From 00ef972eeb90426e7beb39b63385b722a323c875 Mon Sep 17 00:00:00 2001 From: Yue Yin Date: Mon, 2 Jun 2025 15:05:11 +0900 Subject: [PATCH] Delete unplanned single arm moveit (#20) Removed the unplanned single arm moveit --- .../urdf/openarm_sensors.xacro | 20 -- openarm_moveit_config/.setup_assistant | 24 --- openarm_moveit_config/CMakeLists.txt | 30 --- openarm_moveit_config/LICENSE | 202 ------------------ .../config/initial_positions.yaml | 25 --- .../config/joint_limits.yaml | 69 ------ openarm_moveit_config/config/kinematics.yaml | 18 -- openarm_moveit_config/config/moveit.rviz | 65 ------ .../config/moveit_controllers.yaml | 41 ---- .../config/ompl_planning.yaml | 52 ----- openarm_moveit_config/config/openarm.srdf | 104 --------- .../config/openarm.urdf.xacro | 21 -- .../config/pilz_cartesian_limits.yaml | 20 -- .../config/ros2_controllers.yaml | 49 ----- openarm_moveit_config/config/sensors_3d.yaml | 39 ---- openarm_moveit_config/launch/demo.launch.py | 21 -- .../launch/move_group.launch.py | 21 -- .../launch/moveit_rviz.launch.py | 21 -- openarm_moveit_config/launch/rsp.launch.py | 21 -- .../launch/setup_assistant.launch.py | 21 -- .../launch/spawn_controllers.launch.py | 21 -- .../launch/static_virtual_joint_tfs.launch.py | 21 -- .../launch/warehouse_db.launch.py | 21 -- openarm_moveit_config/package.xml | 65 ------ 24 files changed, 1012 deletions(-) delete mode 100644 openarm_description/urdf/openarm_sensors.xacro delete mode 100644 openarm_moveit_config/.setup_assistant delete mode 100644 openarm_moveit_config/CMakeLists.txt delete mode 100644 openarm_moveit_config/LICENSE delete mode 100644 openarm_moveit_config/config/initial_positions.yaml delete mode 100644 openarm_moveit_config/config/joint_limits.yaml delete mode 100644 openarm_moveit_config/config/kinematics.yaml delete mode 100644 openarm_moveit_config/config/moveit.rviz delete mode 100644 openarm_moveit_config/config/moveit_controllers.yaml delete mode 100644 openarm_moveit_config/config/ompl_planning.yaml delete mode 100644 openarm_moveit_config/config/openarm.srdf delete mode 100644 openarm_moveit_config/config/openarm.urdf.xacro delete mode 100644 openarm_moveit_config/config/pilz_cartesian_limits.yaml delete mode 100644 openarm_moveit_config/config/ros2_controllers.yaml delete mode 100644 openarm_moveit_config/config/sensors_3d.yaml delete mode 100644 openarm_moveit_config/launch/demo.launch.py delete mode 100644 openarm_moveit_config/launch/move_group.launch.py delete mode 100644 openarm_moveit_config/launch/moveit_rviz.launch.py delete mode 100644 openarm_moveit_config/launch/rsp.launch.py delete mode 100644 openarm_moveit_config/launch/setup_assistant.launch.py delete mode 100644 openarm_moveit_config/launch/spawn_controllers.launch.py delete mode 100644 openarm_moveit_config/launch/static_virtual_joint_tfs.launch.py delete mode 100644 openarm_moveit_config/launch/warehouse_db.launch.py delete mode 100644 openarm_moveit_config/package.xml diff --git a/openarm_description/urdf/openarm_sensors.xacro b/openarm_description/urdf/openarm_sensors.xacro deleted file mode 100644 index e73e04d..0000000 --- a/openarm_description/urdf/openarm_sensors.xacro +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - diff --git a/openarm_moveit_config/.setup_assistant b/openarm_moveit_config/.setup_assistant deleted file mode 100644 index eb38e7c..0000000 --- a/openarm_moveit_config/.setup_assistant +++ /dev/null @@ -1,24 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -moveit_setup_assistant_config: - urdf: - package: openarm_description - relative_path: urdf/openarm.urdf - srdf: - relative_path: config/openarm.srdf - package_settings: - author_name: Thomason Zhou - author_email: t95zhou@uwaterloo.ca - generated_timestamp: 1744186910 diff --git a/openarm_moveit_config/CMakeLists.txt b/openarm_moveit_config/CMakeLists.txt deleted file mode 100644 index e8e0fd6..0000000 --- a/openarm_moveit_config/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -cmake_minimum_required(VERSION 3.22) -project(openarm_moveit_config) - -find_package(ament_cmake REQUIRED) - -ament_package() - -if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch") - install( - DIRECTORY launch - DESTINATION share/${PROJECT_NAME} - PATTERN "setup_assistant.launch" EXCLUDE) -endif() - -install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) -install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) diff --git a/openarm_moveit_config/LICENSE b/openarm_moveit_config/LICENSE deleted file mode 100644 index d645695..0000000 --- a/openarm_moveit_config/LICENSE +++ /dev/null @@ -1,202 +0,0 @@ - - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. 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We also recommend that a - file or class name and description of purpose be included on the - same "printed page" as the copyright notice for easier - identification within third-party archives. - - Copyright [yyyy] [name of copyright owner] - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. diff --git a/openarm_moveit_config/config/initial_positions.yaml b/openarm_moveit_config/config/initial_positions.yaml deleted file mode 100644 index a2c6c67..0000000 --- a/openarm_moveit_config/config/initial_positions.yaml +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# Default initial positions for openarm's ros2_control fake system - -initial_positions: - left_pris1: 0 - rev1: 0 - rev2: 0 - rev3: 0 - rev4: 0 - rev5: 0 - rev6: 0 - rev7: 0 diff --git a/openarm_moveit_config/config/joint_limits.yaml b/openarm_moveit_config/config/joint_limits.yaml deleted file mode 100644 index ae728d2..0000000 --- a/openarm_moveit_config/config/joint_limits.yaml +++ /dev/null @@ -1,69 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed - -# For beginners, we downscale velocity and acceleration limits. -# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. -default_velocity_scaling_factor: 0.1 -default_acceleration_scaling_factor: 0.1 - -# 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: - left_pris1: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - rev1: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - rev2: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - rev3: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - rev4: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - rev5: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - rev6: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - rev7: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - right_pris2: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 diff --git a/openarm_moveit_config/config/kinematics.yaml b/openarm_moveit_config/config/kinematics.yaml deleted file mode 100644 index c9955ce..0000000 --- a/openarm_moveit_config/config/kinematics.yaml +++ /dev/null @@ -1,18 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -openarm_arm: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.0050000000000000001 - kinematics_solver_timeout: 0.0050000000000000001 diff --git a/openarm_moveit_config/config/moveit.rviz b/openarm_moveit_config/config/moveit.rviz deleted file mode 100644 index f8fc9ee..0000000 --- a/openarm_moveit_config/config/moveit.rviz +++ /dev/null @@ -1,65 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -Panels: - - Class: rviz_common/Displays - Name: Displays - Property Tree Widget: - Expanded: - - /MotionPlanning1 - - Class: rviz_common/Help - Name: Help - - Class: rviz_common/Views - Name: Views -Visualization Manager: - Displays: - - Class: rviz_default_plugins/Grid - Name: Grid - Value: true - - Class: moveit_rviz_plugin/MotionPlanning - Name: MotionPlanning - Planned Path: - Loop Animation: true - State Display Time: 0.05 s - Trajectory Topic: display_planned_path - Planning Scene Topic: monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 1 - Scene Robot: - Robot Alpha: 0.5 - Value: true - Global Options: - Fixed Frame: dummy_link - Tools: - - Class: rviz_default_plugins/Interact - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 2.0 - Focal Point: - X: -0.1 - Y: 0.25 - Z: 0.30 - Name: Current View - Pitch: 0.5 - Target Frame: dummy_link - Yaw: -0.623 -Window Geometry: - Height: 975 - QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Width: 1200 diff --git a/openarm_moveit_config/config/moveit_controllers.yaml b/openarm_moveit_config/config/moveit_controllers.yaml deleted file mode 100644 index 40a1051..0000000 --- a/openarm_moveit_config/config/moveit_controllers.yaml +++ /dev/null @@ -1,41 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# MoveIt uses this configuration for controller management - -moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager - -moveit_simple_controller_manager: - controller_names: - - openarm_arm_controller - - gripper_controller - - openarm_arm_controller: - type: FollowJointTrajectory - joints: - - rev1 - - rev2 - - rev3 - - rev4 - - rev5 - - rev6 - - rev7 - action_ns: follow_joint_trajectory - default: true - gripper_controller: - type: GripperCommand - joints: - - left_pris1 - action_ns: gripper_cmd - default: true diff --git a/openarm_moveit_config/config/ompl_planning.yaml b/openarm_moveit_config/config/ompl_planning.yaml deleted file mode 100644 index f7e463b..0000000 --- a/openarm_moveit_config/config/ompl_planning.yaml +++ /dev/null @@ -1,52 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -openarm_moveit_config: - default_planner_config: RRTConnect - planner_configs: - - AnytimePathShortening - - SBL - - EST - - LBKPIECE - - BKPIECE - - KPIECE - - RRT - - RRTConnect - - RRTstar - - TRRT - - PRM - - PRMstar - - FMT - - BFMT - - PDST - - STRIDE - - BiTRRT - - LBTRRT - - BiEST - - ProjEST - - LazyPRM - - LazyPRMstar - - SPARS - - SPARStwo - projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) - longest_valid_segment_fraction: 0.005 - -planning_plugin: 'ompl_interface/OMPLPlanner' -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints -start_state_max_bounds_error: 0.1 diff --git a/openarm_moveit_config/config/openarm.srdf b/openarm_moveit_config/config/openarm.srdf deleted file mode 100644 index 3fadaf8..0000000 --- a/openarm_moveit_config/config/openarm.srdf +++ /dev/null @@ -1,104 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/openarm_moveit_config/config/openarm.urdf.xacro b/openarm_moveit_config/config/openarm.urdf.xacro deleted file mode 100644 index f1260e4..0000000 --- a/openarm_moveit_config/config/openarm.urdf.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - diff --git a/openarm_moveit_config/config/pilz_cartesian_limits.yaml b/openarm_moveit_config/config/pilz_cartesian_limits.yaml deleted file mode 100644 index 38b142a..0000000 --- a/openarm_moveit_config/config/pilz_cartesian_limits.yaml +++ /dev/null @@ -1,20 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# Limits for the Pilz planner -cartesian_limits: - max_trans_vel: 1.0 - max_trans_acc: 2.25 - max_trans_dec: -5.0 - max_rot_vel: 1.57 diff --git a/openarm_moveit_config/config/ros2_controllers.yaml b/openarm_moveit_config/config/ros2_controllers.yaml deleted file mode 100644 index a487dcc..0000000 --- a/openarm_moveit_config/config/ros2_controllers.yaml +++ /dev/null @@ -1,49 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# This config file is used by ros2_control -controller_manager: - ros__parameters: - update_rate: 100 # Hz - - gripper_controller: - type: position_controllers/GripperActionController - - - openarm_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - -gripper_controller: - ros__parameters: - joint: left_pris1 -openarm_arm_controller: - ros__parameters: - joints: - - rev1 - - rev2 - - rev3 - - rev4 - - rev5 - - rev6 - - rev7 - command_interfaces: - - position - - velocity - state_interfaces: - - position - - velocity diff --git a/openarm_moveit_config/config/sensors_3d.yaml b/openarm_moveit_config/config/sensors_3d.yaml deleted file mode 100644 index eb9e006..0000000 --- a/openarm_moveit_config/config/sensors_3d.yaml +++ /dev/null @@ -1,39 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -sensors: - - default_sensor - - kinect_depthimage -default_sensor: - far_clipping_plane_distance: 5.0 - filtered_cloud_topic: filtered_cloud - image_topic: /head_mount_kinect/depth_registered/image_raw - max_update_rate: 1.0 - near_clipping_plane_distance: 0.3 - padding_offset: 0.03 - padding_scale: 4.0 - queue_size: 5 - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater - shadow_threshold: 0.2 -kinect_depthimage: - far_clipping_plane_distance: 5.0 - filtered_cloud_topic: filtered_cloud - image_topic: /head_mount_kinect/depth_registered/image_raw - max_update_rate: 1.0 - near_clipping_plane_distance: 0.3 - padding_offset: 0.03 - padding_scale: 4.0 - queue_size: 5 - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater - shadow_threshold: 0.2 diff --git a/openarm_moveit_config/launch/demo.launch.py b/openarm_moveit_config/launch/demo.launch.py deleted file mode 100644 index a1a92c3..0000000 --- a/openarm_moveit_config/launch/demo.launch.py +++ /dev/null @@ -1,21 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_demo_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs() - return generate_demo_launch(moveit_config) diff --git a/openarm_moveit_config/launch/move_group.launch.py b/openarm_moveit_config/launch/move_group.launch.py deleted file mode 100644 index f1c0f3a..0000000 --- a/openarm_moveit_config/launch/move_group.launch.py +++ /dev/null @@ -1,21 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_move_group_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs() - return generate_move_group_launch(moveit_config) diff --git a/openarm_moveit_config/launch/moveit_rviz.launch.py b/openarm_moveit_config/launch/moveit_rviz.launch.py deleted file mode 100644 index bfdf3b3..0000000 --- a/openarm_moveit_config/launch/moveit_rviz.launch.py +++ /dev/null @@ -1,21 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_moveit_rviz_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs() - return generate_moveit_rviz_launch(moveit_config) diff --git a/openarm_moveit_config/launch/rsp.launch.py b/openarm_moveit_config/launch/rsp.launch.py deleted file mode 100644 index b3ad3f7..0000000 --- a/openarm_moveit_config/launch/rsp.launch.py +++ /dev/null @@ -1,21 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_rsp_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs() - return generate_rsp_launch(moveit_config) diff --git a/openarm_moveit_config/launch/setup_assistant.launch.py b/openarm_moveit_config/launch/setup_assistant.launch.py deleted file mode 100644 index a33577d..0000000 --- a/openarm_moveit_config/launch/setup_assistant.launch.py +++ /dev/null @@ -1,21 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_setup_assistant_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs() - return generate_setup_assistant_launch(moveit_config) diff --git a/openarm_moveit_config/launch/spawn_controllers.launch.py b/openarm_moveit_config/launch/spawn_controllers.launch.py deleted file mode 100644 index fd236ab..0000000 --- a/openarm_moveit_config/launch/spawn_controllers.launch.py +++ /dev/null @@ -1,21 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_spawn_controllers_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs() - return generate_spawn_controllers_launch(moveit_config) diff --git a/openarm_moveit_config/launch/static_virtual_joint_tfs.launch.py b/openarm_moveit_config/launch/static_virtual_joint_tfs.launch.py deleted file mode 100644 index d716687..0000000 --- a/openarm_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ /dev/null @@ -1,21 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -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("openarm", package_name="openarm_moveit_config").to_moveit_configs() - return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/openarm_moveit_config/launch/warehouse_db.launch.py b/openarm_moveit_config/launch/warehouse_db.launch.py deleted file mode 100644 index 59430a5..0000000 --- a/openarm_moveit_config/launch/warehouse_db.launch.py +++ /dev/null @@ -1,21 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_warehouse_db_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("openarm", package_name="openarm_moveit_config").to_moveit_configs() - return generate_warehouse_db_launch(moveit_config) diff --git a/openarm_moveit_config/package.xml b/openarm_moveit_config/package.xml deleted file mode 100644 index da8e626..0000000 --- a/openarm_moveit_config/package.xml +++ /dev/null @@ -1,65 +0,0 @@ - - - - - openarm_moveit_config - 0.3.0 - - An automatically generated package with all the configuration and launch files for using the openarm with the MoveIt Motion Planning Framework - - Thomason Zhou - - Apache-2.0 - - http://moveit.ros.org/ - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 - - Thomason Zhou - - ament_cmake - - moveit_ros_move_group - moveit_kinematics - moveit_planners - moveit_simple_controller_manager - joint_state_publisher - joint_state_publisher_gui - tf2_ros - xacro - - - - controller_manager - moveit_configs_utils - moveit_ros_move_group - moveit_ros_visualization - moveit_ros_warehouse - moveit_setup_assistant - openarm_description - robot_state_publisher - rviz2 - rviz_common - rviz_default_plugins - tf2_ros - - - - ament_cmake - -