isaac_ros_moveit_goal_setter

Source code available on GitHub.

Overview

The isaac_ros_moveit_goal_setter package offers functionality for interfacing with MoveIt 2. The package consists of two parts: (1) a server node that receives goals as a service request and forwards the request to MoveIt and (2) a client node that generates goals that will be sent to the server.

API

GoalSetterNode

ROS Parameters

ROS Parameter	Type	Default	Description
planner_group_name	string	ur_manipulator	Planning group that will be planned for
planner_id	string	cuMotion	Planner ID that MoveIt should use
end_effector_link	string	wrist_3_link	Name of the end-effector link

ROS Services Advertised

ROS Service	Interface	Description
set_target_pose	isaac_ros_goal_setter_interfaces/SetTargetPose	Service to set the end-effector pose that MoveIt should target

PoseToPoseNode

ROS Parameters

ROS Parameter	Type	Default	Description
world_frame	string	base_link	World frame to use for representing target poses
target_frames	string array	['target1_frame']	List of frames that the node should target. The node will target each frame in turn and then loop around.
plan_time_period	float	0.01	Desired period in seconds between requests sent by the node

ROS Services Requested

ROS Service	Interface	Description
set_target_pose	isaac_ros_goal_setter_interfaces/SetTargetPose	Sends the pose of the target_frame with respect to the world_frame

Launch Files

This package provides a launch file isaac_ros_goal_setter.launch.py. This launch file loads the robot description of a UR Robot for the GoalSetterNode and launches the GoalSetterNode. The arguments exposed by this launch file are:

ROS Parameter	Type	Default	Description
ur_type	string	ur5e	Type/series of the UR robot being used
robot_ip	string	192.56.1.2	IP address of the UR robot