KhairulM

<?xml version="1.0"?>
<robot name="iris_depth_cameras"
  xmlns:xacro="http://ros.org/wiki/xacro">
  <virtual_joint name="world_joint" type="floating" parent_frame="map" child_link="base_link"/>

  <group name="base">
    <joint name="world_joint"/>
    <link name="base_link"/>
  </group>

KhairulM

<?xml version="1.0"?>
<robot name="iris_depth_cameras"
  xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:property name="base_width" value="0.47"/>
  <xacro:property name="base_length" value="0.47"/>
  <xacro:property name="base_height" value="0.23"/>

  <xacro:property name="camera_width" value="0.1"/>
  <xacro:property name="camera_length" value="0.1"/>
  <xacro:property name="camera_height" value="0.1"/>

KhairulM

planner_node:
  ros__parameters:
    ompl:
      planner_configs:
        SBLkConfigDefault:
          type: geometric::SBL
          range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
        ESTkConfigDefault:
          type: geometric::EST
          range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()

KhairulM

planner_node:
  ros__parameters:
    robot_description_planning:
      joint_limits:
        world_joint:
          has_velocity_limits: true
          max_velocity: 0.2
          has_acceleration_limits: true
          max_acceleration: 0.04

KhairulM

planner_node:
  ros__parameters:
    planning_pipelines:
      pipeline_names:
        - ompl

    ompl:
      planning_plugin: ompl_interface/OMPLPlanner
      start_state_max_bounds_error: 0.1

KhairulM

planner_node:
  ros__parameters:
    moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
    moveit_simple_controller_manager:
      controller_names:
        - base_controller
      base_controller:
        action_ns: follow_joint_trajectory
        type: FollowJointTrajectory
        default: true

KhairulM

<launch>
  <node pkg="flight_navigator" exec="planner_node" output="screen">
    <param name="robot_description_semantic" value="$(command 'xacro $(find-pkg-share aidrone_sim)/models/simple_quadcopter/iris_depth_cameras.srdf.xacro')"/>
    <param name="publish_robot_description_semantic" value="true"/>

    <param from="$(find-pkg-share flight_navigator)/config/moveit_cpp.yaml"/>
    <param from="$(find-pkg-share flight_navigator)/config/moveit_controllers.yaml"/>
    <param from="$(find-pkg-share flight_navigator)/config/moveit_ompl_planning.yaml"/>
    <param from="$(find-pkg-share flight_navigator)/config/moveit_joint_limits.yaml"/>
  </node>

KhairulM

[INFO] [launch]: All log files can be found below /home/aidrone/.ros/log/2022-09-12-07-22-28-780334-CADIT-Admin-12240                                            
[INFO] [launch]: Default logging verbosity is set to INFO                                                                                                        
[INFO] [planner_node-1]: process started with pid [12244]                                                                                                        
[INFO] [planning_scene_publisher-2]: process started with pid [12246]                                                                                            
[planning_scene_publisher-2] [INFO] [1662967349.438187632] [planning_scene_world_publisher]: Starting planning scene world publisher                             
[planner_node-1] [INFO] [1662967349.591954013] [Planner]: Starting path planner                                                                                  
[planner_node-1] [INFO] [1662967355.135340061] [Plan