Add support for KUKA LBRs

[mhubii]

Hi @AndrejOrsula and thank you for this great work!

We recently found that users requested help with moveit and I think your repository simplifies interfacing it greatly.

This pull request aims to add support for KUKA LBRs (iiwa7, iiwa14, med7, med14) in https://github.com/lbr-stack/lbr_fri_ros2_stack.

In the lbr_fri_ros2_stack everything is namespaced by robot name, that includes for example /move_action action server.

• [ ] Namespace support in pymoveit2 ?
• [ ] Updates in lbr_fri_ros2_stack to allow execute_via_moveit=False, see https://github.com/AndrejOrsula/pymoveit2/blob/5b35728306665e7f21fe2ab1ee5bb42565c68e12/pymoveit2/moveit2.py#L51

Could you please help us integrate?

Or would you rather recommend to use the moveit python bindings?

Thank you for the help!

[mhubii]

Refers to https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/133

[AndrejOrsula]

Hello @mhubii,

Thank you for your contribution!

• [ ] Namespace support in pymoveit2 ?

I am not certain. I was under the assumption that specifying namespace for your Node before instantiating MoveIt2 class would automatically resolve the namespacing for you. However, I have not tested it so I am unsure.

• [ ] Updates in lbr_fri_ros2_stack to allow execute_via_moveit=False, see https://github.com/AndrejOrsula/pymoveit2/blob/5b35728306665e7f21fe2ab1ee5bb42565c68e12/pymoveit2/moveit2.py#L51

I am sorry, but I am unsure what you mean. The execute_via_moveit parameter already defaults to False but you can change it during initialization.

Could you please help us integrate?

Would you mind testing the namespace via Node mentioned above?

At the moment, I use the Python interface for MoveIt 2 only for a course that employs phantomx_pincher robots. This repository covers everything that the course requires, so I won't be working towards adding new features (e.g. automatic parsing of robot_description to make these PRs obsolete). I am happy to review/merge any PRs, though.

Or would you rather recommend to use the moveit python bindings?

I have not tested moveit2_py extensively, so I cannot give you an answer. It is an official Python interface, so it might be a better option in the long term - hence, it has been mentioned at the top of the README of this repository since it was announced.

[mhubii]

hi @AndrejOrsula and thanks for coming back so briefly. Sorry this PR wasn't ready for merge. Should have marked as preview, sorry

[AndrejOrsula]

No worries. Feel free to open another PR if needed.