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@yaseinod

MoveItFakeControllerManagerとは

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呼び出される順番

ファイルはpanda_moveit_configより引用。
demo.launchで起動したと仮定

demo.launch
<launch>

  <!-- By default, we do not start a database (it can be large) -->
  <arg name="db" default="false" />
  <!-- Allow user to specify database location -->
  <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db" />

  <!-- By default, we are not in debug mode -->
  <arg name="debug" default="false" />
  <arg name="pipeline" default="ompl" />

  <!--
  By default, hide joint_state_publisher's GUI
  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
  The latter one maintains and publishes the current joint configuration of the simulated robot.
  It also provides a GUI to move the simulated robot around "manually".
  This corresponds to moving around the real robot without the use of MoveIt.
  -->
  <arg name="rviz_tutorial" default="false" />
  <arg name="use_gui" default="false" />

  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
    <arg name="load_robot_description" value="true"/>
  </include>

  <!-- If needed, broadcast static tf for robot root -->
  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world panda_link0" />

  <!-- We do not have a robot connected, so publish fake joint states -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="$(arg use_gui)"/>
    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
  </node>
  <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />

  <!-- Given the published joint states, publish tf for the robot links -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />

  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
  <include file="$(find panda_moveit_config)/launch/move_group.launch">
    <arg name="allow_trajectory_execution" value="true"/>
    <arg name="fake_execution" value="true"/>
    <arg name="info" value="true"/>
    <arg name="debug" value="$(arg debug)"/>
    <arg name="pipeline" value="$(arg pipeline)"  />
  </include>

  <!-- Run Rviz -->
  <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch">
    <arg name="rviz_tutorial" value="$(arg rviz_tutorial)"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

  <!-- If database loading was enabled, start mongodb as well -->
  <include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
  </include>

</launch>

move_group.launchにfake_exectionのパラメタを渡している

move_group.launch
<launch>

  <arg name="load_gripper" default="true" />

  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
    <arg name="load_gripper" value="$(arg load_gripper)" />
  </include>

  <arg name="pipeline" default="ompl" />

  <!-- GDB Debug Option -->
  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix"
       value="gdb -x $(find panda_moveit_config)/launch/gdb_settings.gdb --ex run --args" />

  <!-- Verbose Mode Option -->
  <arg name="info" default="$(arg debug)" />
  <arg unless="$(arg info)" name="command_args" value="" />
  <arg     if="$(arg info)" name="command_args" value="--debug" />

  <!-- move_group settings -->
  <arg name="allow_trajectory_execution" default="true"/>
  <arg name="fake_execution" default="false"/>
  <arg name="max_safe_path_cost" default="1"/>
  <arg name="jiggle_fraction" default="0.05" />
  <arg name="publish_monitored_planning_scene" default="true"/>

  <!-- Planning Functionality -->
  <include ns="move_group" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
    <arg name="pipeline" value="$(arg pipeline)" />
  </include>

  <!-- Trajectory Execution Functionality -->
  <include ns="move_group" file="$(find panda_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
    <arg name="moveit_manage_controllers" value="true" />
    <arg name="moveit_controller_manager" value="panda" if="$(eval not arg('fake_execution') and not arg('load_gripper'))"/>
    <arg name="moveit_controller_manager" value="panda_gripper" if="$(eval not arg('fake_execution') and arg('load_gripper'))"/>
    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
  </include>

  <!-- Sensors Functionality -->
  <include ns="move_group" file="$(find panda_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
    <arg name="moveit_sensor_manager" value="panda" />
  </include>

  <!-- Start the actual move_group node/action server -->
  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
    <!-- Set the display variable, in case OpenGL code is used internally -->
    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />

    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />

    <!-- load these non-default MoveGroup capabilities -->
    <!--
    <param name="capabilities" value="
                  a_package/AwsomeMotionPlanningCapability
                  another_package/GraspPlanningPipeline
                  " />
    -->

    <!-- inhibit these default MoveGroup capabilities -->
    <!--
    <param name="disable_capabilities" value="
                  move_group/MoveGroupKinematicsService
                  move_group/ClearOctomapService
                  " />
    -->

    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />

    <remap from="/joint_states" to="/joint_states_desired" />
  </node>

</launch>

moveit_controller_manegerの値がfakeかpandaになる。

trajectory_execution.launch.xml
<launch>

  <!-- This file makes it easy to include the settings for trajectory execution  -->  

  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
  <arg name="moveit_manage_controllers" default="true"/>
  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>

  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->

  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
  <arg name="moveit_controller_manager" default="panda" />
  <include file="$(find panda_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />

</launch>

fake_moveit_controller_manager.launch.xmlかpanda_moveit_controller_manager.launch.xmlを呼び出す。

fake_moveit_controller_manager.launch.xml
<launch>

  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>

  <!-- The rest of the params are specific to this plugin -->
  <rosparam file="$(find panda_moveit_config)/config/fake_controllers.yaml"/>

</launch>
panda_moveit_controller_manager.launch.xml
 <launch>
  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
  <!-- load controller_list -->
  <rosparam file="$(find panda_moveit_config)/config/panda_controllers.yaml"/>
 </launch>

設定の二つのyamlファイルは以下の通り

fake_controllers.yaml
controller_list:
  - name: fake_panda_arm_controller
    joints:
      - panda_joint1
      - panda_joint2
      - panda_joint3
      - panda_joint4
      - panda_joint5
      - panda_joint6
      - panda_joint7
  - name: fake_hand_controller
    joints:
      - panda_finger_joint1
      - panda_finger_joint2
initial:
  - group: panda_arm
    pose: ready
  - group: hand
    pose: open
panda_controllers.yaml
 controller_list:
  - name: position_joint_trajectory_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - panda_joint1
      - panda_joint2
      - panda_joint3
      - panda_joint4
      - panda_joint5
      - panda_joint6
      - panda_joint7

MoveItFakeControllerManagerとは

  • 実機を使わずにRVizで表示させたときに便利なコントローラ。使用する際にはfake_controllerの中身を変更する必要がありそう。参考
  • interpolate、via points、last pointのtypeから指定する

For configuration, edit the file config/fake_controllers.yaml, and adjust the desired controller type. The following controllers are available:

fake_controller.yaml
rate: 10 (Hz, used for interpolation controller)
controller_list:
  - name: fake_arm_controller
    type: interpolate | via points | last point
    joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4
      - joint_5
      - joint_6
  - name: fake_gripper_controller
    joints:
      []
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