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| name: build-ubuntu-22.04-fri-1.11 | ||
| on: | ||
| pull_request: | ||
| branches: | ||
| - humble | ||
| workflow_dispatch: | ||
| schedule: | ||
| - cron: "0 0 * * 0" | ||
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| jobs: | ||
| build: | ||
| uses: ./.github/workflows/build.yml | ||
| with: | ||
| os: ubuntu-22.04 | ||
| fri_version: 1.11 |
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| name: build-ubuntu-22.04-fri-1.14 | ||
| on: | ||
| pull_request: | ||
| branches: | ||
| - humble | ||
| workflow_dispatch: | ||
| schedule: | ||
| - cron: "0 0 * * 0" | ||
|
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| jobs: | ||
| build: | ||
| uses: ./.github/workflows/build.yml | ||
| with: | ||
| os: ubuntu-22.04 | ||
| fri_version: 1.14 |
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| name: build-ubuntu-22.04-fri-1.15 | ||
| on: | ||
| pull_request: | ||
| branches: | ||
| - humble | ||
| workflow_dispatch: | ||
| schedule: | ||
| - cron: "0 0 * * 0" | ||
|
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| jobs: | ||
| build: | ||
| uses: ./.github/workflows/build.yml | ||
| with: | ||
| os: ubuntu-22.04 | ||
| fri_version: 1.15 |
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| name: build-ubuntu-22.04-fri-1.16 | ||
| on: | ||
| pull_request: | ||
| branches: | ||
| - humble | ||
| workflow_dispatch: | ||
| schedule: | ||
| - cron: "0 0 * * 0" | ||
|
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| jobs: | ||
| build: | ||
| uses: ./.github/workflows/build.yml | ||
| with: | ||
| os: ubuntu-22.04 | ||
| fri_version: 1.16 |
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| name: build-ubuntu-22.04-fri-2.5 | ||
| on: | ||
| pull_request: | ||
| branches: | ||
| - humble | ||
| workflow_dispatch: | ||
| schedule: | ||
| - cron: "0 0 * * 0" | ||
|
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| jobs: | ||
| build: | ||
| uses: ./.github/workflows/build.yml | ||
| with: | ||
| os: ubuntu-22.04 | ||
| fri_version: 2.5 |
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| name: build-ubuntu-22.04-fri-2.7 | ||
| on: | ||
| pull_request: | ||
| branches: | ||
| - humble | ||
| workflow_dispatch: | ||
| schedule: | ||
| - cron: "0 0 * * 0" | ||
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| jobs: | ||
| build: | ||
| uses: ./.github/workflows/build.yml | ||
| with: | ||
| os: ubuntu-22.04 | ||
| fri_version: 2.7 |
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| name: Build | ||
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| on: | ||
| pull_request: | ||
| branches: | ||
| - humble | ||
| workflow_dispatch: | ||
| schedule: | ||
| - cron: "0 0 * * 0" | ||
| workflow_call: # https://github.com/orgs/community/discussions/52616#discussioncomment-9364532 | ||
| inputs: | ||
| os: | ||
| required: true | ||
| type: string | ||
| fri_version: | ||
| required: true | ||
| type: string | ||
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| # ros 2 ci: https://github.com/marketplace/actions/ros-2-ci-action | ||
| # doc: https://ubuntu.com/blog/ros-2-ci-with-github-actions | ||
| jobs: | ||
| build: | ||
| runs-on: ${{ matrix.os }} | ||
| strategy: | ||
| matrix: | ||
| os: [ubuntu-22.04] | ||
| fri_version: [1.11, 1.14, 1.15, 1.16, 2.5, 2.7] | ||
| runs-on: ${{ inputs.os }} | ||
| steps: | ||
| - uses: ros-tooling/[email protected] | ||
| - uses: ros-tooling/[email protected] | ||
| with: | ||
| package-name: lbr_fri_ros2_stack | ||
| target-ros2-distro: humble | ||
| vcs-repo-file-url: https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${{ matrix.fri_version }}.yaml | ||
| vcs-repo-file-url: https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${{ inputs.fri_version }}.yaml |
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| cmake_minimum_required(VERSION 3.22) | ||
| project(lbr_moveit_cpp) | ||
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| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() | ||
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| if(NOT CMAKE_BUILD_TYPE) | ||
| set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type" FORCE) | ||
| endif() | ||
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| # find dependencies | ||
| find_package(ament_cmake REQUIRED) | ||
| find_package(geometry_msgs REQUIRED) | ||
| find_package(moveit_ros_planning_interface REQUIRED) | ||
| find_package(rclcpp REQUIRED) | ||
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| add_executable(hello_moveit src/hello_moveit.cpp) | ||
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| ament_target_dependencies(hello_moveit | ||
| geometry_msgs | ||
| moveit_ros_planning_interface | ||
| rclcpp | ||
| ) | ||
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| install(DIRECTORY launch | ||
| DESTINATION share/${PROJECT_NAME} | ||
| ) | ||
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| install(TARGETS hello_moveit | ||
| DESTINATION lib/${PROJECT_NAME} | ||
| ) | ||
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| ament_package() |
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| lbr_moveit_cpp | ||
| ============== | ||
| .. note:: | ||
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| Also refer to the official `MoveIt <https://moveit.picknik.ai/humble/doc/tutorials/your_first_project/your_first_project.html>`_:octicon:`link-external` documentation. | ||
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| .. contents:: Table of Contents | ||
| :depth: 2 | ||
| :local: | ||
| :backlinks: none | ||
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| MoveIt via C++ API | ||
| ------------------ | ||
| Simulation | ||
| ~~~~~~~~~~ | ||
| #. Run the robot driver: | ||
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| .. code-block:: bash | ||
| ros2 launch lbr_bringup bringup.launch.py \ | ||
| moveit:=true \ | ||
| sim:=true \ | ||
| model:=iiwa7 # [iiwa7, iiwa14, med7, med14] | ||
| #. Run the `hello_moveit <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_moveit_cpp/src/hello_moveit.cpp>`_:octicon:`link-external` node: | ||
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| .. code-block:: bash | ||
| ros2 launch lbr_moveit_cpp hello_moveit.launch.py \ | ||
| sim:=true \ | ||
| model:=iiwa7 # [iiwa7, iiwa14, med7, med14] | ||
| Hardware | ||
| ~~~~~~~~ | ||
| #. Client side configurations: | ||
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| #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external` | ||
| #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external` | ||
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| #. Remote side configurations: | ||
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| #. .. dropdown:: Launch the ``LBRServer`` application on the ``KUKA smartPAD`` | ||
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| .. thumbnail:: ../../doc/img/applications_lbr_server.png | ||
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| #. Select | ||
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| - ``FRI send period``: ``10 ms`` | ||
| - ``IP address``: ``your configuration`` | ||
| - ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL`` | ||
| - ``FRI client command mode``: ``POSITION`` | ||
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| #. Proceed with steps 1 and 2 from `Simulation`_ but with ``sim:=false``. | ||
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| Examining the Code | ||
| ~~~~~~~~~~~~~~~~~~ | ||
| The source code for this demo is available on `GitHub <https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/humble/lbr_demos/lbr_moveit_cpp>`_:octicon:`link-external`. The demo vastly follows the official `MoveIt <https://moveit.picknik.ai/humble/doc/tutorials/your_first_project/your_first_project.html>`_:octicon:`link-external` demo. | ||
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| Differently, this repository puts the ``MoveGroup`` under a namespace. The ``MoveGroup`` is thus created as follows: | ||
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| .. code-block:: cpp | ||
| // Create MoveGroupInterface (lives inside robot_name namespace) | ||
| auto move_group_interface = moveit::planning_interface::MoveGroupInterface( | ||
| node_ptr, moveit::planning_interface::MoveGroupInterface::Options("arm", "robot_description", | ||
| robot_name)); | ||
| The ``MoveGroup`` configurations are parsed conveniently through a mixin: | ||
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| .. code-block:: python | ||
| from launch_mixins.lbr_bringup import LBRMoveGroupMixin | ||
| ... | ||
| model = LaunchConfiguration("model").perform(context) | ||
| # generate moveit configs | ||
| moveit_configs = LBRMoveGroupMixin.moveit_configs_builder( | ||
| robot_name=model, | ||
| package_name=f"{model}_moveit_config", | ||
| ) | ||
| .. note:: | ||
|
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| The MoveIt configurations might vary depending the user's configurations. |
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