Migrating master to Jazzy (#62)

* example moveit config update for jazzy

* added updated planning pipeline yamls. Note: some planning pipelines don't work without setting joint acceleration limits in the robots' joint_limits.yaml file.

* updated readme, fixed trailing whitespaces on chomp_planning.yamls.

* fix scaling factor typo in readme

* added joint acceleration limits for all robots except for the iiwa

* add updated velocity limit on joint_1 for kr210_r2700_2 in urdf

* fix joint2 velocity limit for kr210r2700-2

---------

Co-authored-by: Áron Svastits <49677296+Svastits@users.noreply.github.com>

README.md

@@ -2,9 +2,10 @@
 
 This repository contains support packages that can be used with real KUKA robots as well as with simulations.
 
-Github CI
-------------
-[![Build Status](https://github.com/kroshu/kuka_robot_descriptions/workflows/CI/badge.svg?branch=main)](https://github.com/kroshu/kuka_robot_descriptions/actions)
+ROS2 Distro | Branch | Github CI
+------------ | -------------- | --------------
+**Jazzy** | [`master`](https://github.com/kroshu/kuka_robot_descriptions/tree/master) | [![Build Status](https://github.com/kroshu/kuka_robot_descriptions/actions/workflows/industrial_ci.yml/badge.svg?branch=master)](https://github.com/kroshu/kuka_robot_descriptions/actions)
+**Humble** | [`humble`](https://github.com/kroshu/kuka_robot_descriptions/tree/humble) | [![Build Status](https://github.com/kroshu/kuka_robot_descriptions/actions/workflows/industrial_ci.yml/badge.svg?branch=humble)](https://github.com/kroshu/kuka_robot_descriptions/actions)
 
 ## What is included?
 
@@ -67,8 +68,7 @@ Collision meshes are provided for the robots to speed up collision avoidance and
 
 ### Joint limit configurations
 
-The support packages contain a joint limits file for every supported robot model, necessary time parametrization of MoveIt-planned paths. They contain the velocity limits also available in the URDF model and additional acceleration limits. Acceleration limits can never be global, these values are calculated from the worst-case ramp-up time to reach maximum velocity. The easiest way to modify the allowed velocities and accelerations is to change the velocity and acceleration scaling factors also available in the same configuration files. (The scaling factor can never be smaller than 1.)
-
+The support packages contain a joint limits file for every supported robot model, necessary time parametrization of MoveIt-planned paths. They contain the velocity limits also available in the URDF model and additional acceleration limits. Acceleration limits can never be global, these values are calculated from the worst-case ramp-up time to reach maximum velocity. The easiest way to modify the allowed velocities and accelerations is to change the velocity and acceleration scaling factors also available in the same configuration files. (The scaling factor can never be greater than 1.)
 
 ### Extending the models
 

kuka_agilus_support/config/kr10_r1100_2_joint_limits.yaml

@@ -9,30 +9,36 @@ joint_limits:
   joint_1:
     has_velocity_limits: true
     max_velocity: 5.23599
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 10.06528
     has_jerk: false
   joint_2:
     has_velocity_limits: true
     max_velocity: 3.926991
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 1.72508
     has_jerk: false
   joint_3:
     has_velocity_limits: true
     max_velocity: 5.75959
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 2.68644
     has_jerk: false
   joint_4:
     has_velocity_limits: true
     max_velocity:  6.28319
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 56.49428
     has_jerk: false
   joint_5:
     has_velocity_limits: true
     max_velocity:  6.28319
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 49.23361
     has_jerk: false
   joint_6:
     has_velocity_limits: true
     max_velocity: 7.55728
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 125.45374
     has_jerk: false

kuka_agilus_support/config/kr6_r700_sixx_joint_limits.yaml

@@ -9,30 +9,36 @@ joint_limits:
   joint_1:
     has_velocity_limits: true
     max_velocity: 6.283185
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 41.672910
     has_jerk: false
   joint_2:
     has_velocity_limits: true
     max_velocity: 5.23599
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 21.620884
     has_jerk: false
   joint_3:
     has_velocity_limits: true
     max_velocity: 6.283185
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 46.224233
     has_jerk: false
   joint_4:
     has_velocity_limits: true
     max_velocity: 6.64970
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 145.820923
     has_jerk: false
   joint_5:
     has_velocity_limits: true
     max_velocity: 6.77188
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 152.326213
     has_jerk: false
   joint_6:
     has_velocity_limits: true
     max_velocity: 10.73377
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 292.626544
     has_jerk: false

kuka_agilus_support/config/kr6_r900_sixx_joint_limits.yaml

@@ -9,30 +9,36 @@ joint_limits:
   joint_1:
     has_velocity_limits: true
     max_velocity: 6.283185
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 21.666156
     has_jerk: false
   joint_2:
     has_velocity_limits: true
     max_velocity: 5.23599
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 6.889457
     has_jerk: false
   joint_3:
     has_velocity_limits: true
     max_velocity: 6.283185
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 31.415926
     has_jerk: false
   joint_4:
     has_velocity_limits: true
     max_velocity: 6.64970
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 133.055688
     has_jerk: false
   joint_5:
     has_velocity_limits: true
     max_velocity: 6.77188
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 135.557707
     has_jerk: false
   joint_6:
     has_velocity_limits: true
     max_velocity: 10.73377
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 268.382564
     has_jerk: false

kuka_cybertech_support/config/kr16_r2010_2_joint_limits.yaml

@@ -12,30 +12,36 @@ joint_limits:
   joint_1:
     has_velocity_limits: true
     max_velocity: 3.490656
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 7.505672
     has_jerk: false
   joint_2:
     has_velocity_limits: true
-    max_velocity: 3.05432
-    has_acceleration_limits: false
+    max_velocity: 2.994851
+    has_acceleration_limits: true
+    max_acceleration: 1.350277
     has_jerk: false
   joint_3:
     has_velocity_limits: true
     max_velocity: 3.31613
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 13.412379
     has_jerk: false
   joint_4:
     has_velocity_limits: true
     max_velocity: 7.50492
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 99.514484
     has_jerk: false
   joint_5:
     has_velocity_limits: true
     max_velocity: 7.50492
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 95.957307
     has_jerk: false
   joint_6:
     has_velocity_limits: true
     max_velocity: 10.99557
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 120.049850
     has_jerk: false

kuka_fortec_support/config/kr560_r3100_2_joint_limits.yaml

@@ -12,30 +12,36 @@ joint_limits:
   joint_1:
     has_velocity_limits: true
     max_velocity: 1.5708
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 1.1500
     has_jerk: false
   joint_2:
     has_velocity_limits: true
     max_velocity: 1.3962
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 0.9308
     has_jerk: false
   joint_3:
     has_velocity_limits: true
     max_velocity: 1.3090
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 1.5038
     has_jerk: false
   joint_4:
     has_velocity_limits: true
     max_velocity: 1.5708
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 1.5816
     has_jerk: false
   joint_5:
     has_velocity_limits: true
     max_velocity: 1.5708
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 1.6486
     has_jerk: false
   joint_6:
     has_velocity_limits: true
     max_velocity: 2.2689
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 2.1579
     has_jerk: false

kuka_iontec_support/config/kr70_r2100_joint_limits.yaml

@@ -12,30 +12,36 @@ joint_limits:
   joint_1:
     has_velocity_limits: true
     max_velocity: 3.1416
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 6.1985
     has_jerk: false
   joint_2:
     has_velocity_limits: true
     max_velocity: 2.7576
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 1.2580
     has_jerk: false
   joint_3:
     has_velocity_limits: true
     max_velocity: 2.7925
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 1.4709
     has_jerk: false
   joint_4:
     has_velocity_limits: true
     max_velocity: 4.01426
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 17.6323
     has_jerk: false
   joint_5:
     has_velocity_limits: true
     max_velocity: 4.01426
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 14.9965
     has_jerk: false
   joint_6:
     has_velocity_limits: true
     max_velocity: 5.58505
-    has_acceleration_limits: false
+    has_acceleration_limits: true
+    max_acceleration: 16.8623
     has_jerk: false

kuka_lbr_iisy_moveit_config/config/chomp_planning.yaml

@@ -1,10 +1,14 @@
-planning_plugin: chomp_interface/CHOMPPlanner
-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
+planning_plugins:
+  - chomp_interface/CHOMPPlanner
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
 start_state_max_bounds_error: 0.1
 planning_time_limit: 10.0
 max_iterations: 200

kuka_lbr_iisy_moveit_config/config/ompl_planning.yaml

@@ -1,13 +1,16 @@
-planning_plugin: ompl_interface/OMPLPlanner
-# To optionally use Ruckig for jerk-limited smoothing, add this line to the request adapters below
-# default_planner_request_adapters/AddRuckigTrajectorySmoothing
-request_adapters: >-
-  default_planner_request_adapters/AddTimeOptimalParameterization
-  default_planner_request_adapters/ResolveConstraintFrames
-  default_planner_request_adapters/FixWorkspaceBounds
-  default_planner_request_adapters/FixStartStateBounds
-  default_planner_request_adapters/FixStartStateCollision
-  default_planner_request_adapters/FixStartStatePathConstraints
+planning_plugins:
+  - ompl_interface/OMPLPlanner
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+# To optionally use Ruckig for jerk-limited smoothing, add this line to the response adapters below
+# default_planning_response_adapters/AddRuckigTrajectorySmoothing
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
 start_state_max_bounds_error: 0.1
 planner_configs:
   APSConfigDefault:
@@ -16,7 +19,16 @@ planner_configs:
     hybridize: 1  # Compute hybrid solution trajectories
     max_hybrid_paths: 36  # Number of hybrid paths generated per iteration
     num_planners: 8  # The number of default planners to use for planning
-    planners: "RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect"  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
+    # Optionally, planner parameters can be passed to change the default: "PRM[max_nearest_neighbors=5]", "EST[goal_bias=.5]", "RRT[range=10. goal_bias=.1]"
+    planners:
+      - RRTConnect
+      - RRTConnect
+      - RRTConnect
+      - RRTConnect
+      - RRTConnect
+      - RRTConnect
+      - RRTConnect
+      - RRTConnect
   SBLkConfigDefault:
     type: geometric::SBL
     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()

kuka_lbr_iisy_moveit_config/config/stomp_planning.yaml

@@ -1,10 +1,14 @@
-planning_plugin: stomp_moveit/StompPlanner
-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
+planning_plugins:
+  - stomp_moveit/StompPlanner
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
 
 stomp_moveit:
   num_timesteps: 60

kuka_lbr_iisy_support/config/lbr_iisy3_r760_joint_limits.yaml

@@ -38,7 +38,7 @@ joint_limits:
     has_jerk: false
   joint_6:
     has_velocity_limits: true
-    max_velocity: 5.235983
+    max_velocity: 6.981317
     has_acceleration_limits: true
     max_acceleration: 112.291689
     has_jerk: false