From 0df74f9fad836451fc30ccecc9210e2df8ecbaad Mon Sep 17 00:00:00 2001 From: galileo Date: Tue, 29 Oct 2024 18:03:31 +0100 Subject: [PATCH] galileo : fixed trajectory monitoring to allow for scaling --- .../crx10ia_l_moveit_config/config/moveit_controllers.yaml | 5 +++++ .../crx10ia_l_moveit_config/launch/move_group.launch.py | 2 +- .../crx10ia_moveit_config/config/moveit_controllers.yaml | 6 ++++++ .../crx10ia_moveit_config/config/ompl_planning.yaml | 2 +- .../crx10ia_moveit_config/launch/move_group.launch.py | 2 +- .../launch/spawn_controllers.launch.py | 2 +- .../crx20ia_l_moveit_config/config/moveit_controllers.yaml | 6 ++++++ .../crx20ia_l_moveit_config/launch/move_group.launch.py | 2 +- .../crx25ia_l_moveit_config/config/moveit_controllers.yaml | 5 +++++ .../crx25ia_l_moveit_config/launch/demo.launch.py | 2 +- .../crx5ia_moveit_config/config/moveit_controllers.yaml | 5 +++++ .../crx5ia_moveit_config/launch/move_group.launch.py | 2 +- 12 files changed, 34 insertions(+), 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 index 87f324c..135fe7c 100644 --- 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 index 06a03af..e98622c 100644 --- 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 index 87f324c..8be0c6f 100644 --- 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 index d5884aa..3a4bada 100644 --- 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 index 730ec17..591b242 100644 --- 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 index 31b2278..1453229 100644 --- 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 index d62792a..2c08669 100644 --- 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 index 253b624..361ba4e 100644 --- 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 index 87f324c..135fe7c 100644 --- 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 index 7dc4c0d..c9f9ea8 100644 --- 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 index 87f324c..135fe7c 100644 --- 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 index cc07a9f..06510d3 100644 --- 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)