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feat: add moveit2 configuration

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This commit is contained in:
David Sharpe
2025-08-19 11:38:05 -05:00
committed by David
parent c0d39aa3a6
commit bb2dda02a2
24 changed files with 542 additions and 25 deletions
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51
src/astra_arm_moveit_config/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>astra_arm_moveit_config</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the ASTRA_Arm with the MoveIt Motion Planning Framework
</description>
<maintainer email="ds0196@uah.edu">David Sharpe</maintainer>
<license>BSD-3-Clause</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/moveit/moveit2/issues</url>
<url type="repository">https://github.com/moveit/moveit2</url>
<author email="ds0196@uah.edu">David Sharpe</author>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>moveit_ros_move_group</exec_depend>
<exec_depend>moveit_kinematics</exec_depend>
<exec_depend>moveit_planners</exec_depend>
<exec_depend>moveit_simple_controller_manager</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>joint_state_publisher_gui</exec_depend>
<exec_depend>tf2_ros</exec_depend>
<exec_depend>xacro</exec_depend>
<!-- The next 2 packages are required for the gazebo simulation.
We don't include them by default to prevent installing gazebo and all its dependencies. -->
<!-- <exec_depend>joint_trajectory_controller</exec_depend> -->
<!-- <exec_depend>gazebo_ros_control</exec_depend> -->
<exec_depend>controller_manager</exec_depend>
<exec_depend>moveit_configs_utils</exec_depend>
<exec_depend>moveit_ros_move_group</exec_depend>
<exec_depend>moveit_ros_visualization</exec_depend>
<exec_depend>moveit_ros_warehouse</exec_depend>
<exec_depend>moveit_setup_assistant</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rover_urdf_pkg</exec_depend>
<exec_depend>rviz2</exec_depend>
<exec_depend>rviz_common</exec_depend>
<exec_depend>rviz_default_plugins</exec_depend>
<exec_depend>tf2_ros</exec_depend>
<exec_depend>warehouse_ros_mongo</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>