Add hangar_sim

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>

Author: pac48

.gitmodules

@@ -4,3 +4,6 @@
 [submodule "src/external_dependencies/Universal_Robots_ROS2_Description"]
 	path = src/external_dependencies/ur_description
 	url = https://github.com/PickNikRobotics/Universal_Robots_ROS2_Description.git
+[submodule "src/external_dependencies/clearpath_mecanum_drive_controller"]
+	path = src/external_dependencies/clearpath_mecanum_drive_controller
+	url = https://github.com/PickNikRobotics/clearpath_mecanum_drive_controller.git

README.md

@@ -4,7 +4,7 @@ This is fork of the [MoveIt Pro Empty Workspace](https://github.com/PickNikRobot
 This workspace contains reference materials for using MoveIt Pro, including:
 - [Example base UR5e configuration](src/moveit_pro_ur_configs/picknik_ur_base_config)
 - [A physics based simulation environment with a robot on a linear rail](src/lab_sim)
-- [Mobile manipulation configuration](src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config)
+- [Mobile manipulation configuration](src/hangar_sim)
 - [Example behaviors](src/example_behaviors)
 
 Since the [picknik_accessories](https://github.com/PickNikRobotics/picknik_accessories) package uses git LFS, [it cannot be added as a subtree](https://github.com/git-lfs/git-lfs/issues/854).

src/external_dependencies/clearpath_mecanum_drive_controller

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.22)
+project(hangar_sim)
+
+find_package(ament_cmake REQUIRED)
+find_package(picknik_accessories REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(moveit_studio_plugins REQUIRED)
+
+install(
+  DIRECTORY
+    config
+    description
+    launch
+    maps
+    objectives
+    params
+    waypoints
+  DESTINATION
+    share/${PROJECT_NAME}
+)
+
+pluginlib_export_plugin_description_file(
+        moveit_ros_control_interface moveit_mecanum_drive_controller_plugins.xml)
+
+install(PROGRAMS
+  script/odometry_joint_state_publisher.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(IMPORTED_RUNTIME_ARTIFACTS moveit_studio_plugins::dummy_controller_handle_plugin LIBRARY DESTINATION
+        lib)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/hangar_sim/CMakeLists.txt

@@ -0,0 +1,5 @@
+# hangar_sim
+
+A MoveIt Pro MuJoCo simulation for PickNik's Universal Robots (UR) arms.
+
+For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)

src/moveit_pro_mobile_manipulation/mobile_manipulation_config/LICENSE src/hangar_sim/LICENSE

@@ -10,26 +10,47 @@ hardware:
   # [Required]
   robot_description:
     urdf:
-      package: "picknik_ur_mobile_config"
-      path: "description/picknik_ur.xacro"
+      package: "hangar_sim"
+      path: "description/ur5e_ridgeback.xacro"
     srdf:
-      package: "picknik_ur_mobile_config"
+      package: "hangar_sim"
       path: "config/moveit/picknik_ur.srdf"
     urdf_params:
       - joint_limits_parameters_file:
-          package: "picknik_ur_mobile_config"
+          package: "hangar_sim"
           path: "config/moveit/joint_limits.yaml"
+      - mujoco_model: "description/hangar_scene.xml"
+
+  # Specify any additional launch files for running the robot in simulation mode.
+  # Used when hardware.simulated is True.
+  # [Optional, defaults to a blank launch file if not specified]
+  simulated_robot_driver_persist_launch_file:
+    package: "hangar_sim"
+    path: "launch/sim/robot_drivers_to_persist_sim.launch.py"
 
 moveit_params:
   servo:
-    package: "picknik_ur_mobile_config"
+    package: "hangar_sim"
     path: "config/moveit/ur_servo.yaml"
   joint_limits:
-    package: "picknik_ur_mobile_config"
+    package: "hangar_sim"
     path: "config/moveit/joint_limits.yaml"
   servo_joint_limits:
-    package: "picknik_ur_mobile_config"
+    package: "hangar_sim"
     path: "config/moveit/hard_joint_limits.yaml"
+  kinematics:
+    package: "hangar_sim"
+    path: "config/moveit/trac_ik_kinematics_distance.yaml"
+  servo_kinematics:
+    package: "hangar_sim"
+    path: "config/moveit/trac_ik_kinematics_speed.yaml"
+  sensors_3d:
+    package: "hangar_sim"
+    path: "config/moveit/sensors_3d.yaml"
+  ompl_planning:
+    package: "hangar_sim"
+    path: "config/moveit/ompl_planning.yaml"
+
 
 # Configuration for loading behaviors and objectives.
 # [Required]
@@ -42,42 +63,40 @@ objectives:
     core:
       - "moveit_studio::behaviors::CoreBehaviorsLoader"
       - "moveit_studio::behaviors::MTCCoreBehaviorsLoader"
+      - "moveit_studio::behaviors::NavBehaviorsLoader"
       - "moveit_studio::behaviors::ServoBehaviorsLoader"
       - "moveit_studio::behaviors::VisionBehaviorsLoader"
   # Specify source folder for objectives
   # [Required]
   objective_library_paths:
-    sim_objectives:
-      package_name: "picknik_ur_mobile_config"
+    hangar_sim_objectives:
+      package_name: "hangar_sim"
       relative_path: "objectives"
+
   # Specify the location of the saved waypoints file.
   # [Required]
   waypoints_file:
-    package_name: "picknik_ur_mobile_config"
+    package_name: "hangar_sim"
     relative_path: "waypoints/ur_waypoints.yaml"
 
-
 # Configuration for launching ros2_control processes.
 # [Required, if using ros2_control]
 ros2_control:
   config:
-    package: "picknik_ur_mobile_config"
+    package: "hangar_sim"
     path: "config/control/picknik_ur.ros2_control.yaml"
+
   # MoveIt Pro will load and activate these controllers at start up to ensure they are available.
   # If not specified, it is up to the user to ensure the appropriate controllers are active and available
   # for running the application.
   # [Optional, default=[]]
   controllers_active_at_startup:
     - "force_torque_sensor_broadcaster"
-    - "robotiq_gripper_controller"
     - "joint_state_broadcaster"
-    - "servo_controller"
+    - "joint_trajectory_controller"
+    - "platform_velocity_controller"
+    - "vacuum_gripper"
   # Load but do not start these controllers so they can be activated later if needed.
   controllers_inactive_at_startup:
-    - "joint_trajectory_controller"
-  # Any controllers here will not be spawned by MoveIt Pro.
-  # [Optional, default=[]]
-  controllers_not_managed: []
-  # Optionally configure remapping rules to let multiple controllers receive commands on the same topic.
-  # [Optional, default=[]]
-  controller_shared_topics: []
+    - "servo_controller"
+    - "platform_velocity_controller_nav2"