galileo : fixed trajectory monitoring to allow for scaling

paolofrance · Oct 29, 2024 · 0df74f9 · 0df74f9
1 parent b9d206e
commit 0df74f9
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Showing 12 changed files with 34 additions and 7 deletions.
diff --git a/crx_moveit_config/crx10ia_l_moveit_config/config/moveit_controllers.yaml b/crx_moveit_config/crx10ia_l_moveit_config/config/moveit_controllers.yaml
@@ -1,4 +1,9 @@
 # MoveIt uses this configuration for controller management
+trajectory_execution:
+  allowed_execution_duration_scaling: 10.0
+  allowed_goal_duration_margin: 0.5
+  allowed_start_tolerance: 0.01
+  execution_duration_monitoring: true
 
 moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
 

diff --git a/crx_moveit_config/crx10ia_l_moveit_config/launch/move_group.launch.py b/crx_moveit_config/crx10ia_l_moveit_config/launch/move_group.launch.py
@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("crx10ia_l", package_name="crx10ia_l_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("crx10ia_l", package_name="crx10ia_l_moveit_config").trajectory_execution(file_path="config/moveit_controllers.yaml").to_moveit_configs()
     return generate_move_group_launch(moveit_config)
diff --git a/crx_moveit_config/crx10ia_moveit_config/config/moveit_controllers.yaml b/crx_moveit_config/crx10ia_moveit_config/config/moveit_controllers.yaml
@@ -1,4 +1,10 @@
 # MoveIt uses this configuration for controller management
+trajectory_execution:
+  allowed_execution_duration_scaling: 10.0
+  allowed_goal_duration_margin: 0.5
+  allowed_start_tolerance: 0.01
+  execution_duration_monitoring: true
+
 
 moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
 

diff --git a/crx_moveit_config/crx10ia_moveit_config/config/ompl_planning.yaml b/crx_moveit_config/crx10ia_moveit_config/config/ompl_planning.yaml
@@ -1,5 +1,5 @@
 planning_plugin: ompl_interface/OMPLPlanner
-request_adapters: >-
+request_adapters: 
   default_planner_request_adapters/AddTimeOptimalParameterization
   default_planner_request_adapters/ResolveConstraintFrames
   default_planner_request_adapters/FixWorkspaceBounds

diff --git a/crx_moveit_config/crx10ia_moveit_config/launch/move_group.launch.py b/crx_moveit_config/crx10ia_moveit_config/launch/move_group.launch.py
@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("crx10ia", package_name="crx10ia_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("crx10ia", package_name="crx10ia_moveit_config").trajectory_execution(file_path="config/moveit_controllers.yaml").to_moveit_configs()
     return generate_move_group_launch(moveit_config)
diff --git a/crx_moveit_config/crx10ia_moveit_config/launch/spawn_controllers.launch.py b/crx_moveit_config/crx10ia_moveit_config/launch/spawn_controllers.launch.py
@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("crx10ia", package_name="crx10ia_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("crx10ia", package_name="crx10ia_moveit_config").trajectory_execution(file_path="config/moveit_controllers.yaml").to_moveit_configs()
     return generate_spawn_controllers_launch(moveit_config)
diff --git a/crx_moveit_config/crx20ia_l_moveit_config/config/moveit_controllers.yaml b/crx_moveit_config/crx20ia_l_moveit_config/config/moveit_controllers.yaml
@@ -1,4 +1,10 @@
 # MoveIt uses this configuration for controller management
+trajectory_execution:
+  allowed_execution_duration_scaling: 10.0
+  allowed_goal_duration_margin: 0.5
+  allowed_start_tolerance: 0.01
+  execution_duration_monitoring: true
+
 
 moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
 

diff --git a/crx_moveit_config/crx20ia_l_moveit_config/launch/move_group.launch.py b/crx_moveit_config/crx20ia_l_moveit_config/launch/move_group.launch.py
@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("crx20ia_l", package_name="crx20ia_l_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("crx20ia_l", package_name="crx20ia_l_moveit_config").trajectory_execution(file_path="config/moveit_controllers.yaml").to_moveit_configs()
     return generate_move_group_launch(moveit_config)
diff --git a/crx_moveit_config/crx25ia_l_moveit_config/config/moveit_controllers.yaml b/crx_moveit_config/crx25ia_l_moveit_config/config/moveit_controllers.yaml
@@ -1,4 +1,9 @@
 # MoveIt uses this configuration for controller management
+trajectory_execution:
+  allowed_execution_duration_scaling: 10.0
+  allowed_goal_duration_margin: 0.5
+  allowed_start_tolerance: 0.01
+  execution_duration_monitoring: true
 
 moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
 

diff --git a/crx_moveit_config/crx25ia_l_moveit_config/launch/demo.launch.py b/crx_moveit_config/crx25ia_l_moveit_config/launch/demo.launch.py
@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("crx25ia_l", package_name="crx25ia_l_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("crx25ia_l", package_name="crx25ia_l_moveit_config").trajectory_execution(file_path="config/moveit_controllers.yaml").to_moveit_configs()
     return generate_demo_launch(moveit_config)
diff --git a/crx_moveit_config/crx5ia_moveit_config/config/moveit_controllers.yaml b/crx_moveit_config/crx5ia_moveit_config/config/moveit_controllers.yaml
@@ -1,4 +1,9 @@
 # MoveIt uses this configuration for controller management
+trajectory_execution:
+  allowed_execution_duration_scaling: 10.0
+  allowed_goal_duration_margin: 0.5
+  allowed_start_tolerance: 0.01
+  execution_duration_monitoring: true
 
 moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
 

diff --git a/crx_moveit_config/crx5ia_moveit_config/launch/move_group.launch.py b/crx_moveit_config/crx5ia_moveit_config/launch/move_group.launch.py
@@ -3,5 +3,5 @@
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("crx5ia", package_name="crx5ia_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("crx5ia", package_name="crx5ia_moveit_config").trajectory_execution(file_path="config/moveit_controllers.yaml").to_moveit_configs()
     return generate_move_group_launch(moveit_config)