isaac_ros_manipulation_pose_to_pose

Source code available on GitHub.

Overview

The isaac_ros_manipulation_pose_to_pose package provides the pose-to-pose workflow node for Isaac ROS Manipulation. The node plans and executes motions between target frames using the cuMotion MotionPlan action server for planning and the MoveIt ExecuteTrajectory action server for execution. It cycles through a list of target frames, looking up each frame in TF and sending a goal pose to the cuMotion planner. It is launched via isaac_ros_manipulation_bringup (e.g. pose_to_pose.launch.py) as part of the Goal State Estimation component in the reference architecture.

API

ROS Parameters

ROS Parameter	Type	Default	Description
target_frames	string array	['target1_frame', 'target2_frame']	List of frames that the node should target. The node will target each frame in a round-robin fashion.
plan_timer_period	float	0.01	Desired period in seconds between planning requests
world_frame	string	base_link	Reference frame used for TF lookup and in which goal poses are expressed (typically the robot base frame)
link_name	string	base_link	Link name used for the goal pose reference
motion_plan_action_server_name	string	cumotion/motion_plan	Name of the cuMotion MotionPlan action server
execute_trajectory_action_server_name	string	execute_trajectory	Name of the MoveIt ExecuteTrajectory action server
time_dilation_factor	float	0.2	Time dilation factor passed to the cuMotion planner to control trajectory execution speed
update_esdf	bool	true	Whether to request an ESDF update from nvblox before planning

ROS Action Clients

ROS Action	Interface	Description
cumotion/motion_plan	isaac_ros_cumotion_interfaces/MotionPlan	Sends goal poses to the cuMotion planner for trajectory planning
execute_trajectory	moveit_msgs/ExecuteTrajectory	Sends the planned trajectory for execution on the robot