New urdf

src/Arm/arm_control/.setup_assistant

@@ -0,0 +1,23 @@
+moveit_setup_assistant_config:
+  urdf:
+    package: rover_urdf
+    relative_path: urdf/rover_urdf.urdf.xacro
+  srdf:
+    relative_path: config/rover_urdf.srdf
+  package_settings:
+    author_name: Connor Needham
+    author_email: connor.needham2015@gmail.com
+    generated_timestamp: 1767296302
+  control_xacro:
+    command:
+      []
+    state:
+      []
+  modified_urdf:
+    xacros:
+      - control_xacro
+  control_xacro:
+    command:
+      []
+    state:
+      []

src/Arm/arm_srdf/CMakeLists.txt → src/Arm/arm_control/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(arm_srdf)
+project(arm_control)
 
 find_package(ament_cmake REQUIRED)
 

src/Arm/arm_srdf/config/arm_config.yaml → src/Arm/arm_control/config/arm_config.yaml

@@ -26,8 +26,8 @@ scale:
 command_out_type: trajectory_msgs/JointTrajectory
 
 # What to publish? Can save some bandwidth as most robots only require positions or velocities
-publish_joint_positions: false
-publish_joint_velocities: true
+publish_joint_positions: true
+publish_joint_velocities: false
 publish_joint_accelerations: false
 
 #low_pass_filter_coeff: 2.0
@@ -43,9 +43,9 @@ is_primary_planning_scene_monitor: false
 check_octomap_collisions: false  # Check collision against the octomap (if a 3D sensor plugin is available)
 
 ## MoveIt properties
-move_group_name: rover_arm  # Often 'manipulator' or 'arm'
+move_group_name: arm  # Often 'manipulator' or 'arm'
 planning_frame: Link_1
-ee_frame_name: eef_link
+ee_frame_name: EndEffector
 robot_link_command_frame: Link_1
 
 ## Stopping behaviour
@@ -70,10 +70,10 @@ cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian t
 joint_command_in_topic: ~/delta_joint_cmds  # Topic for incoming joint angle commands
 joint_topic: /joint_states  # Get joint states from this tpoic
 status_topic: ~/status  # Publish status to this topic
-command_out_topic: /rover_arm_controller/joint_trajectory  # Publish outgoing commands here
+command_out_topic: /arm_controller/joint_trajectory  # Publish outgoing commands here
 
 ## Collision checking for the entire robot body
-check_collisions: false  # Check collisions?
+check_collisions: true  # Check collisions?
 collision_check_rate: 10.0  # [Hz] Collision-checking can easily bog down a CPU if done too often.
 self_collision_proximity_threshold: 0.01  # Start decelerating when a self-collision is this far [m]
 scene_collision_proximity_threshold: 0.02  # Start decelerating when a scene collision is this far [m]

src/Arm/arm_srdf/config/kinematics.yaml → src/Arm/arm_control/config/kinematics.yaml

@@ -1,4 +1,4 @@
-rover_arm:
+arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.0050000000000000001
   kinematics_solver_timeout: 0.0050000000000000001

src/Arm/arm_srdf/config/moveit.rviz → src/Arm/arm_control/config/moveit.rviz

@@ -27,7 +27,7 @@ Visualization Manager:
         Robot Alpha: 0.5
       Value: true
   Global Options:
-    Fixed Frame: Link_1
+    Fixed Frame: base_link
   Tools:
     - Class: rviz_default_plugins/Interact
     - Class: rviz_default_plugins/MoveCamera
@@ -43,7 +43,7 @@ Visualization Manager:
         Z: 0.30
       Name: Current View
       Pitch: 0.5
-      Target Frame: Link_1
+      Target Frame: base_link
       Yaw: -0.623
 Window Geometry:
   Height: 975

src/Arm/arm_srdf/config/moveit_controllers.yaml → src/Arm/arm_control/config/moveit_controllers.yaml

@@ -4,9 +4,9 @@ moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControll
 
 moveit_simple_controller_manager:
   controller_names:
-    - rover_arm_controller
+    - arm_controller
 
-  rover_arm_controller:
+  arm_controller:
     type: FollowJointTrajectory
     joints:
       - Joint_1

src/Arm/arm_srdf/config/ros2_controllers.yaml → src/Arm/arm_control/config/ros2_controllers.yaml

@@ -3,14 +3,14 @@ controller_manager:
   ros__parameters:
     update_rate: 100  # Hz
 
-    rover_arm_controller:
+    arm_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-rover_arm_controller:
+arm_controller:
   ros__parameters:
     joints:
       - Joint_1
@@ -20,9 +20,7 @@ rover_arm_controller:
       - Joint_5
       - Joint_6
     command_interfaces:
-      - velocity
+      - position
     state_interfaces:
       - position
-      - velocity
-    allow_integration_in_goal_trajectories: true
-    open_loop_control: true
+      - velocity

src/Arm/arm_control/launch/move_group.launch.py

@@ -0,0 +1,9 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_move_group_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder(
+        "rover_urdf", package_name="arm_control"
+    ).to_moveit_configs()
+    return generate_move_group_launch(moveit_config)

src/Arm/arm_srdf/launch/moveit_rviz.launch.py → src/Arm/arm_control/launch/moveit_rviz.launch.py

@@ -4,6 +4,6 @@
 
 def generate_launch_description():
     moveit_config = MoveItConfigsBuilder(
-        "arm_urdf", package_name="arm_srdf"
+        "rover_urdf", package_name="arm_control"
     ).to_moveit_configs()
     return generate_moveit_rviz_launch(moveit_config)

src/Arm/arm_srdf/launch/servo.launch.py → src/Arm/arm_control/launch/servo.launch.py

@@ -40,26 +40,16 @@ def arm_launch(moveit_config, launch_package_path=None) -> LaunchDescription:
     Launch a self-contained MoveIt demo.
 
     Includes:
-      * robot_state_publisher
       * move_group
-      * moveit_rviz
+      * moveit_rviz (Optional)
       * ros2_control_node + controller spawners
     """
     if launch_package_path is None:
         launch_package_path = moveit_config.package_path
 
     ld = LaunchDescription()
-
-    # Launch arguments
-    ld.add_action(DeclareBooleanLaunchArg("use_composition", default_value=True))
-    ld.add_action(
-        DeclareBooleanLaunchArg("use_intra_process_comms", default_value=True)
-    )
     ld.add_action(DeclareBooleanLaunchArg("use_rviz", default_value=False))
 
-    use_composition = LaunchConfiguration("use_composition")
-    use_intra_process_comms = LaunchConfiguration("use_intra_process_comms")
-
     # Move group
     ld.add_action(generate_move_group_launch(moveit_config))
 
@@ -75,11 +65,10 @@ def arm_launch(moveit_config, launch_package_path=None) -> LaunchDescription:
     )
 
     # Common parameters
-    servo_yaml = load_yaml("arm_srdf", "config/arm_config.yaml")
+    servo_yaml = load_yaml("arm_control", "config/arm_config.yaml")
     parameters = [
         {
             "moveit_servo": servo_yaml,
-            "use_intra_process_comms": use_intra_process_comms,
             "publish_frequency": 15.0,
         },
         moveit_config.robot_description,
@@ -95,69 +84,29 @@ def arm_launch(moveit_config, launch_package_path=None) -> LaunchDescription:
         parameters=parameters,
         remappings=[("/controller_manager/robot_description", "/robot_description")],
     )
-
-    # Non-composed nodes
-    load_nodes = GroupAction(
-        condition=IfCondition(PythonExpression(["not ", use_composition])),
-        actions=[
-            Node(
-                package="moveit_servo",
-                executable="servo_node_main",
-                parameters=parameters,
-                output="screen",
-            ),
-            Node(
-                package="robot_state_publisher",
-                executable="robot_state_publisher",
-                name="robot_state_publisher",
-                parameters=parameters,
-            ),
-        ],
-    )
-
-    # Composable container
-    container_name = "arm_container"
-    container = ComposableNodeContainer(
-        namespace="",
-        package="rclcpp_components",
-        executable="component_container_isolated",
-        name=container_name,
+    servo_node = Node(
+        package="moveit_servo",
+        executable="servo_node_main",
+        parameters=parameters,
         output="screen",
-        condition=IfCondition(use_composition),
-    )
-
-    # Composable nodes (loaded into container when composition is enabled)
-    load_composable_nodes = LoadComposableNodes(
-        condition=IfCondition(use_composition),
-        target_container=container_name,
-        composable_node_descriptions=[
-            ComposableNode(
-                package="moveit_servo",
-                plugin="moveit_servo::ServoNode",
-                name="servo_node",
-                parameters=parameters,
-            ),
-            ComposableNode(
-                package="robot_state_publisher",
-                plugin="robot_state_publisher::RobotStatePublisher",
-                name="robot_state_publisher",
-                parameters=parameters,
-            ),
-        ],
     )
 
     # Add actions to launch description
     ld.add_action(control_node)
-    ld.add_action(load_nodes)
-    ld.add_action(container)
-    ld.add_action(load_composable_nodes)
+    ld.add_action(servo_node)
     return ld
 
 
 def generate_launch_description() -> LaunchDescription:
+    urdf_pkg = get_package_share_directory("rover_urdf")
+    urdf_path = os.path.join(
+        urdf_pkg,
+        "urdf",
+        "rover_urdf.urdf.xacro",
+    )
     moveit_config = (
-        MoveItConfigsBuilder("arm_urdf", package_name="arm_srdf")
-        .robot_description(file_path="config/arm_urdf.urdf.xacro")
+        MoveItConfigsBuilder("rover_urdf", package_name="arm_control")
+        .robot_description(file_path=urdf_path)
         .to_moveit_configs()
     )
     return arm_launch(moveit_config)

src/Arm/arm_control/launch/spawn_controllers.launch.py

@@ -0,0 +1,9 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_spawn_controllers_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder(
+        "rover_urdf", package_name="arm_control"
+    ).to_moveit_configs()
+    return generate_spawn_controllers_launch(moveit_config)

src/Arm/arm_srdf/package.xml → src/Arm/arm_control/package.xml

@@ -1,20 +1,20 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>arm_srdf</name>
+  <name>arm_control</name>
   <version>0.3.0</version>
   <description>
-     An automatically generated package with all the configuration and launch files for using the arm_urdf with the MoveIt Motion Planning Framework
+     An automatically generated package with all the configuration and launch files for using the rover_urdf with the MoveIt Motion Planning Framework
   </description>
-  <maintainer email="wyf132@gmail.com">William Fan</maintainer>
+  <maintainer email="connor.needham2015@gmail.com">Connor Needham</maintainer>
 
   <license>BSD</license>
 
   <url type="website">http://moveit.ros.org/</url>
   <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
   <url type="repository">https://github.com/ros-planning/moveit2</url>
 
-  <author email="wyf132@gmail.com">William Fan</author>
+  <author email="connor.needham2015@gmail.com">Connor Needham</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
@@ -30,21 +30,15 @@
        We don't include them by default to prevent installing gazebo and all its dependencies. -->
   <!-- <exec_depend>joint_trajectory_controller</exec_depend> -->
   <!-- <exec_depend>gazebo_ros_control</exec_depend> -->
-  <exec_depend>arm_urdf</exec_depend>
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>moveit_configs_utils</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>
   <exec_depend>moveit_ros_visualization</exec_depend>
-  <exec_depend>moveit_ros_warehouse</exec_depend>
-  <exec_depend>moveit_servo</exec_depend>
-  <exec_depend>moveit_setup_assistant</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rover_urdf</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>rviz_common</exec_depend>
   <exec_depend>rviz_default_plugins</exec_depend>
-  <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>warehouse_ros</exec_depend>
-  <exec_depend>ros_phoenix</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
 
   <export>