[NO MERGE] Joints with suffixes

motoman_common_moveit/config/joint_limits.yaml

@@ -1,61 +1,64 @@
-# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+/**:
+  ros__parameters:
+    robot_description_planning:
+      # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 
-# For beginners, we downscale velocity and acceleration limits.
-# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
-default_velocity_scaling_factor: 0.1
-default_acceleration_scaling_factor: 0.1
+      # For beginners, we downscale velocity and acceleration limits.
+      # You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+      default_velocity_scaling_factor: 0.1
+      default_acceleration_scaling_factor: 0.1
 
-# 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:
-  group_1/joint_1:
-    has_velocity_limits: true
-    max_velocity: 1.832596
-    has_acceleration_limits: true
-    max_acceleration: 3.0
-    has_deceleration_limits: true
-    max_deceleration: 3.0
-  group_1/joint_2:
-    has_velocity_limits: true
-    max_velocity: 1.640609
-    has_acceleration_limits: true
-    max_acceleration: 5.0
-    has_deceleration_limits: true
-    max_deceleration: 5.0
-  group_1/joint_3:
-    has_velocity_limits: true
-    max_velocity: 1.745329
-    has_acceleration_limits: true
-    max_acceleration: 5.0
-    has_deceleration_limits: true
-    max_deceleration: 5.0
-  group_1/joint_4:
-    has_position_limits: true
-    min_position: -0.436332  # -25
-    max_position: 0.436332   #  25
-    has_velocity_limits: true
-    max_velocity: 2.373648
-    has_acceleration_limits: true
-    max_acceleration: 3.0
-    has_deceleration_limits: true
-    max_deceleration: 3.0
-  group_1/joint_5:
-    has_position_limits: true
-    min_position: -2.18166  # -125
-    max_position: 0.0
-    has_velocity_limits: true
-    max_velocity: 2.251475
-    has_acceleration_limits: true
-    max_acceleration: 5.0
-    has_deceleration_limits: true
-    max_deceleration: 5.0
-  group_1/joint_6:
-    has_position_limits: true
-    min_position: -3.49066  # -200
-    max_position: 3.49066   #  200
-    has_velocity_limits: true
-    max_velocity: 3.595378
-    has_acceleration_limits: true
-    max_acceleration: 7.0
-    has_deceleration_limits: true
-    max_deceleration: 7.0
+      # 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:
+        group_1/joint_1:
+          has_velocity_limits: true
+          max_velocity: 1.832596
+          has_acceleration_limits: true
+          max_acceleration: 3.0
+          has_deceleration_limits: true
+          max_deceleration: 3.0
+        group_1/joint_2:
+          has_velocity_limits: true
+          max_velocity: 1.640609
+          has_acceleration_limits: true
+          max_acceleration: 5.0
+          has_deceleration_limits: true
+          max_deceleration: 5.0
+        group_1/joint_3:
+          has_velocity_limits: true
+          max_velocity: 1.745329
+          has_acceleration_limits: true
+          max_acceleration: 5.0
+          has_deceleration_limits: true
+          max_deceleration: 5.0
+        group_1/joint_4:
+          has_position_limits: true
+          min_position: -0.436332  # -25
+          max_position: 0.436332   #  25
+          has_velocity_limits: true
+          max_velocity: 2.373648
+          has_acceleration_limits: true
+          max_acceleration: 3.0
+          has_deceleration_limits: true
+          max_deceleration: 3.0
+        group_1/joint_5:
+          has_position_limits: true
+          min_position: -2.18166  # -125
+          max_position: 0.0
+          has_velocity_limits: true
+          max_velocity: 2.251475
+          has_acceleration_limits: true
+          max_acceleration: 5.0
+          has_deceleration_limits: true
+          max_deceleration: 5.0
+        group_1/joint_6:
+          has_position_limits: true
+          min_position: -3.49066  # -200
+          max_position: 3.49066   #  200
+          has_velocity_limits: true
+          max_velocity: 3.595378
+          has_acceleration_limits: true
+          max_acceleration: 7.0
+          has_deceleration_limits: true
+          max_deceleration: 7.0

motoman_common_moveit/config/kinematics.yaml

@@ -1,4 +1,8 @@
-manipulator:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
+/**:
+  ros__parameters:
+    robot_description_kinematics:
+      manipulator:
+        kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+        kinematics_solver_search_resolution: 0.005
+        kinematics_solver_timeout: 0.005
+        kinematics_solver_attempts: 3

motoman_common_moveit/config/move_group_config.yaml

@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    planning_pipelines: ["ompl", "pilz", "stomp"]
+
+    capabilities: >-
+        move_group/MoveGroupExecuteTrajectoryAction
+        pilz_industrial_motion_planner/MoveGroupSequenceAction
+        pilz_industrial_motion_planner/MoveGroupSequenceService
+
+    # Trajectory execution manager parameters
+    allow_trajectory_execution: true
+    moveit_manage_controllers: false
+    trajectory_execution:
+      allowed_execution_duration_scaling: 1.2
+      allowed_goal_duration_margin: 0.5
+      allowed_start_tolerance: 0.01
+
+    # Planning scene monitor parameters
+    publish_planning_scene: true
+    publish_geometry_updates: true
+    publish_state_updates: true
+    publish_transforms_updates: true

motoman_common_moveit/config/moveit_controllers.yaml

@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    moveit_simple_controller_manager:
+      controller_names:
+        - follow_joint_trajectory
+
+      follow_joint_trajectory:
+        action_ns: ""
+        type: FollowJointTrajectory
+        default: true
+        joints:
+          - group_1/joint_1
+          - group_1/joint_2
+          - group_1/joint_3
+          - group_1/joint_4
+          - group_1/joint_5
+          - group_1/joint_6
+
+    moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+    ompl:
+      manipulator:
+        projection_evaluator: joints(group_1/joint_1,group_1/joint_2)