Merge branch 'master' into brokenaf
bonk
This commit is contained in:
commit
056fa3de68
GPG key ID:
10543A0DA2EC1E12
6 changed files with 198 additions and 184 deletions
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@ -1,14 +1,15 @@
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controller_names:
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- joint_trajectory_controller
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joint_trajectory_controller:
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action_ns: follow_joint_trajectory
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type: FollowJointTrajectory
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default: true
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joints:
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- joint_1
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- joint_2
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- joint_3
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- joint_4
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- joint_5
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- joint_6
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moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
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moveit_simple_controller_manager:
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controller_names:
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- joint_trajectory_controller
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joint_trajectory_controller:
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action_ns: follow_joint_trajectory
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type: FollowJointTrajectory
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default: true
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||||
joints:
|
||||
- joint_1
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- joint_2
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||||
- joint_3
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||||
- joint_4
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||||
- joint_5
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||||
- joint_6
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||||
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@ -1,149 +1,156 @@
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planner_configs:
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SBLkConfigDefault:
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type: geometric::SBL
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||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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||||
ESTkConfigDefault:
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||||
type: geometric::EST
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||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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||||
LBKPIECEkConfigDefault:
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||||
type: geometric::LBKPIECE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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||||
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
|
||||
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
||||
BKPIECEkConfigDefault:
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||||
type: geometric::BKPIECE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
|
||||
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
|
||||
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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||||
KPIECEkConfigDefault:
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||||
type: geometric::KPIECE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
|
||||
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
|
||||
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
||||
RRTkConfigDefault:
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||||
type: geometric::RRT
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||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
||||
RRTConnectkConfigDefault:
|
||||
type: geometric::RRTConnect
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
RRTstarkConfigDefault:
|
||||
type: geometric::RRTstar
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
||||
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
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||||
TRRTkConfigDefault:
|
||||
type: geometric::TRRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
||||
max_states_failed: 10 # when to start increasing temp. default: 10
|
||||
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
|
||||
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
|
||||
init_temperature: 10e-6 # initial temperature. default: 10e-6
|
||||
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
||||
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
||||
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
|
||||
PRMkConfigDefault:
|
||||
type: geometric::PRM
|
||||
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
|
||||
PRMstarkConfigDefault:
|
||||
type: geometric::PRMstar
|
||||
FMTkConfigDefault:
|
||||
type: geometric::FMT
|
||||
num_samples: 1000 # number of states that the planner should sample. default: 1000
|
||||
radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
|
||||
nearest_k: 1 # use Knearest strategy. default: 1
|
||||
cache_cc: 1 # use collision checking cache. default: 1
|
||||
heuristics: 0 # activate cost to go heuristics. default: 0
|
||||
extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
|
||||
BFMTkConfigDefault:
|
||||
type: geometric::BFMT
|
||||
num_samples: 1000 # number of states that the planner should sample. default: 1000
|
||||
radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
|
||||
nearest_k: 1 # use the Knearest strategy. default: 1
|
||||
balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
|
||||
optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
|
||||
heuristics: 1 # activates cost to go heuristics. default: 1
|
||||
cache_cc: 1 # use the collision checking cache. default: 1
|
||||
extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
|
||||
PDSTkConfigDefault:
|
||||
type: geometric::PDST
|
||||
STRIDEkConfigDefault:
|
||||
type: geometric::STRIDE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
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||||
degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
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max_degree: 18 # max degree of a node in the GNAT. default: 12
|
||||
min_degree: 12 # min degree of a node in the GNAT. default: 12
|
||||
max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
|
||||
estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
|
||||
min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
|
||||
BiTRRTkConfigDefault:
|
||||
type: geometric::BiTRRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
|
||||
init_temperature: 100 # initial temperature. default: 100
|
||||
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
||||
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
||||
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
|
||||
LBTRRTkConfigDefault:
|
||||
type: geometric::LBTRRT
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||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
epsilon: 0.4 # optimality approximation factor. default: 0.4
|
||||
BiESTkConfigDefault:
|
||||
type: geometric::BiEST
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
ProjESTkConfigDefault:
|
||||
type: geometric::ProjEST
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
LazyPRMkConfigDefault:
|
||||
type: geometric::LazyPRM
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
LazyPRMstarkConfigDefault:
|
||||
type: geometric::LazyPRMstar
|
||||
SPARSkConfigDefault:
|
||||
type: geometric::SPARS
|
||||
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
|
||||
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
|
||||
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
|
||||
max_failures: 1000 # maximum consecutive failure limit. default: 1000
|
||||
SPARStwokConfigDefault:
|
||||
type: geometric::SPARStwo
|
||||
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
|
||||
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
|
||||
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
|
||||
max_failures: 5000 # maximum consecutive failure limit. default: 5000
|
||||
move_group:
|
||||
planning_plugin: ompl_interface/OMPLPlanner
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||||
request_adapters:
|
||||
default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints
|
||||
start_state_max_bounds_error: 0.1
|
||||
|
||||
ar3_arm:
|
||||
default_planner_config: RRTConnectkConfigDefault
|
||||
planner_configs:
|
||||
- SBLkConfigDefault
|
||||
- ESTkConfigDefault
|
||||
- LBKPIECEkConfigDefault
|
||||
- BKPIECEkConfigDefault
|
||||
- KPIECEkConfigDefault
|
||||
- RRTkConfigDefault
|
||||
- RRTConnectkConfigDefault
|
||||
- RRTstarkConfigDefault
|
||||
- TRRTkConfigDefault
|
||||
- PRMkConfigDefault
|
||||
- PRMstarkConfigDefault
|
||||
- FMTkConfigDefault
|
||||
- BFMTkConfigDefault
|
||||
- PDSTkConfigDefault
|
||||
- STRIDEkConfigDefault
|
||||
- BiTRRTkConfigDefault
|
||||
- LBTRRTkConfigDefault
|
||||
- BiESTkConfigDefault
|
||||
- ProjESTkConfigDefault
|
||||
- LazyPRMkConfigDefault
|
||||
- LazyPRMstarkConfigDefault
|
||||
- SPARSkConfigDefault
|
||||
- SPARStwokConfigDefault
|
||||
SBLkConfigDefault:
|
||||
type: geometric::SBL
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
ESTkConfigDefault:
|
||||
type: geometric::EST
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
LBKPIECEkConfigDefault:
|
||||
type: geometric::LBKPIECE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
|
||||
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
||||
BKPIECEkConfigDefault:
|
||||
type: geometric::BKPIECE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
|
||||
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
|
||||
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
||||
KPIECEkConfigDefault:
|
||||
type: geometric::KPIECE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
|
||||
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
|
||||
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
||||
RRTkConfigDefault:
|
||||
type: geometric::RRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
||||
RRTConnectkConfigDefault:
|
||||
type: geometric::RRTConnect
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
RRTstarkConfigDefault:
|
||||
type: geometric::RRTstar
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
||||
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
|
||||
TRRTkConfigDefault:
|
||||
type: geometric::TRRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
||||
max_states_failed: 10 # when to start increasing temp. default: 10
|
||||
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
|
||||
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
|
||||
init_temperature: 10e-6 # initial temperature. default: 10e-6
|
||||
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
||||
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
||||
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
|
||||
PRMkConfigDefault:
|
||||
type: geometric::PRM
|
||||
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
|
||||
PRMstarkConfigDefault:
|
||||
type: geometric::PRMstar
|
||||
FMTkConfigDefault:
|
||||
type: geometric::FMT
|
||||
num_samples: 1000 # number of states that the planner should sample. default: 1000
|
||||
radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
|
||||
nearest_k: 1 # use Knearest strategy. default: 1
|
||||
cache_cc: 1 # use collision checking cache. default: 1
|
||||
heuristics: 0 # activate cost to go heuristics. default: 0
|
||||
extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
|
||||
BFMTkConfigDefault:
|
||||
type: geometric::BFMT
|
||||
num_samples: 1000 # number of states that the planner should sample. default: 1000
|
||||
radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
|
||||
nearest_k: 1 # use the Knearest strategy. default: 1
|
||||
balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
|
||||
optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
|
||||
heuristics: 1 # activates cost to go heuristics. default: 1
|
||||
cache_cc: 1 # use the collision checking cache. default: 1
|
||||
extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
|
||||
PDSTkConfigDefault:
|
||||
type: geometric::PDST
|
||||
STRIDEkConfigDefault:
|
||||
type: geometric::STRIDE
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
|
||||
degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
|
||||
max_degree: 18 # max degree of a node in the GNAT. default: 12
|
||||
min_degree: 12 # min degree of a node in the GNAT. default: 12
|
||||
max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
|
||||
estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
|
||||
min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
|
||||
BiTRRTkConfigDefault:
|
||||
type: geometric::BiTRRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
|
||||
init_temperature: 100 # initial temperature. default: 100
|
||||
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
||||
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
||||
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
|
||||
LBTRRTkConfigDefault:
|
||||
type: geometric::LBTRRT
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
epsilon: 0.4 # optimality approximation factor. default: 0.4
|
||||
BiESTkConfigDefault:
|
||||
type: geometric::BiEST
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
ProjESTkConfigDefault:
|
||||
type: geometric::ProjEST
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
||||
LazyPRMkConfigDefault:
|
||||
type: geometric::LazyPRM
|
||||
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
||||
LazyPRMstarkConfigDefault:
|
||||
type: geometric::LazyPRMstar
|
||||
SPARSkConfigDefault:
|
||||
type: geometric::SPARS
|
||||
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
|
||||
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
|
||||
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
|
||||
max_failures: 1000 # maximum consecutive failure limit. default: 1000
|
||||
SPARStwokConfigDefault:
|
||||
type: geometric::SPARStwo
|
||||
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
|
||||
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
|
||||
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
|
||||
max_failures: 5000 # maximum consecutive failure limit. default: 5000
|
||||
|
||||
ar3_arm:
|
||||
default_planner_config: RRTConnectkConfigDefault
|
||||
planner_configs:
|
||||
- SBLkConfigDefault
|
||||
- ESTkConfigDefault
|
||||
- LBKPIECEkConfigDefault
|
||||
- BKPIECEkConfigDefault
|
||||
- KPIECEkConfigDefault
|
||||
- RRTkConfigDefault
|
||||
- RRTConnectkConfigDefault
|
||||
- RRTstarkConfigDefault
|
||||
- TRRTkConfigDefault
|
||||
- PRMkConfigDefault
|
||||
- PRMstarkConfigDefault
|
||||
- FMTkConfigDefault
|
||||
- BFMTkConfigDefault
|
||||
- PDSTkConfigDefault
|
||||
- STRIDEkConfigDefault
|
||||
- BiTRRTkConfigDefault
|
||||
- LBTRRTkConfigDefault
|
||||
- BiESTkConfigDefault
|
||||
- ProjESTkConfigDefault
|
||||
- LazyPRMkConfigDefault
|
||||
- LazyPRMstarkConfigDefault
|
||||
- SPARSkConfigDefault
|
||||
- SPARStwokConfigDefault
|
||||
|
||||
|
|
|
|||
4
src/ar3_config/config/planning_scene.yaml
Normal file
4
src/ar3_config/config/planning_scene.yaml
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
publish_planning_scene: true
|
||||
publish_geometry_updates: true
|
||||
publish_state_updates: true
|
||||
publish_transforms_updates: true
|
||||
4
src/ar3_config/config/trajectory.yaml
Normal file
4
src/ar3_config/config/trajectory.yaml
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
moveit_manage_controllers: true
|
||||
trajectory_execution.allowed_execution_duration_scaling: 1.2
|
||||
trajectory_execution.allowed_goal_duration_margin: 0.5
|
||||
trajectory_execution.allowed_start_tolerance: 0.1
|
||||
|
|
@ -1,8 +1,7 @@
|
|||
from os.path import join
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node, ComposableNodeContainer
|
||||
from launch_ros.descriptions import ComposableNode
|
||||
from launch_ros.actions import Node
|
||||
from launch.actions import ExecuteProcess
|
||||
import yaml
|
||||
|
||||
|
|
@ -31,7 +30,7 @@ def generate_launch_description():
|
|||
executable='rviz2',
|
||||
output='log',
|
||||
arguments=['-d', join(launch_root, 'rviz', 'ar3.rviz')],
|
||||
parameters=[robot_description, robot_description_semantic, robot_description_kinematics],
|
||||
parameters=[robot_description, robot_description_semantic, robot_description_kinematics]
|
||||
),
|
||||
|
||||
# Attatch robot to map
|
||||
|
|
@ -39,7 +38,7 @@ def generate_launch_description():
|
|||
package='tf2_ros',
|
||||
executable='static_transform_publisher',
|
||||
output='screen',
|
||||
arguments=['0', '0', '0', '0', '0', '0', 'world', 'base_link'],
|
||||
arguments=['0', '0', '0', '0', '0', '0', 'world', 'base_link']
|
||||
),
|
||||
|
||||
Node(
|
||||
|
|
@ -74,25 +73,30 @@ def generate_launch_description():
|
|||
)
|
||||
],
|
||||
output="screen",
|
||||
),
|
||||
)
|
||||
|
||||
# Controller
|
||||
Node(
|
||||
package='controller_manager',
|
||||
executable='ros2_control_node',
|
||||
output='screen',
|
||||
parameters=[robot_description, join(config_root, 'controller_manager.yaml')],
|
||||
parameters=[robot_description, join(config_root, 'controller_manager.yaml')]
|
||||
),
|
||||
|
||||
# Start controllers
|
||||
ExecuteProcess(
|
||||
cmd=['ros2 run controller_manager spawner.py joint_trajectory_controller'],
|
||||
shell=True,
|
||||
output='screen',
|
||||
),
|
||||
output='screen'),
|
||||
ExecuteProcess(
|
||||
cmd=['ros2 run controller_manager spawner.py joint_state_controller'],
|
||||
shell=True,
|
||||
output='screen'),
|
||||
|
||||
# Run platform
|
||||
Node(
|
||||
package='cobot_platform',
|
||||
executable='move',
|
||||
output='screen',
|
||||
),
|
||||
|
||||
|
|
@ -105,9 +109,11 @@ def generate_launch_description():
|
|||
robot_description,
|
||||
robot_description_semantic,
|
||||
robot_description_kinematics,
|
||||
{'move_group': join(config_root, 'ompl_planning.yaml')},
|
||||
{'moveit_simple_controller_manager': join(config_root, "ar3_controllers.yaml")},
|
||||
]
|
||||
get_yaml(join(config_root, 'ompl_planning.yaml')),
|
||||
get_yaml(join(config_root, 'trajectory.yaml')),
|
||||
get_yaml(join(config_root, 'planning_scene.yaml')),
|
||||
get_yaml(join(config_root, "ar3_controllers.yaml")),
|
||||
],
|
||||
),
|
||||
|
||||
# Robot state publisher
|
||||
|
|
@ -115,14 +121,5 @@ def generate_launch_description():
|
|||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
output='screen',
|
||||
parameters=[robot_description],
|
||||
),
|
||||
|
||||
# Interface with arduino
|
||||
Node(
|
||||
package='cobot_platform',
|
||||
executable='move',
|
||||
output='screen',
|
||||
),
|
||||
parameters=[robot_description]),
|
||||
])
|
||||
|
||||
|
|
|
|||
|
|
@ -46,11 +46,11 @@ class CobotMove(Node):
|
|||
print(self._serial.readline())
|
||||
|
||||
def _move_j1_cb(self, msg):
|
||||
self._cur[0] = int(msg.data / pi / 2. * 2000)
|
||||
self._cur[0] = int(msg.data / pi / 2. * 8000)
|
||||
self._move_servo()
|
||||
|
||||
def _move_j2_cb(self, msg):
|
||||
self._cur[1] = int(msg.data / pi / 2. * 3840.64)
|
||||
self._cur[1] = int(msg.data / pi / 2. * 10000)
|
||||
self._move_servo()
|
||||
|
||||
def _move_j3_cb(self, msg):
|
||||
|
|
@ -105,3 +105,4 @@ def main(args=None):
|
|||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue