Simplify loading moveit config parameters.
This module provides builder-pattern based class to simplify loading moveit related parameters found in
robot_moveit_config package generated by moveit setup assistant.
By default it expects the following structure for the moveit configs package
robot_name_moveit_config/
.setup_assistant -> Used to retrieve information about the SRDF file and
the URDF file used when generating the package
config/
kinematics.yaml -> IK solver's parameters
joint_limits.yaml -> Overriding position/velocity/acceleration limits from the URDF file
moveit_cpp.yaml -> MoveItCpp related parameters
*_planning.yaml -> planning pipelines parameters
pilz_cartesian_limits.yaml -> Pilz planner parameters
moveit_controllers.yaml -> trajectory execution manager's parameters
...
Example:
moveit_configs = MoveItConfigsBuilder("robot_name").to_moveit_configs()
...
moveit_configs.package_path
moveit_configs.robot_description
moveit_configs.robot_description_semantic
moveit_configs.robot_description_kinematics
moveit_configs.planning_pipelines
moveit_configs.trajectory_execution
moveit_configs.planning_scene_monitor
moveit_configs.sensors_3d
moveit_configs.move_group_capabilities
moveit_configs.joint_limits
moveit_configs.moveit_cpp
moveit_configs.pilz_cartesian_limits
# Or to get all the parameters as a dictionary
moveit_configs.to_dict()
Each function in MoveItConfigsBuilder has a file_path as an argument which is used to override the default
path for the file
Example:
moveit_configs = MoveItConfigsBuilder("robot_name")
# Relative to robot_name_moveit_configs
.robot_description_semantic(Path("my_config") / "my_file.srdf")
.to_moveit_configs()
# Or
moveit_configs = MoveItConfigsBuilder("robot_name")
# Absolute path to robot_name_moveit_config
.robot_description_semantic(Path.home() / "my_config" / "new_file.srdf")
.to_moveit_configs()
