[learning materials] some code in xxx_moveit_config package generated by moveit setup assistant

demo.launch.py

from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_demo_launch


def generate_launch_description():
    moveit_config = MoveItConfigsBuilder(
        "ec66", package_name="elite_moveit_config"
    ).to_moveit_configs()
    """"
    What does `generate_demo_launch` do:
    Get a LaunchDescription, basically it collects many launch description
    It includes:
     * declare arguments: 
        * db = False, debug = False, use_rviz = True
     * static_virtual_joint_tfs: broadcast virtual joints [static_virtual_joint_tfs.launch.py]
     * robot_state_publisher: publish tf for links [rsp.launch.py]
     * move_group [move_group.launch.py]
     * moveit_rviz [moveit_rviz.launch.py] if "use_rviz"
     * warehouse_db (optional) [warehouse_db.launch.py] if "db"
     * ros2_control_node + controller spawners: Fake joint driver
        * ros2_control_node: controller_manager/ros2_control_node (specified in ros2_controllers.yaml)
        * spawners: [spawn_controllers.launch.py] (specified in moveit_controllers.yaml)
    """
    return generate_demo_launch(moveit_config)

ec66.srdf

<robot name="ec66">
    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
    <group name="test_group">
        <chain base_link="base_link" tip_link="flan"/>
    </group>
    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
    <group_state name="home" group="test_group">
        <joint name="joint1" value="0"/>
        <joint name="joint2" value="-1.57"/>
        <joint name="joint3" value="1.57"/>
        <joint name="joint4" value="0"/>
        <joint name="joint5" value="0"/>
        <joint name="joint6" value="0"/>
    </group_state>
    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
    <disable_collisions link1="base_link" link2="link1" reason="Adjacent"/>
    <disable_collisions link1="base_link" link2="link2" reason="Never"/>
    <disable_collisions link1="base_link" link2="link4" reason="Never"/>
    <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
    <disable_collisions link1="link1" link2="link3" reason="Never"/>
    <disable_collisions link1="link1" link2="link4" reason="Never"/>
    <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
    <disable_collisions link1="link2" link2="link4" reason="Never"/>
    <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
    <disable_collisions link1="link3" link2="link5" reason="Never"/>
    <disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
    <disable_collisions link1="link4" link2="link6" reason="Never"/>
    <disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
</robot>

move_group.launch.py

from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_move_group_launch


def generate_launch_description():
    moveit_config = MoveItConfigsBuilder(
        "ec66", package_name="elite_moveit_config"
    ).to_moveit_configs()
    """
    generate_move_group_launch:
    Get a LaunchDescription includes:
    - declare parameter: 
        - debug = false
        - allow_trajectory_execution = True
        - publish_monitored_planning_scene = True
        - capabilities = ""
        - disable_capabilities = ""
        - monitor_dynamics = False
    - node: moveit_ros_move_group/move_group
    """
    return generate_move_group_launch(moveit_config)

moveit_controllers.yaml

# MoveIt uses this configuration for controller management

moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:
  controller_names:
    - elite_robo_arm_controller
    - elite_robot_hand_controller

  elite_robo_arm_controller:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
    action_ns: follow_joint_trajectory
    default: true
  elite_robot_hand_controller:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - joint6
    action_ns: follow_joint_trajectory
    default: true

moveit_rviz.launch.py

from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_moveit_rviz_launch


def generate_launch_description():
    moveit_config = MoveItConfigsBuilder(
        "ec66", package_name="elite_moveit_config"
    ).to_moveit_configs()
    """
    generate_moveit_rviz_launch:
    Get a LaunchDescription
    - delare arguments:
        debug = False
        rviz_config = config/moveit.rviz
    - node: rviz2/rviz2
    """
    return generate_moveit_rviz_launch(moveit_config)

ros2_controllers.yaml

# This config file is used by ros2_control
controller_manager:
  ros__parameters:
    update_rate: 100  # Hz

    elite_robo_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    elite_robot_hand_controller:
      type: position_controllers/GripperActionController


    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

elite_robo_arm_controller:
  ros__parameters:
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
elite_robot_hand_controller:
  ros__parameters:
    joint: joint6

rsp.launch.py

from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_rsp_launch


def generate_launch_description():
    moveit_config = MoveItConfigsBuilder(
        "ec66", package_name="elite_moveit_config"
    ).to_moveit_configs()
    """
    generate_rsp_launch:
    Get a LaunchDescription for robot state publisher (rsp)
    - delare arguments: publish_frequency = 15.0
    - node: robot_state_publisher/robot_state_publisher
        - with parameter: robot_description, publish_frequency
    """
    return generate_rsp_launch(moveit_config)

spawn_controllers.launch.py

from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_spawn_controllers_launch


def generate_launch_description():
    moveit_config = MoveItConfigsBuilder(
        "ec66", package_name="elite_moveit_config"
    ).to_moveit_configs()
    """
    generate_spawn_controllers_launch:
    Get a LaunchDescription with controller_manager/spawner nodes for:
    - each controller (specified in moveit_config.trajectory_execution['moveit_simple_controller_manager']['controller_names'])
    - joint_state_broadcaster
    
    Note:
    moveit_config.trajectory_execution, by default (if no path specified)
    search for a file `configs/xxx_controllers.yaml`, desired name:
    - `moveit_controllers.yaml`
    - `moveit2_controllers.yaml`
    - `${robot_name}_controllers.yaml`
    """
    return generate_spawn_controllers_launch(moveit_config)

static_virtual_joint_tfs.launch.py

from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch


def generate_launch_description():
    moveit_config = MoveItConfigsBuilder(
        "ec66", package_name="elite_moveit_config"
    ).to_moveit_configs()
    """
    generate_static_virtual_joint_tfs_launch:
    get a launch description
    include node: tf2_ros/static_transform_publisher
    publish all virtual_joints specified in srdf
    """
    return generate_static_virtual_joint_tfs_launch(moveit_config)

warehouse_db.launch.py

from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_warehouse_db_launch


def generate_launch_description():
    moveit_config = MoveItConfigsBuilder(
        "ec66", package_name="elite_moveit_config"
    ).to_moveit_configs()
    """
    generate_warehouse_db_launch:
    Get a LaunchDescription for warehouse database
    - delacre arguments: moveit_warehouse_database_path = default_warehouse_mongo_db
    
    Moveit_warehouse_database is a SQLite database 
    used by MoveIt! to store information 
    about robot configurations, trajectories, and other data. 
    """
    return generate_warehouse_db_launch(moveit_config)