2024-9-27-2

ren_yuan/src/lst_robot_r/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(lstrobot_planning)
+project(lst_robot_r)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)

ren_yuan/src/lst_robot_r/scripts/command.py

@@ -25,7 +25,7 @@ def load_visual():
     command = "rosrun visual visual_node"
     subprocess.Popen(['gnome-terminal', '--', 'bash', '-c', command])
 def load_rviz():
-    command = "roslaunch lstrobot_moveit_config_0605 demo.launch"
+    command = "roslaunch robot_config demo.launch"
     subprocess.Popen(['gnome-terminal', '--', 'bash', '-c', command])
 def launch_publish_pointcloud():
     file_name = "dycl_0506.py"

ren_yuan/src/lst_robot_r/scripts/start.py

@@ -47,7 +47,7 @@ if __name__ == "__main__":
     rospy.set_param("sign_control",1)
     rospy.set_param("sign_pointcloud",0)
 
-    rospy.set_param("folder_path","/home/robot/ROS/ren_yuan/data/2")
+    rospy.set_param("folder_path","/home/robot/ROS/ren_yuan/data/3")
 
    
     rospy.loginfo("等待rviz启动")
@@ -68,7 +68,7 @@ if __name__ == "__main__":
                 if(aaa =='1' or aaa=='2'):
                     rospy.set_param("sign_control",aaa)
                 else:
-                    command.close_rviz("/usr/bin/python3 /opt/ros/noetic/bin/roslaunch lstrobot_moveit_config_0605 demo.launch")
+                    command.close_rviz("/usr/bin/python3 /opt/ros/noetic/bin/roslaunch robot_config demo.launch")
                     exit(0)
                 waited_once = True
         elif sign_control == "1":
@@ -78,17 +78,17 @@ if __name__ == "__main__":
             # 清除场景
             clear_octomap()
             #点云计算并发布
-            process = multiprocessing.Process(target=command.launch_publish_pointcloud_background)
-            process.start()
+            # process = multiprocessing.Process(target=command.launch_publish_pointcloud_background)
+            # process.start()
             #计算焊接顺序和焊接姿态
             hjsx.run()
             hanqiangpose.run()
             time.sleep(10)
             command.load_visual()
             # 等待 /move_group/monitored_planning_scene 话题发布消息
-            rospy.loginfo("等待场景地图加载完毕...")
-            wait_for_topic('/move_group/monitored_planning_scene', PlanningScene)
-            rospy.loginfo(f"场景地图已加载完毕")
+            # rospy.loginfo("等待场景地图加载完毕...")
+            # wait_for_topic('/move_group/monitored_planning_scene', PlanningScene)
+            # rospy.loginfo(f"场景地图已加载完毕")
             rospy.set_param("sign_pointcloud",1)
             #rospy.loginfo("终止点云发布，关闭发布窗口")
             

ren_yuan/src/lstrobot_moveit_config_0605/config/sensors_3d2.yaml

@@ -1,10 +0,0 @@
-sensors2:
-  - filtered_cloud_topic: filtered_cloud
-    max_range: 5.0
-    max_update_rate: 1.0
-    padding_offset: 0.1
-    padding_scale: 1.0
-    point_cloud_topic: /pointcloud/output2
-    point_subsample: 1
-    sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
-

ren_yuan/src/lstrobot_moveit_config_0605/.setup_assistant → ren_yuan/src/robot_config/.setup_assistant

@@ -8,4 +8,4 @@ moveit_setup_assistant_config:
   CONFIG:
     author_name: 123
     author_email: 123@163.com
-    generated_timestamp: 1727315613
+    generated_timestamp: 1727407047

ren_yuan/src/lstrobot_moveit_config_0605/CMakeLists.txt → ren_yuan/src/robot_config/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.1.3)
-project(lstrobot_moveit_config_0605)
+project(robot_config)
 
 find_package(catkin REQUIRED)
 

ren_yuan/src/lstrobot_moveit_config_0605/config/a9.srdf → ren_yuan/src/robot_config/config/a9.srdf

@@ -10,7 +10,7 @@
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="manipulator">
-        <chain base_link="base_link" tip_link="end_link_now"/>
+        <chain base_link="world" tip_link="end_link_now"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="zero" group="manipulator">

ren_yuan/src/lstrobot_moveit_config_0605/config/gazebo_a9.urdf → ren_yuan/src/robot_config/config/gazebo_a9.urdf

@@ -3,6 +3,12 @@
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot name="a9">
+    <link name="world" />
+    <joint name="world_joint" type="fixed">
+        <parent link="world" />
+        <child link="base_link" />
+        <origin xyz="0.0 0.0 2.17" rpy="0.0 3.14 0.0" />
+    </joint>
     <link name="base_link">
         <inertial>
             <origin xyz="-0.110121070288428 -0.0129999995820303 0.159000000973282" rpy="0 0 0" />
@@ -52,7 +58,7 @@
         <parent link="base_link" />
         <child link="Link_1" />
         <axis xyz="0 0 1" />
-        <limit lower="-3" upper="3" effort="0" velocity="0" />
+        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
     </joint>
     <link name="Link_2">
         <inertial>
@@ -81,7 +87,7 @@
         <parent link="Link_1" />
         <child link="Link_2" />
         <axis xyz="0 1 0" />
-        <limit lower="-3" upper="3" effort="0" velocity="0" />
+        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
     </joint>
     <link name="Link_3">
         <inertial>
@@ -110,7 +116,7 @@
         <parent link="Link_2" />
         <child link="Link_3" />
         <axis xyz="0 1 0" />
-        <limit lower="-3" upper="3" effort="0" velocity="0" />
+        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
     </joint>
     <link name="Link_4">
         <inertial>
@@ -139,7 +145,7 @@
         <parent link="Link_3" />
         <child link="Link_4" />
         <axis xyz="0.86603 0 0.5" />
-        <limit lower="-3" upper="3" effort="0" velocity="0" />
+        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
     </joint>
     <link name="Link_5">
         <inertial>
@@ -168,7 +174,7 @@
         <parent link="Link_4" />
         <child link="Link_5" />
         <axis xyz="0 1 0" />
-        <limit lower="-3" upper="3" effort="0" velocity="0" />
+        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
     </joint>
     <link name="Link_6">
         <inertial>
@@ -197,7 +203,7 @@
         <parent link="Link_5" />
         <child link="Link_6" />
         <axis xyz="0.49999 0 -0.86603" />
-        <limit lower="-3" upper="3" effort="0" velocity="0" />
+        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
     </joint>
     <link name="Link_7">
         <inertial>
@@ -227,6 +233,12 @@
         <child link="Link_7" />
         <axis xyz="0 0 0" />
     </joint>
+    <link name="end_link_now" />
+    <joint name="end_joint" type="fixed">
+        <parent link="Link_7" />
+        <child link="end_link_now" />
+        <origin xyz="-0.045 0.0 0.4" rpy="0.0 0.4 3.14" />
+    </joint>
     <transmission name="trans_joint_1">
         <type>transmission_interface/SimpleTransmission</type>
         <joint name="joint_1">

ren_yuan/src/lstrobot_moveit_config_0605/config/ompl_planning.yaml → ren_yuan/src/robot_config/config/ompl_planning.yaml

@@ -194,5 +194,3 @@ manipulator:
     - AITstar
     - ABITstar
     - BITstar
-  projection_evaluator: joints(joint_1,joint_2)
-  longest_valid_segment_fraction: 0.005

ren_yuan/src/lstrobot_moveit_config_0605/config/sensors_3d.yaml → ren_yuan/src/robot_config/config/sensors_3d.yaml

@@ -6,5 +6,4 @@ sensors:
     padding_scale: 1.0
     point_cloud_topic: /pointcloud/output
     point_subsample: 1
-    sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
-
+    sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater

ren_yuan/src/lstrobot_moveit_config_0605/launch/chomp_planning_pipeline.launch.xml → ren_yuan/src/robot_config/launch/chomp_planning_pipeline.launch.xml

@@ -17,5 +17,5 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-  <rosparam command="load" file="$(find lstrobot_moveit_config_0605)/config/chomp_planning.yaml" />
+  <rosparam command="load" file="$(find robot_config)/config/chomp_planning.yaml" />
 </launch>

ren_yuan/src/lstrobot_moveit_config_0605/launch/default_warehouse_db.launch → ren_yuan/src/robot_config/launch/default_warehouse_db.launch

@@ -2,7 +2,7 @@
 
   <arg name="reset" default="false"/>
   <!-- If not specified, we'll use a default database location -->
-  <arg name="moveit_warehouse_database_path" default="$(find lstrobot_moveit_config_0605)/default_warehouse_mongo_db" />
+  <arg name="moveit_warehouse_database_path" default="$(find robot_config)/default_warehouse_mongo_db" />
 
   <!-- Launch the warehouse with the configured database location -->
   <include file="$(dirname)/warehouse.launch">

ren_yuan/src/lstrobot_moveit_config_0605/launch/demo.launch → ren_yuan/src/robot_config/launch/demo.launch

@@ -6,7 +6,7 @@
   <!-- By default, we do not start a database (it can be large) -->
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
-  <arg name="db_path" default="$(find lstrobot_moveit_config_0605)/default_warehouse_mongo_db" />
+  <arg name="db_path" default="$(find robot_config)/default_warehouse_mongo_db" />
 
   <!-- By default, we are not in debug mode -->
   <arg name="debug" default="false" />

ren_yuan/src/lstrobot_moveit_config_0605/launch/fake_moveit_controller_manager.launch.xml → ren_yuan/src/robot_config/launch/fake_moveit_controller_manager.launch.xml

@@ -7,6 +7,6 @@
   <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
 
   <!-- The rest of the params are specific to this plugin -->
-  <rosparam subst_value="true" file="$(find lstrobot_moveit_config_0605)/config/fake_controllers.yaml"/>
+  <rosparam subst_value="true" file="$(find robot_config)/config/fake_controllers.yaml"/>
 
 </launch>

ren_yuan/src/lstrobot_moveit_config_0605/launch/gazebo.launch → ren_yuan/src/robot_config/launch/gazebo.launch

@@ -13,7 +13,7 @@
   </include>
 
   <!-- Set the robot urdf on the parameter server -->
-  <param name="robot_description" textfile="$(find lstrobot_moveit_config_0605)/config/gazebo_a9.urdf" />
+  <param name="robot_description" textfile="$(find robot_config)/config/gazebo_a9.urdf" />
 
   <!-- Unpause the simulation after loading the robot model -->
   <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
@@ -23,7 +23,7 @@
     respawn="false" output="screen" />
 
   <!-- Load the controller parameters onto the parameter server -->
-  <rosparam file="$(find lstrobot_moveit_config_0605)/config/gazebo_controllers.yaml" />
+  <rosparam file="$(find robot_config)/config/gazebo_controllers.yaml" />
   <include file="$(dirname)/ros_controllers.launch"/>
 
   <!-- Spawn the Gazebo ROS controllers -->

ren_yuan/src/lstrobot_moveit_config_0605/launch/moveit.rviz → ren_yuan/src/robot_config/launch/moveit.rviz

@@ -5,6 +5,8 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
+        - /Grid1
+        - /MotionPlanning1
         - /MotionPlanning1/Scene Geometry1
       Splitter Ratio: 0.5
     Tree Height: 808
@@ -219,27 +221,6 @@ Visualization Manager:
         Show Robot Visual: false
       Value: true
       Velocity_Scaling_Factor: 0.1
-    - Class: rviz/MarkerArray
-      Enabled: true
-      Marker Topic: rviz_visual_tools
-      Name: MarkerArray
-      Namespaces:
-        Path: true
-        Text: true
-        point0  0.983265  0.126875  0.473115: true
-        point0  0.983765  -0.262875  0.473115: true
-        point1  0.983378  0.122593  0.278064: true
-        point1  0.983994  -0.262691  0.279523: true
-        point2  0.983265  0.126875  0.278115: true
-        point2  1.125382  0.127069  0.280059: true
-        point3  0.983994  -0.261691  0.278523: true
-        point3  1.125382  -0.262691  0.280059: true
-        point4  0.983294  -0.262191  0.463923: true
-        point4  0.984994  -0.263491  0.277923: true
-        point5  0.980265  0.126875  0.278115: true
-        point5  0.983365  0.126875  0.468115: true
-      Queue Size: 100
-      Value: true
     - Alpha: 1
       Class: rviz/RobotModel
       Collision Enabled: false
@@ -304,10 +285,27 @@ Visualization Manager:
       Update Interval: 0
       Value: true
       Visual Enabled: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: rviz_visual_tools
+      Name: MarkerArray
+      Namespaces:
+        Path: true
+        Text: true
+        point0  0.983265  0.126875  1.478115: true
+        point0  1.125382  0.127069  1.480059: true
+        point1  0.983994  -0.261691  1.478523: true
+        point1  1.125382  -0.262691  1.480059: true
+        point2  0.983294  -0.262191  1.663923: true
+        point2  0.984994  -0.263491  1.477923: true
+        point3  0.980265  0.126875  1.478115: true
+        point3  0.983365  0.126875  1.668115: true
+      Queue Size: 100
+      Value: true
     - Alpha: 1
       Class: rviz/Axes
       Enabled: true
-      Length: 0.05000000074505806
+      Length: 0.054999999701976776
       Name: Axes
       Radius: 0.009999999776482582
       Reference Frame: end_link_now
@@ -319,7 +317,7 @@ Visualization Manager:
       Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
-        All Enabled: false
+        All Enabled: true
       Marker Alpha: 1
       Marker Scale: 1
       Name: TF
@@ -334,7 +332,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: base_link
+    Fixed Frame: world
     Frame Rate: 30
   Name: root
   Tools:
@@ -346,7 +344,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 3.868440866470337
+      Distance: 2.1756603717803955
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -354,17 +352,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.75
       Focal Point:
-        X: 0.43320751190185547
-        Y: 0.5569202899932861
-        Z: -0.5814682245254517
+        X: -0.8280303478240967
+        Y: -0.09661253541707993
+        Z: 0.6303508281707764
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7650017142295837
-      Target Frame: base_link
-      Yaw: 5.316291332244873
+      Pitch: 0.15500007569789886
+      Target Frame: world
+      Yaw: 1.8181167840957642
     Saved: ~
 Window Geometry:
   Displays:
@@ -378,7 +376,7 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000003b9fc0200000007fb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000001ab000001880000017d00ffffff00000587000003b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000003b9fc0200000007fb000000100044006900730070006c006100790073010000003d000003b9000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000208000001ee0000017d00ffffff00000587000003b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
   Width: 1920

ren_yuan/src/lstrobot_moveit_config_0605/launch/ompl-chomp_planning_pipeline.launch.xml → ren_yuan/src/robot_config/launch/ompl-chomp_planning_pipeline.launch.xml

@@ -1,6 +1,6 @@
 <launch>
   <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
-  <include file="$(find lstrobot_moveit_config_0605)/launch/ompl_planning_pipeline.launch.xml">
+  <include file="$(find robot_config)/launch/ompl_planning_pipeline.launch.xml">
     <arg name="planning_adapters"
          default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
                   default_planner_request_adapters/AddTimeParameterization
@@ -13,7 +13,7 @@
   </include>
 
   <!-- load chomp config -->
-  <rosparam command="load" file="$(find lstrobot_moveit_config_0605)/config/chomp_planning.yaml" />
+  <rosparam command="load" file="$(find robot_config)/config/chomp_planning.yaml" />
 
   <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
   <param name="trajectory_initialization_method" value="fillTrajectory"/>

ren_yuan/src/lstrobot_moveit_config_0605/launch/ompl_planning_pipeline.launch.xml → ren_yuan/src/robot_config/launch/ompl_planning_pipeline.launch.xml

@@ -19,6 +19,6 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-  <rosparam command="load" file="$(find lstrobot_moveit_config_0605)/config/ompl_planning.yaml"/>
+  <rosparam command="load" file="$(find robot_config)/config/ompl_planning.yaml"/>
 
 </launch>

ren_yuan/src/lstrobot_moveit_config_0605/launch/planning_context.launch → ren_yuan/src/robot_config/launch/planning_context.launch

@@ -9,17 +9,17 @@
   <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find a9)/urdf/a9.urdf"/>
 
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" textfile="$(find lstrobot_moveit_config_0605)/config/a9.srdf" />
+  <param name="$(arg robot_description)_semantic" textfile="$(find robot_config)/config/a9.srdf" />
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find lstrobot_moveit_config_0605)/config/joint_limits.yaml"/>
-    <rosparam command="load" file="$(find lstrobot_moveit_config_0605)/config/cartesian_limits.yaml"/>
+    <rosparam command="load" file="$(find robot_config)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find robot_config)/config/cartesian_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
   <group ns="$(arg robot_description)_kinematics">
-    <rosparam command="load" file="$(find lstrobot_moveit_config_0605)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find robot_config)/config/kinematics.yaml"/>
 
   </group>
 

ren_yuan/src/lstrobot_moveit_config_0605/launch/ros_controllers.launch → ren_yuan/src/robot_config/launch/ros_controllers.launch

@@ -2,7 +2,7 @@
 <launch>
 
   <!-- Load joint controller configurations from YAML file to parameter server -->
-  <rosparam file="$(find lstrobot_moveit_config_0605)/config/ros_controllers.yaml" command="load"/>
+  <rosparam file="$(find robot_config)/config/ros_controllers.yaml" command="load"/>
 
   <!-- Load the controllers -->
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"

ren_yuan/src/lstrobot_moveit_config_0605/launch/run_benchmark_ompl.launch → ren_yuan/src/robot_config/launch/run_benchmark_ompl.launch

@@ -15,7 +15,7 @@
 
   <!-- Start Benchmark Executable -->
   <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
-    <rosparam command="load" file="$(find lstrobot_moveit_config_0605)/config/ompl_planning.yaml"/>
+    <rosparam command="load" file="$(find robot_config)/config/ompl_planning.yaml"/>
   </node>
 
 </launch>

ren_yuan/src/lstrobot_moveit_config_0605/launch/sensor_manager.launch.xml → ren_yuan/src/robot_config/launch/sensor_manager.launch.xml

@@ -3,7 +3,7 @@
   <!-- This file makes it easy to include the settings for sensor managers -->
 
   <!-- Params for 3D sensors config -->
-  <rosparam command="load" file="$(find lstrobot_moveit_config_0605)/config/sensors_3d.yaml" />
+  <rosparam command="load" file="$(find robot_config)/config/sensors_3d.yaml" />
 
   <!-- Params for the octomap monitor -->
   <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->

ren_yuan/src/lstrobot_moveit_config_0605/launch/setup_assistant.launch → ren_yuan/src/robot_config/launch/setup_assistant.launch

@@ -8,7 +8,7 @@
 
   <!-- Run -->
   <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
-        args="--config_pkg=lstrobot_moveit_config_0605"
+        args="--config_pkg=robot_config"
         launch-prefix="$(arg launch_prefix)"
         required="true"
         output="screen" />

ren_yuan/src/lstrobot_moveit_config_0605/launch/simple_moveit_controller_manager.launch.xml → ren_yuan/src/robot_config/launch/simple_moveit_controller_manager.launch.xml

@@ -3,6 +3,6 @@
   <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
 
   <!-- Load controller list to the parameter server -->
-  <rosparam file="$(find lstrobot_moveit_config_0605)/config/simple_moveit_controllers.yaml" />
-  <rosparam file="$(find lstrobot_moveit_config_0605)/config/ros_controllers.yaml" />
+  <rosparam file="$(find robot_config)/config/simple_moveit_controllers.yaml" />
+  <rosparam file="$(find robot_config)/config/ros_controllers.yaml" />
 </launch>

ren_yuan/src/lstrobot_moveit_config_0605/launch/stomp_planning_pipeline.launch.xml → ren_yuan/src/robot_config/launch/stomp_planning_pipeline.launch.xml

@@ -19,5 +19,5 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-  <rosparam command="load" file="$(find lstrobot_moveit_config_0605)/config/stomp_planning.yaml"/>
+  <rosparam command="load" file="$(find robot_config)/config/stomp_planning.yaml"/>
 </launch>

ren_yuan/src/lstrobot_moveit_config_0605/package.xml → ren_yuan/src/robot_config/package.xml

@@ -1,6 +1,6 @@
 <package>
 
-  <name>lstrobot_moveit_config_0605</name>
+  <name>robot_config</name>
   <version>0.3.0</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the a9 with the MoveIt Motion Planning Framework