Planning Context

After creating a new package we build it and source our updated setup files.
$ catkin b
$ $HOME/hrwros_ws/devel/setup.bash

Navigate and look into the package.xml file.
$ roscd hrwros_moveit_config/
$ less package.xml

There you can see the author details and a set of dependencies.

In move_group.launch:

Open the hrwros_moveit_config package, by looking at the launch files we can see how it works. Let’s begin with the move_group.launch file. We see that the planning_context.launch file is included.

In planning_context.launch:

Make sure that robot_description file is available. This is usually loaded and thus the default is false.

Go to config/hrwros.srdf:
The robot_description_semantic parameter is located in the config folder and contains the following:

• • • The semantic information (robot1_base_link, vacuum_gripper1_suction_cup…)
    • The robot configurations or robot poses (R1Up, R2Up)
    • Virtual joints
    • The entire list of link pairs that won’t be checked for collision

In config/joint_limits.yaml:
Joint-specific limits for each of the robot arms are updated here.

In config/kinematics.yaml:
Here we have the specifications of the plugin or library we.use.

Back to move_group.launch

Under planning_context.launch there are two group of settings related to code debugging and logging settings. These will be untouched in this course.

Then we have a few parameters:

• allow_trajectory_execution: investigated soon
• fake_execution: investigated soon
• max_safe_path_cost associated: integrating sensory information (not necessary in this course)
• jiggle_fraction: integrating sensory information (not necessary in this course)
• publish_monitored_planning_scene: a parameter used by the PlanningSceneMonitor (not necessary in this course)

The next config file is planning_pipeline.launch.xml.
We see that the ompl pipeline is used.
In ompl_planning_pipeline.launch.xml a lot of internal settings for using the ompl planning library.
In config/ompl_planning.yaml we see a whole list of available planners.

Trajectory Execution

Let’s now look at the configuration for trajectory execution in trajectory_execution.launch.xml.

The moveit_manage_controllers parameter takes care of trajectory execution and manages controllers.
The rest of the parameters are for trajectory execution tolerances and their details are not important for this course.

The controller manager settings are located in moveit_controller_manager.launch.xml. This file appears to be empty!

To be continued in the next lecture.