Merge pull request #250 from PickNikRobotics/5.0-to-main-dont-squash

merge 5.0 to main

docker-compose.yaml

@@ -1,14 +1,12 @@
 # Docker Compose file for user overlays of the MoveIt Pro images.
 
-version: "3.9"
-
 services:
   # Sets common properties for other services. Should not be instantiated directly.
   base:
     # Extend the installed MoveIt Pro docker compose file.
     # Change this to match your environment, if MoveIt Pro was installed to a different location.
     extends:
-      file: ${HOME}/moveit_pro/docker-compose.yaml
+      file: /opt/moveit_pro/docker-compose.yaml
       service: base
     image: moveit-pro-overlay
     build:

src/moveit_studio_ur_pstop_manager/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_studio_ur_pstop_manager</name>
-  <version>4.0.1</version>
+  <version>5.0.0</version>
   <description>Provides a node to monitor the protective stop state of the UR5, and reset protective
     stops when necessary.</description>
   <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>

src/picknik_ur_base_config/config/moveit/ur_servo.yaml

@@ -39,6 +39,7 @@ acceleration_filter_update_period: 0.01 # [seconds] Must match the publish_perio
 move_group_name: manipulator  # Often 'manipulator' or 'arm'
 acceleration_filter_planning_group_name: manipulator  # Often 'manipulator' or 'arm'
 is_primary_planning_scene_monitor: false  # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there.
+monitored_planning_scene_topic: /monitored_planning_scene
 
 ## Stopping behaviour
 incoming_command_timeout: 0.1  # Stop servoing if X seconds elapse without a new command
@@ -56,7 +57,8 @@ status_topic: ~/status # Publish status to this topic
 command_out_topic: /servo_controller/joint_trajectory # Publish outgoing commands here
 
 ## Collision checking for the entire robot body
-check_collisions: true # Check collisions?
+check_collisions: true  # Check collisions?
+check_octomap_collisions: false  # Check collisions with octomap?
 collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
 self_collision_proximity_threshold: 0.006 # Start decelerating when a self-collision is this far [m]
 scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]

src/picknik_ur_base_config/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_base_config</name>
-  <version>4.0.1</version>
+  <version>5.0.0</version>
 
   <description>Base configuration package for Picknik's UR robot arms</description>
 

src/picknik_ur_gazebo_config/config/moveit/ur_servo.yaml

@@ -39,6 +39,7 @@ acceleration_filter_update_period: 0.01 # [seconds] Must match the publish_perio
 move_group_name: manipulator  # Often 'manipulator' or 'arm'
 acceleration_filter_planning_group_name: manipulator  # Often 'manipulator' or 'arm'
 is_primary_planning_scene_monitor: false  # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there.
+monitored_planning_scene_topic: /monitored_planning_scene
 
 ## Stopping behaviour
 incoming_command_timeout: 0.05  # Stop servoing if X seconds elapse without a new command
@@ -57,6 +58,7 @@ command_out_topic: /robot_controllers/joint_trajectory # Publish outgoing comman
 
 ## Collision checking for the entire robot body
 check_collisions: true # Check collisions?
+check_octomap_collisions: false  # Check collisions with octomap?
 collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
 self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m]
 scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]

src/picknik_ur_gazebo_config/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_gazebo_config</name>
-  <version>4.0.1</version>
+  <version>5.0.0</version>
 
   <description>Site configuration package for the UR5e in PickNik's space station world simulated by Gazebo.</description>
 

src/picknik_ur_gazebo_scan_and_plan_config/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_gazebo_scan_and_plan_config</name>
-  <version>4.0.1</version>
+  <version>5.0.0</version>
 
   <description>Site configuration package for the UR5e simulated in Gazebo to show "scan and plan" applications.</description>
 

src/picknik_ur_mock_hw_config/config/moveit/ur_servo.yaml

@@ -37,6 +37,7 @@ acceleration_filter_update_period: 0.01 # [seconds] Must match the publish_perio
 move_group_name: manipulator  # Often 'manipulator' or 'arm'
 acceleration_filter_planning_group_name: manipulator  # Often 'manipulator' or 'arm'
 is_primary_planning_scene_monitor: false  # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there.
+monitored_planning_scene_topic: /monitored_planning_scene
 
 ## Stopping behaviour
 incoming_command_timeout: 0.1  # Stop servoing if X seconds elapse without a new command
@@ -55,6 +56,7 @@ command_out_topic: /servo_controller/joint_trajectory # Publish outgoing command
 
 ## Collision checking for the entire robot body
 check_collisions: true  # Check collisions?
+check_octomap_collisions: false  # Check collisions with octomap?
 collision_check_rate: 20.0  # [Hz] Collision-checking can easily bog down a CPU if done too often.
 self_collision_proximity_threshold: 0.006  # Start decelerating when a self-collision is this far [m]
 scene_collision_proximity_threshold: 0.02  # Start decelerating when a scene collision is this far [m]

src/picknik_ur_mock_hw_config/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_mock_hw_config</name>
-  <version>4.0.1</version>
+  <version>5.0.0</version>
 
   <description>Configuration package for a UR arm that can be simulated with mock hardware</description>
 

src/picknik_ur_site_config/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_site_config</name>
-  <version>4.0.1</version>
+  <version>5.0.0</version>
 
   <description>Site configuration package for a UR arm that can be simulated with mock hardware</description>
 

src/picknik_ur_studio_integration_testing/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>picknik_ur_studio_integration_testing</name>
-  <version>4.0.1</version>
+  <version>5.0.0</version>
   <description>Integration tests for UR with MoveIt Pro.</description>
   <maintainer email="support@picknik.ai">MoveIt Pro Maintainer</maintainer>