Define default maximum accelerations for MoveIt (backport of #645) (#981

)

(cherry picked from commit 5e3c464)

Co-authored-by: RobertWilbrandt <[email protected]>

ur_moveit_config/config/joint_limits.yaml

@@ -0,0 +1,25 @@
+# These limits are used by MoveIt and augment/override the definitions in ur_description.
+#
+# While the robot does not inherently have any limits on joint accelerations (only on torques),
+# MoveIt needs them for time parametrization. They were chosen conservatively to work in most use
+# cases. For specific applications, higher values might lead to better execution performance.
+
+joint_limits:
+  shoulder_pan_joint:
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  shoulder_lift_joint:
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  elbow_joint:
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  wrist_1_joint:
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  wrist_2_joint:
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  wrist_3_joint:
+    has_acceleration_limits: true
+    max_acceleration: 5.0

ur_moveit_config/launch/ur_moveit.launch.py

@@ -31,15 +31,15 @@
 
 import os
 
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.actions import OpaqueFunction
-from launch.conditions import IfCondition
-from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 from ur_moveit_config.launch_common import load_yaml
 
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.conditions import IfCondition
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+
 
 def launch_setup(context, *args, **kwargs):
 
@@ -53,6 +53,7 @@ def launch_setup(context, *args, **kwargs):
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
     moveit_config_package = LaunchConfiguration("moveit_config_package")
+    moveit_joint_limits_file = LaunchConfiguration("moveit_joint_limits_file")
     moveit_config_file = LaunchConfiguration("moveit_config_file")
     warehouse_sqlite_path = LaunchConfiguration("warehouse_sqlite_path")
     prefix = LaunchConfiguration("prefix")
@@ -146,9 +147,12 @@ def launch_setup(context, *args, **kwargs):
         [FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
     )
 
-    # robot_description_planning = {
-    # "robot_description_planning": load_yaml_abs(str(joint_limit_params.perform(context)))
-    # }
+    robot_description_planning = {
+        "robot_description_planning": load_yaml(
+            str(moveit_config_package.perform(context)),
+            os.path.join("config", str(moveit_joint_limits_file.perform(context))),
+        )
+    }
 
     # Planning Configuration
     ompl_planning_pipeline_config = {
@@ -202,7 +206,7 @@ def launch_setup(context, *args, **kwargs):
             robot_description,
             robot_description_semantic,
             robot_description_kinematics,
-            # robot_description_planning,
+            robot_description_planning,
             ompl_planning_pipeline_config,
             trajectory_execution,
             moveit_controllers,
@@ -228,7 +232,7 @@ def launch_setup(context, *args, **kwargs):
             robot_description_semantic,
             ompl_planning_pipeline_config,
             robot_description_kinematics,
-            # robot_description_planning,
+            robot_description_planning,
             warehouse_ros_config,
         ],
     )
@@ -323,6 +327,13 @@ def generate_launch_description():
             description="MoveIt SRDF/XACRO description file with the robot.",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "moveit_joint_limits_file",
+            default_value="joint_limits.yaml",
+            description="MoveIt joint limits that augment or override the values from the URDF robot_description.",
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "warehouse_sqlite_path",