panda_gazebo.core.moveit_server

A ros server that creates several of MoveIt services which can be used to control the Panda robot or retrieve sensor data for the robot.

Main services:

  • panda_arm/set_ee_pose

  • get_random_joint_positions

  • get_random_ee_pose

  • planning_scene/add_box

  • planning_scene/add_plane

Extra services:

  • panda_arm/get_ee

  • panda_arm/set_ee

  • panda_arm/get_ee_pose

  • panda_arm/get_ee_pose_joint_config

  • panda_arm/get_ee_rpy

  • set_joint_positions

  • get_controlled_joints

  • panda_arm/set_joint_positions

  • panda_hand/set_joint_positions

Dynamic reconfigure service:

This node also contains a dynamic reconfigure service that allows you to change the control max velocity and acceleration scaling factors. You can supply the initial values for this dynamic reconfigure server using the ‘panda_moveit_planner_server/max_velocity_scaling_factor’ and ‘panda_moveit_planner_server/max_velocity_scaling_factor’ topics.

Module Contents

Classes

PandaMoveItPlannerServer

Used to control or request information from the Panda Robot. This is done using

Attributes

MAX_RANDOM_SAMPLES

panda_gazebo.core.moveit_server.MAX_RANDOM_SAMPLES = 5[source]
class panda_gazebo.core.moveit_server.PandaMoveItPlannerServer(arm_move_group='panda_arm', arm_ee_link='panda_link8', hand_move_group='panda_hand', load_gripper=True, load_set_ee_pose_service=True, load_extra_services=False)[source]

Bases: object

Used to control or request information from the Panda Robot. This is done using the MoveIt moveit_commander module.

robot

The MoveIt robot commander object.

Type:

moveit_commander.robot.RobotCommander

scene

The MoveIt robot scene commander object.

Type:

moveit_commander.planning_scene_interface.PlanningSceneInterface

move_group_arm

The MoveIt arm move group object.

Type:

moveit_commander.move_group.MoveGroupCommander

move_group_hand

The MoveIt hand move group object.

Type:

moveit_commander.move_group.MoveGroupCommander

ee_pose_target

The last set ee pose.

Type:

geometry_msgs.msg.Pose

joint_positions_target

Dictionary containing the last Panda arm and hand joint positions setpoint.

Type:

dict

Initialise PandaMoveItPlannerServer object.

Parameters:

  • arm_move_group (str, optional) – The name of the move group you want to use for controlling the Panda arm. Defaults to panda_arm.

  • arm_ee_link (str, optional) – The end effector you want MoveIt to use when controlling the Panda arm. Defaults to panda_link8.

  • hand_move_group (str, optional) – The name of the move group you want to use for controlling the Panda hand. Defaults to panda_hand.

  • load_gripper (boolean, optional) – Whether we also want to load the gripper control services. Defaults to True.

  • load_set_ee_pose_service (boolean, optional) – Whether the set ee pose service should be loaded. This service is used by the ros_gazebo_gym package when the control type is set to trajectory. Defaults, to True.

  • load_extra_services (bool, optional) – Whether to load extra services that are not used by the ros_gazebo_gym package. Defaults to False.