MoveGroup Tool Changing capability

Description: This package adds a MoveGroupCapability to dynamically switch between a set of configured end-effectors. A separate PlanningRequestAdapter makes sure that only the enabled end-effector is being used for planning.

Installation

These instructions assume you are running on Ubuntu 20.04, rolling, and the latest MoveIt 2 main branch:

• git clone git@github.com:PickNikRobotics/tool_changing.git

Usage

To use this package you need to:

1- List all the end-effectors in the URDF file

2- Add the group & end_effector tags to the SRDF for each end-effector

3- Add move_group/ToolChangingCapability as a move_group node capability

4- Add initial_end_effector parameter to move_group node to set the initial end-effector

move_group_capabilities = {
    "capabilities": """Capability1 Capability2 ... move_group/ToolChangingCapability"""
}
run_move_group_node = Node(
    package="moveit_ros_move_group",
    executable="move_group",
    parameters=[
        ...
        move_group_capabilities,
        {"initial_end_effector": "end_effector_name"}
    ],
)

5- Add default_planner_request_adapters/ToolChangingAdapter to the planning pipeline's adapters

ompl_planning_pipeline_config = {
    "planning_pipelines": ["planning_pipeline"],
    "planning_pipeline": {
        ...
        "request_adapters": """Adapter1 Adapter2 ... default_planner_request_adapters/ToolChangingAdapter""",
    },
}

Now launch your move_group instance

Getting current end-effector

ros2 service call /get_current_end_effector tool_changing_capability_msgs/srv/GetCurrentEndEffector {}

Change end-effector

ros2 service call /change_end_effector tool_changing_capability_msgs/srv/ChangeEndEffector end_effector_name:\ \'new_end_effector_name\'\

Setup pre-commit

pre-commit is a tool to automatically run formatting checks on each commit, which saves you from manually running clang-format (or, crucially, from forgetting to run them!).

Install pre-commit like this:

pip3 install pre-commit

Run this in the top directory of the repo to set up the git hooks:

pre-commit install