = Node(
Expand All @@ -163,8 +189,6 @@ def generate_launch_description():
robot_description_semantic,
kinematics_yaml,
combined_planning_pipelines_config,
ompl_planning_pipeline_config,
pilz_planning_pipeline_config,
trajectory_execution,
moveit_controllers,
planning_scene_monitor_parameters,
Expand Down Expand Up @@ -262,6 +286,11 @@ def generate_launch_description():
default_value='true',
description='Use Flir camera as an end-effector, otherwise, the robot is loaded '
'without an end-effector.')

planner_arg = DeclareLaunchArgument(
planner_parameter_name,
default_value='ompl_interface/OMPLPlanner',
description='Choose planner to be used for arm control ')

load_gripper_arg = DeclareLaunchArgument(
load_gripper_parameter_name,
Expand Down Expand Up @@ -307,6 +336,7 @@ def generate_launch_description():
fake_sensor_commands_arg,
load_gripper_arg,
load_camera_arg,
planner_arg,
camera_id_arg,
camera_model_arg,
db_arg,
Expand Down
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