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Control Stack Overview

This document covers the shared architecture and bringup flow for the grasping control stack.

Use the topic-specific documents for implementation details:

Architecture

The motion stack is split into two ROS 2 nodes.

  • motion_execution_node executes robot motion through MoveIt.

At runtime the stack usually depends on four subsystems:

  1. An external stack for grasp detection such as Anygrasp.
  2. The control stack in this package.
  3. MoveIt and the robot driver.
  4. A gripper action server.

Shared Motion Interface

The shared action interface lives in the grasping_msgs package.

Action:

  • grasping_msgs/action/MoveToPose
  • Goal: geometry_msgs/PoseStamped target_pose
  • Result: bool success, string message
  • Feedback: string state

The goal stays intentionally minimal. Clients send only a target pose, and motion_execution_node resolves transforms, workspace configuration, and MoveIt planning from its own parameters.

Static TF Assumptions

AnyGrasp returns PoseStamped results in the source point-cloud frame, and motion_execution_node later transforms those poses into its planning frame.

Use the static camera transform only when the camera is rigidly mounted to the end effector. If the camera is mounted elsewhere, provide the correct TF in your robot setup instead of relying on an application-layer launch file.

Launch Arguments

Motion-Execution Arguments

Argument Default Description
move_group_action_name move_action Name of the MoveIt MoveGroup action server contacted by motion_execution_node.
planning_group manipulator MoveIt planning group used when building the motion request.
planning_frame base_link Target frame into which incoming poses are transformed before planning.
end_effector_link tool0 Link constrained to the requested pose in the generated goal constraints.
allowed_planning_time 5.0 Maximum planning time in seconds for each MoveIt request.
num_planning_attempts 5 Number of planning attempts MoveIt may use before reporting failure.
max_velocity_scaling 0.2 Velocity scaling factor applied to the generated motion plan.
max_acceleration_scaling 0.2 Acceleration scaling factor applied to the generated motion plan.
position_tolerance_m 0.005 Positional tolerance in meters used for the end-effector goal constraint.
orientation_tolerance_rad 0.1 Angular tolerance in radians used for the end-effector orientation constraint.
planning_pipeline_id '' Optional MoveIt planning pipeline override. Leave empty to use the MoveIt default.
planner_id '' Optional planner override within the selected planning pipeline. Leave empty to use the default planner.
workspace_config_path '' Optional path to the workspace YAML used for collision scene setup. Leave empty to use the standard workspace resolution behavior.