ros-industrial · fmauch · Jul 21, 2022 · Jan 20, 2021 · Mar 17, 2021 · Mar 17, 2021
diff --git a/universal_robots/package.xml b/universal_robots/package.xml
@@ -20,11 +20,12 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <exec_depend>ur10_e_moveit_config</exec_depend>
+  <exec_depend>ur10e_moveit_config</exec_depend>
   <exec_depend>ur10_moveit_config</exec_depend>
-  <exec_depend>ur3_e_moveit_config</exec_depend>
+  <exec_depend>ur16e_moveit_config</exec_depend>
+  <exec_depend>ur3e_moveit_config</exec_depend>
   <exec_depend>ur3_moveit_config</exec_depend>
-  <exec_depend>ur5_e_moveit_config</exec_depend>
+  <exec_depend>ur5e_moveit_config</exec_depend>
   <exec_depend>ur5_moveit_config</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_gazebo</exec_depend>

diff --git a/ur10_e_moveit_config/.setup_assistant b/ur10_e_moveit_config/.setup_assistant
diff --git a/ur10_e_moveit_config/CHANGELOG.rst b/ur10_e_moveit_config/CHANGELOG.rst
diff --git a/ur10_e_moveit_config/config/kinematics.yaml b/ur10_e_moveit_config/config/kinematics.yaml
diff --git a/ur10_e_moveit_config/config/ompl_planning.yaml b/ur10_e_moveit_config/config/ompl_planning.yaml
diff --git a/ur10_e_moveit_config/launch/default_warehouse_db.launch b/ur10_e_moveit_config/launch/default_warehouse_db.launch
diff --git a/ur10_e_moveit_config/launch/demo.launch b/ur10_e_moveit_config/launch/demo.launch
diff --git a/ur10_e_moveit_config/launch/moveit_rviz.launch b/ur10_e_moveit_config/launch/moveit_rviz.launch
diff --git a/ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch b/ur10_e_moveit_config/launch/ur10_e_moveit_planning_execution.launch
diff --git a/ur10_e_moveit_config/tests/moveit_planning_execution.xml b/ur10_e_moveit_config/tests/moveit_planning_execution.xml
diff --git a/ur10_moveit_config/.setup_assistant b/ur10_moveit_config/.setup_assistant
@@ -1,8 +1,11 @@
 moveit_setup_assistant_config:
   URDF:
     package: ur_description
-    relative_path: urdf/ur10_robot.urdf.xacro
+    relative_path: urdf/ur10.xacro
+    xacro_args: ""
   SRDF:
     relative_path: config/ur10.srdf
   CONFIG:
-    generated_timestamp: 1413893323
+    author_name: Felix Exner
+    author_email: [email protected]
+    generated_timestamp: 1611154369
diff --git a/ur10_moveit_config/config/chomp_planning.yaml b/ur10_moveit_config/config/chomp_planning.yaml
@@ -0,0 +1,18 @@
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+ridge_factor: 0.01
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearence: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: true
+max_recovery_attempts: 5
diff --git a/ur10_moveit_config/config/controllers.yaml b/ur10_moveit_config/config/controllers.yaml
diff --git a/ur10_moveit_config/config/fake_controllers.yaml b/ur10_moveit_config/config/fake_controllers.yaml
@@ -7,6 +7,6 @@ controller_list:
       - wrist_1_joint
       - wrist_2_joint
       - wrist_3_joint
-  - name: fake_endeffector_controller
-    joints:
-      []
+initial:  # Define initial robot poses.
+  - group: manipulator
+    pose: home
diff --git a/ur10_moveit_config/config/joint_limits.yaml b/ur10_moveit_config/config/joint_limits.yaml
@@ -2,33 +2,33 @@
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
-  shoulder_pan_joint:
+  elbow_joint:
     has_velocity_limits: true
-    max_velocity: 2.16
-    has_acceleration_limits: true
-    max_acceleration: 2.16
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: false
+    max_acceleration: 0
   shoulder_lift_joint:
     has_velocity_limits: true
-    max_velocity: 2.16
-    has_acceleration_limits: true
-    max_acceleration: 2.16
-  elbow_joint:
+    max_velocity: 2.0943951023931953
+    has_acceleration_limits: false
+    max_acceleration: 0
+  shoulder_pan_joint:
     has_velocity_limits: true
-    max_velocity: 3.15
-    has_acceleration_limits: true
-    max_acceleration: 3.15
+    max_velocity: 2.0943951023931953
+    has_acceleration_limits: false
+    max_acceleration: 0
   wrist_1_joint:
     has_velocity_limits: true
-    max_velocity: 3.2
-    has_acceleration_limits: true
-    max_acceleration: 3.2
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: false
+    max_acceleration: 0
   wrist_2_joint:
     has_velocity_limits: true
-    max_velocity: 3.2
-    has_acceleration_limits: true
-    max_acceleration: 3.2
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: false
+    max_acceleration: 0
   wrist_3_joint:
     has_velocity_limits: true
-    max_velocity: 3.2
-    has_acceleration_limits: true
-    max_acceleration: 3.2
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: false
+    max_acceleration: 0
diff --git a/ur10_moveit_config/config/kinematics.yaml b/ur10_moveit_config/config/kinematics.yaml
@@ -4,7 +4,7 @@
 #  kinematics_solver_timeout: 0.005
 #  kinematics_solver_attempts: 3
 manipulator:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
+  solve_type: Distance
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3