`isaac_ros_moveit_goal_setter`

Source code 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