Diff between franka_ros and ros_planning panda_moveit_config

franka_ros_vs_rosplanning.patch

Only in ros_planning/panda_moveit_config/config: chomp_planning.yaml
Only in ros_planning/panda_moveit_config/config: controllers.yaml
diff -ruwB franka_ros/panda_moveit_config/config/fake_controllers.yaml ros_planning/panda_moveit_config/config/fake_controllers.yaml
--- franka_ros/panda_moveit_config/config/fake_controllers.yaml	2018-06-01 12:23:14.233108333 +0200
+++ ros_planning/panda_moveit_config/config/fake_controllers.yaml	2018-06-15 11:52:07.408434277 +0200
@@ -12,6 +12,3 @@
     joints:
       - panda_finger_joint1
       - panda_finger_joint2
-initial:
-  - group: panda_arm_hand
-    pose: ready
Only in franka_ros/panda_moveit_config/config: hand.xacro
diff -ruwB franka_ros/panda_moveit_config/config/joint_limits.yaml ros_planning/panda_moveit_config/config/joint_limits.yaml
--- franka_ros/panda_moveit_config/config/joint_limits.yaml	2018-06-01 12:23:14.233108333 +0200
+++ ros_planning/panda_moveit_config/config/joint_limits.yaml	2018-06-15 11:52:07.408434277 +0200
@@ -2,48 +2,48 @@
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
+  panda_finger_joint1:
+    has_velocity_limits: true
+    max_velocity: 0.3
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_finger_joint2:
+    has_velocity_limits: true
+    max_velocity: 0.3
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint1:
     has_velocity_limits: true
-    max_velocity: 2.3925
+    max_velocity: 2.5
     has_acceleration_limits: false
     max_acceleration: 0
   panda_joint2:
     has_velocity_limits: true
-    max_velocity: 2.3925
+    max_velocity: 2.5
     has_acceleration_limits: false
     max_acceleration: 0
   panda_joint3:
     has_velocity_limits: true
-    max_velocity: 2.3925
+    max_velocity: 2.5
     has_acceleration_limits: false
     max_acceleration: 0
   panda_joint4:
     has_velocity_limits: true
-    max_velocity: 2.3925
+    max_velocity: 2.5
     has_acceleration_limits: false
     max_acceleration: 0
   panda_joint5:
     has_velocity_limits: true
-    max_velocity: 2.871
+    max_velocity: 3
     has_acceleration_limits: false
     max_acceleration: 0
   panda_joint6:
     has_velocity_limits: true
-    max_velocity: 2.871
+    max_velocity: 3
     has_acceleration_limits: false
     max_acceleration: 0
   panda_joint7:
     has_velocity_limits: true
-    max_velocity: 2.871
-    has_acceleration_limits: false
-    max_acceleration: 0
-  panda_finger_joint1:
-    has_velocity_limits: true
-    max_velocity: 0.1
-    has_acceleration_limits: false
-    max_acceleration: 0
-  panda_finger_joint2:
-    has_velocity_limits: true
-    max_velocity: 0.1
+    max_velocity: 3
     has_acceleration_limits: false
     max_acceleration: 0
diff -ruwB franka_ros/panda_moveit_config/config/ompl_planning.yaml ros_planning/panda_moveit_config/config/ompl_planning.yaml
--- franka_ros/panda_moveit_config/config/ompl_planning.yaml	2018-06-01 12:23:14.233108333 +0200
+++ ros_planning/panda_moveit_config/config/ompl_planning.yaml	2018-06-15 11:52:07.408434277 +0200
@@ -145,31 +145,6 @@
     - LazyPRMstarkConfigDefault
     - SPARSkConfigDefault
     - SPARStwokConfigDefault
-panda_arm_hand:
-  planner_configs:
-    - SBLkConfigDefault
-    - ESTkConfigDefault
-    - LBKPIECEkConfigDefault
-    - BKPIECEkConfigDefault
-    - KPIECEkConfigDefault
-    - RRTkConfigDefault
-    - RRTConnectkConfigDefault
-    - RRTstarkConfigDefault
-    - TRRTkConfigDefault
-    - PRMkConfigDefault
-    - PRMstarkConfigDefault
-    - FMTkConfigDefault
-    - BFMTkConfigDefault
-    - PDSTkConfigDefault
-    - STRIDEkConfigDefault
-    - BiTRRTkConfigDefault
-    - LBTRRTkConfigDefault
-    - BiESTkConfigDefault
-    - ProjESTkConfigDefault
-    - LazyPRMkConfigDefault
-    - LazyPRMstarkConfigDefault
-    - SPARSkConfigDefault
-    - SPARStwokConfigDefault
 hand:
   planner_configs:
     - SBLkConfigDefault
Only in franka_ros/panda_moveit_config/config: panda_arm_hand.srdf.xacro
Only in franka_ros/panda_moveit_config/config: panda_arm.srdf.xacro
Only in franka_ros/panda_moveit_config/config: panda_arm.xacro
Only in franka_ros/panda_moveit_config/config: panda_controllers.yaml
Only in franka_ros/panda_moveit_config/config: panda_gripper_controllers.yaml
Only in ros_planning/panda_moveit_config/config: panda.srdf
Only in ros_planning/panda_moveit_config/config: sensors_kinect_depthmap.yaml
Only in ros_planning/panda_moveit_config/config: sensors_kinect_pointcloud.yaml
Only in ros_planning/panda_moveit_config: .git
Only in ros_planning/panda_moveit_config/launch: chomp_planning_pipeline.launch.xml
Only in ros_planning/panda_moveit_config/launch: demo_chomp.launch
diff -ruwB franka_ros/panda_moveit_config/launch/demo.launch ros_planning/panda_moveit_config/launch/demo.launch
--- franka_ros/panda_moveit_config/launch/demo.launch	2018-06-01 12:23:14.233108333 +0200
+++ ros_planning/panda_moveit_config/launch/demo.launch	2018-06-15 11:52:07.408434277 +0200
@@ -16,6 +16,7 @@
   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 -->
@@ -43,9 +44,9 @@
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
-  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <!-- Run Rviz -->
   <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
+    <arg name="rviz_tutorial" value="$(arg rviz_tutorial)"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
diff -ruwB franka_ros/panda_moveit_config/launch/move_group.launch ros_planning/panda_moveit_config/launch/move_group.launch
--- franka_ros/panda_moveit_config/launch/move_group.launch	2018-06-01 12:23:14.233108333 +0200
+++ ros_planning/panda_moveit_config/launch/move_group.launch	2018-06-15 11:52:07.408434277 +0200
@@ -1,15 +1,14 @@
 <launch>
 
-  <arg name="load_gripper" default="true" />
+  <include file="$(find panda_moveit_config)/launch/planning_context.launch" />
 
-  <include file="$(find panda_moveit_config)/launch/planning_context.launch">
-    <arg name="load_gripper" value="$(arg load_gripper)" />
-  </include>
+  <arg name="planner" 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 $(find panda_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
+  <arg     if="$(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)" />
@@ -25,14 +24,13 @@
 
   <!-- Planning Functionality -->
   <include ns="move_group" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="ompl" />
+    <arg name="pipeline" value="$(arg planner)" />
   </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="panda" unless="$(arg fake_execution)"/>
     <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
   </include>
Only in franka_ros/panda_moveit_config/launch: panda_gripper_moveit_controller_manager.launch.xml
diff -ruwB franka_ros/panda_moveit_config/launch/panda_moveit_controller_manager.launch.xml ros_planning/panda_moveit_config/launch/panda_moveit_controller_manager.launch.xml
--- franka_ros/panda_moveit_config/launch/panda_moveit_controller_manager.launch.xml	2018-06-01 12:23:14.233108333 +0200
+++ ros_planning/panda_moveit_config/launch/panda_moveit_controller_manager.launch.xml	2018-06-15 11:52:07.408434277 +0200
@@ -1,6 +1,7 @@
 <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="$(arg moveit_controller_manager)"/>
-
-  <rosparam file="$(find panda_moveit_config)/config/panda_controllers.yaml"/>
+  <!-- load controller_list -->
+  <rosparam file="$(find panda_moveit_config)/config/controllers.yaml"/>
 </launch>
Only in franka_ros/panda_moveit_config/launch: panda_moveit.launch
diff -ruwB franka_ros/panda_moveit_config/launch/planning_context.launch ros_planning/panda_moveit_config/launch/planning_context.launch
--- franka_ros/panda_moveit_config/launch/planning_context.launch	2018-06-01 12:23:14.233108333 +0200
+++ ros_planning/panda_moveit_config/launch/planning_context.launch	2018-06-15 11:52:07.408434277 +0200
@@ -1,6 +1,4 @@
 <launch>
-  <arg name="load_gripper" default="true" />
-
   <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
   <arg name="load_robot_description" default="false"/>
 
@@ -8,12 +6,10 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
-  <param if="$(eval arg('load_robot_description') and not arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find panda_moveit_config)/config/panda_arm_hand.srdf.xacro'" if="$(arg load_gripper)" />
-  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder '$(find panda_moveit_config)/config/panda_arm.srdf.xacro'" unless="$(arg load_gripper)" />
+  <param name="$(arg robot_description)_semantic" textfile="$(find panda_moveit_config)/config/panda.srdf" />
   
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
diff -ruwB franka_ros/panda_moveit_config/launch/setup_assistant.launch ros_planning/panda_moveit_config/launch/setup_assistant.launch
--- franka_ros/panda_moveit_config/launch/setup_assistant.launch	2018-06-01 12:23:14.233108333 +0200
+++ ros_planning/panda_moveit_config/launch/setup_assistant.launch	2018-06-15 11:52:07.408434277 +0200
@@ -7,6 +7,9 @@
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
   <!-- Run -->
-  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" args="--config_pkg=panda_moveit_config" launch-prefix="$(arg launch_prefix)" output="screen" />
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" 
+	args="--config_pkg=panda_moveit_config"
+	launch-prefix="$(arg launch_prefix)"
+        output="screen" />
 
 </launch>
diff -ruwB franka_ros/panda_moveit_config/launch/trajectory_execution.launch.xml ros_planning/panda_moveit_config/launch/trajectory_execution.launch.xml
--- franka_ros/panda_moveit_config/launch/trajectory_execution.launch.xml	2018-06-01 12:23:14.233108333 +0200
+++ ros_planning/panda_moveit_config/launch/trajectory_execution.launch.xml	2018-06-15 11:52:07.408434277 +0200
@@ -7,7 +7,7 @@
   <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="1.5"/> <!-- default 1.2 -->
+  <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 -->
Only in franka_ros/panda_moveit_config: mainpage.dox
diff -ruwB franka_ros/panda_moveit_config/package.xml ros_planning/panda_moveit_config/package.xml
--- franka_ros/panda_moveit_config/package.xml	2018-06-29 10:07:16.756656589 +0200
+++ ros_planning/panda_moveit_config/package.xml	2018-06-15 11:52:07.408434277 +0200
@@ -1,30 +1,33 @@
-<?xml version="1.0"?>
-<package format="2">
+<package>
+
   <name>panda_moveit_config</name>
-  <version>0.5.0</version>
-  <description> A partly automatically generated package with all the configuration and launch files for using Panda research with MoveIt!</description>
-  <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
-  <license>Apache 2.0</license>
-
-  <url type="website">http://wiki.ros.org/panda_moveit_config</url>
-  <url type="repository">https://github.com/frankaemika/franka_ros</url>
-  <url type="bugtracker">https://github.com/frankaemika/franka_ros/issues</url>
-  <author>Franka Emika GmbH</author>
+  <version>0.3.0</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using the panda with the MoveIt! Motion Planning Framework
+  </description>
+  <author email="mike@picknik.ai">Mike Lautman</author>
+  <maintainer email="mike@picknik.ai">Mike Lautman</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit</url>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>franka_description</depend>
+  <run_depend>moveit_ros_move_group</run_depend>
+  <run_depend>moveit_fake_controller_manager</run_depend>
+  <run_depend>moveit_kinematics</run_depend>
+  <run_depend>moveit_planners_ompl</run_depend>
+  <run_depend>moveit_ros_visualization</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>xacro</run_depend>
+  <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
+  <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
+  <build_depend>franka_description</build_depend>
+  <run_depend>franka_description</run_depend>
+
 
-  <exec_depend>joint_state_publisher</exec_depend>
-  <exec_depend>joint_trajectory_controller</exec_depend>
-  <exec_depend>moveit_commander</exec_depend>
-  <exec_depend>moveit_fake_controller_manager</exec_depend>
-  <exec_depend>moveit_kinematics</exec_depend>
-  <exec_depend>moveit_planners_ompl</exec_depend>
-  <exec_depend>moveit_ros_control_interface</exec_depend>
-  <exec_depend>moveit_ros_move_group</exec_depend>
-  <exec_depend>moveit_ros_visualization</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>xacro</exec_depend>
 </package>
Only in ros_planning/panda_moveit_config: README.md
Only in franka_ros/panda_moveit_config: rosdoc.yaml
diff -ruwB franka_ros/panda_moveit_config/.setup_assistant ros_planning/panda_moveit_config/.setup_assistant
--- franka_ros/panda_moveit_config/.setup_assistant	2018-06-01 12:23:14.233108333 +0200
+++ ros_planning/panda_moveit_config/.setup_assistant	2018-06-15 11:52:07.408434277 +0200
@@ -3,8 +3,8 @@
     package: franka_description
     relative_path: robots/panda_arm_hand.urdf.xacro
   SRDF:
-    relative_path: config/panda_arm_hand.srdf.xacro
+    relative_path: config/panda.srdf
   CONFIG:
-    author_name: Franka Emika GmbH
-    author_email: info@franka.de
-    generated_timestamp: 1501848099
+    author_name: Mike Lautman
+    author_email: mike@picknik.ai
+    generated_timestamp: 1519152260
\ No newline at end of file