Create simulation handlers #102
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…h the kortex_driver too, in a different mode
…- only SRDF modifications remain
gstlaurentkinova
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Jun 17, 2020
alexvannobel
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Aug 5, 2020
* Separate generators for robot and simulation handlers (#99) * Created interface class and put the RPC handlers in robot folder * Now the robot functions interface work just like before * Added templates and generation for simulated services * Added the simulation services to the driver headers * Added newly generated files to repo * Adapt simulation launch files and add prefix support for simulation and MoveIt (#100) * Created interface class and put the RPC handlers in robot folder * Now the robot functions interface work just like before * Added templates and generation for simulated services * Added the simulation services to the driver headers * Added newly generated files to repo * Added simulation option to the driver so the gazebo package can launch the kortex_driver too, in a different mode * Adapt joint_limits files to correctly take prefix option * Change description and control files to support prefix option * Change MoveIt config launch and config files to enable prefix option - only SRDF modifications remain * Added xacro usage in SRDF files to be able to prefix joint names * Adjust ompl planning launch and config files to support prefixing joint names * Remove --inorder from xacro calls since it's default now * Create simulation handlers (#102) * Created interface class and put the RPC handlers in robot folder * Now the robot functions interface work just like before * Added templates and generation for simulated services * Added the simulation services to the driver headers * Added newly generated files to repo * Added simulation option to the driver so the gazebo package can launch the kortex_driver too, in a different mode * Adapt joint_limits files to correctly take prefix option * Change description and control files to support prefix option * Change MoveIt config launch and config files to enable prefix option - only SRDF modifications remain * Added xacro usage in SRDF files to be able to prefix joint names * Adjust ompl planning launch and config files to support prefixing joint names * Remove --inorder from xacro calls since it's default now * Set default gripper in launch files * Add namespace to launch file parameters passed to driver * Added class and implementation for simulator * Add stubs and register handlers for Action API * Add implementation for default actions and ReacAction/ReadAllActions * Added some unit tests for simulator and CreateAction implentation * Added the case where the prefix could be empty in XACRO * Added prefix support for fake controllers in MoveIt configs * Added a missing prefix value for Gen3 and fix the if and unless tags * Add test launch file to launch simulator unit tests * Don't create the gripper Move Group if no gripper on the arm * Added DeleteAction implementation and tests * Add implementation and tests for UpdateAction * Added basic frame for a threaded action executor * Added publishing for action topic before and after action execution * Added StopAction logic and tests for executing and aborting actions * Added stubs for other RPCs we want to support at first in simulation * Added implementation for other RPCs worth simulating * Added some data structure checks and TODOs in executors * Added tests for newly added RPCs * Remove merge artefacts * Implementation for angular position control, Cartesian position control and gripper position control (#105) * Created interface class and put the RPC handlers in robot folder * Now the robot functions interface work just like before * Added templates and generation for simulated services * Added the simulation services to the driver headers * Added newly generated files to repo * Added simulation option to the driver so the gazebo package can launch the kortex_driver too, in a different mode * Adapt joint_limits files to correctly take prefix option * Change description and control files to support prefix option * Change MoveIt config launch and config files to enable prefix option - only SRDF modifications remain * Added xacro usage in SRDF files to be able to prefix joint names * Adjust ompl planning launch and config files to support prefixing joint names * Remove --inorder from xacro calls since it's default now * Set default gripper in launch files * Add namespace to launch file parameters passed to driver * Added class and implementation for simulator * Add stubs and register handlers for Action API * Add implementation for default actions and ReacAction/ReadAllActions * Added some unit tests for simulator and CreateAction implentation * Added the case where the prefix could be empty in XACRO * Added prefix support for fake controllers in MoveIt configs * Added a missing prefix value for Gen3 and fix the if and unless tags * Add test launch file to launch simulator unit tests * Don't create the gripper Move Group if no gripper on the arm * Added DeleteAction implementation and tests * Add implementation and tests for UpdateAction * Added basic frame for a threaded action executor * Added publishing for action topic before and after action execution * Added StopAction logic and tests for executing and aborting actions * Added stubs for other RPCs we want to support at first in simulation * Added implementation for other RPCs worth simulating * Added some data structure checks and TODOs in executors * Added tests for newly added RPCs * Remove merge artefacts * Added implementation for ReachJointAngles action - optimal duration implementation remain * Added KDL parsing and solvers construction * Add max velocities and max accelerations to joint_limits.yaml files * Add a helper to fill KortexError and finish velocity profiles implementation for ReachJointAngles * Now use the velocity profile data to fill the trajectory * Add implementation for angular position control * Add same ROS parameters than real arm and adjust first timestamp to not be 0 * Fix MoveIt config Gen3 lite home position * Added ReachPose implementation, twist limits still hardcoded * Add twist limits files for simulation * Use the correct Cartesian velocity and acceleration values for each arm and correctly use velocity limits in constraints * Add simulated feedback support and change current state to fetch joint_states instead of controller state * Added implementation for gripper control * Fixed a Robotiq 2F-140 typo in the moveit config * Added indexes for first arm joint and gripper joint because sometimes gripper joint is at the start of joint_states and sometimes it's at the end * Address PR comments * Fix tool frame for 6DOF Gen3 arm * Simulation velocity control, documentation and examples update (#109) * Created interface class and put the RPC handlers in robot folder * Now the robot functions interface work just like before * Added templates and generation for simulated services * Added the simulation services to the driver headers * Added newly generated files to repo * Added simulation option to the driver so the gazebo package can launch the kortex_driver too, in a different mode * Adapt joint_limits files to correctly take prefix option * Change description and control files to support prefix option * Change MoveIt config launch and config files to enable prefix option - only SRDF modifications remain * Added xacro usage in SRDF files to be able to prefix joint names * Adjust ompl planning launch and config files to support prefixing joint names * Remove --inorder from xacro calls since it's default now * Set default gripper in launch files * Add namespace to launch file parameters passed to driver * Added class and implementation for simulator * Add stubs and register handlers for Action API * Add implementation for default actions and ReacAction/ReadAllActions * Added some unit tests for simulator and CreateAction implentation * Added the case where the prefix could be empty in XACRO * Added prefix support for fake controllers in MoveIt configs * Added a missing prefix value for Gen3 and fix the if and unless tags * Add test launch file to launch simulator unit tests * Don't create the gripper Move Group if no gripper on the arm * Added DeleteAction implementation and tests * Add implementation and tests for UpdateAction * Added basic frame for a threaded action executor * Added publishing for action topic before and after action execution * Added StopAction logic and tests for executing and aborting actions * Added stubs for other RPCs we want to support at first in simulation * Added implementation for other RPCs worth simulating * Added some data structure checks and TODOs in executors * Added tests for newly added RPCs * Remove merge artefacts * Added implementation for ReachJointAngles action - optimal duration implementation remain * Added KDL parsing and solvers construction * Add max velocities and max accelerations to joint_limits.yaml files * Add a helper to fill KortexError and finish velocity profiles implementation for ReachJointAngles * Now use the velocity profile data to fill the trajectory * Add implementation for angular position control * Add same ROS parameters than real arm and adjust first timestamp to not be 0 * Fix MoveIt config Gen3 lite home position * Added ReachPose implementation, twist limits still hardcoded * Add twist limits files for simulation * Use the correct Cartesian velocity and acceleration values for each arm and correctly use velocity limits in constraints * Add simulated feedback support and change current state to fetch joint_states instead of controller state * Added implementation for gripper control * Fixed a Robotiq 2F-140 typo in the moveit config * Added indexes for first arm joint and gripper joint because sometimes gripper joint is at the start of joint_states and sometimes it's at the end * Changed the way the individual position controllers are loaded and started as well as added service client in simulator to switch controllers based on RPC called * Added implementation for angular velocity control and added joint limits to simulation class. Will need a way to wrap-around angles now that velocity control for infinite spinning joint is on. * Added wrapping around in reach joint angles * Fix a problem with timestamps * Added an implementation for SendTwistCommand but not stable enough to be activated so handler is commented out * Dont start the joint_7 controller for a 6DOF robot * Changed the examples to use notifications to check whether an action is finished or not and removed the sleeps * Put back the homing script for Gazebo and removed the copyright notice since we don't use MoveIt anymore to home the arm * Adapt documentation for new simulation features * Updated the package.xml's with bumped versions and author and maintainer tags * Few minor tweaks in the examples * Added a bit of details in the documentation
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This PR adds a simulation class responsible to intercept ROS Services normally aimed at the robot, and to execute those calls so they work for a simulated arm in Gazebo.
Included in this PR :
prefixkey that was added in the last PR.Excluded from this PR :