Exercise 1 changes (#8)

* Attempt to replan in Exercise 1-1 * Attempt to replan in exercise 1-2 and add logger * Exercise 1-1 clean up * Change mustard pattern step size * Exercise 1-2 cleanup and solution * Solution cleanup * Remove solutions from exercises * Custom RViz with query goal state toggled off by default * Clean up TODOs * Detaching not part of exercise * Spelling * Properly shut down ROS
moveit · Aug 23, 2024 · 6a61c5c · 6a61c5c
1 parent 2a2a62e
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diff --git a/exercise1/src/exercise1-1/include/hot_dog_scenario/hot_dog_scenario.hpp b/exercise1/src/exercise1-1/include/hot_dog_scenario/hot_dog_scenario.hpp
@@ -21,7 +21,6 @@ class HotDogScenario
   // Place the bun and sausage in the scene
   void placeSausage();
 
-  // TODO update with new sausage positions
   static geometry_msgs::msg::Pose getPickPose();
   static geometry_msgs::msg::Pose getPlacePose();
 

diff --git a/exercise1/src/exercise1-1/launch/moveit.rviz b/exercise1/src/exercise1-1/launch/moveit.rviz
@@ -0,0 +1,328 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 87
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.4957627058029175
+    Tree Height: 607
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: false
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: true
+        Interrupt Display: true
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          base_link_inertia:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          flange:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          ft_frame:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          shoulder_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          wrist_1_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          wrist_2_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          wrist_3_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Loop Animation: false
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trail Step Size: 1
+        Trajectory Topic: /display_planned_path
+        Use Sim Time: false
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: ur_manipulator
+        Query Goal State: false
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          base_link_inertia:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          flange:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          ft_frame:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          shoulder_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          wrist_1_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          wrist_2_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          wrist_3_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 6.619869709014893
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.2489434778690338
+        Y: -0.013962505385279655
+        Z: 0.13800443708896637
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4103981554508209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.210397720336914
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1384
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001e000000512fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002f1000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000003f00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000003320000021b0000016900ffffff000000010000011000000512fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000512000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006ca0000051200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2502
+  X: 58
+  Y: 27
diff --git a/exercise1/src/exercise1-1/launch/ur.launch.py b/exercise1/src/exercise1-1/launch/ur.launch.py
@@ -4,9 +4,10 @@
 from launch.actions import IncludeLaunchDescription
 from launch_ros.actions import Node
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from moveit_configs_utils import MoveItConfigsBuilder
-
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from ament_index_python.packages import get_package_share_directory
+from moveit_configs_utils import MoveItConfigsBuilder
 
 def generate_launch_description():
 
@@ -22,18 +23,45 @@ def generate_launch_description():
         launch_arguments=ur_driver_launch_arguments.items()
     )
 
-    # TODO: disable RViz here and launch it in custom exercise RViz so we can use a custom config with the goal visualization turned off
     ur_moveit_launch_arguments = {
         "ur_type": "ur5e",
-        "launch_rviz": "true" 
+        "launch_rviz": "false" 
     }
 
     launch_ur_moveit = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([os.path.join(get_package_share_directory('ur_moveit_config'), 'launch', 'ur_moveit.launch.py')]),
         launch_arguments=ur_moveit_launch_arguments.items()
     )
+
+    moveit_config = (
+      MoveItConfigsBuilder(
+        robot_name="ur", package_name="ur_moveit_config"
+      )
+      .robot_description_semantic(file_path="srdf/ur.srdf.xacro", mappings={"name": "ur5e"})
+      .to_moveit_configs()
+    )
+
+    rviz_config = PathJoinSubstitution(
+        [FindPackageShare("exercise1-1"), "launch", "moveit.rviz"]
+    )
+
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", rviz_config],
+        parameters=[
+            moveit_config.robot_description,
+            moveit_config.robot_description_semantic,
+            moveit_config.planning_pipelines,
+            moveit_config.robot_description_kinematics,
+            moveit_config.joint_limits
+            ]
+    )
 
     return LaunchDescription([
         launch_ur_driver,
-        launch_ur_moveit
+        launch_ur_moveit,
+        rviz_node
         ])