Merge branch 'master' of ssh://play.qtechofficial.com:9940/thomas/Cobots

src/ar3_config/config/ar3_controllers.yaml

@@ -6,10 +6,9 @@ joint_trajectory_controller:
   type: FollowJointTrajectory
   default: true
   joints:
-    - joint1
-    - joint2
-    - joint3
-    - joint4
-    - joint5
-    - joint6
-    - joint7
+    - joint_1
+    - joint_2
+    - joint_3
+    - joint_4
+    - joint_5
+    - joint_6

src/ar3_config/launch/dev.launch.py

@@ -61,7 +61,7 @@ def generate_launch_description():
             executable='rviz2',
             output='log',
             arguments=['-d', join(launch_root, 'rviz', 'ar3.rviz')],
-            parameters=[robot_description]),
+            parameters=[robot_description, robot_description_semantic, robot_description_kinematics]),
 
         # Attatch robot to map
         Node(

src/ar3_description/ar3_description/state_publisher.py

@@ -47,7 +47,7 @@ class StatePublisher(Node):
                 # joint_state.position = [random.random() * pi / 2] * 6
                 # joint_state.position = [angle * 16, pi/2., -25 / 180 * pi, 0., 0., 0.]
                 # joint_state.position = [angle * 0.01 * random.random()] * 6
-                joint_state.position = [0., 0., 0., 0., angle, 0.]
+                joint_state.position = [0., 0., 0., 0., 0., 0.]
 
                 # update transform
                 # (moving in a circle with radius=2)

src/ar3_description/urdf/ar3.srdf

@@ -5,4 +5,14 @@
 
     <virtual_joint child_link="base_link" name="virtual_joint" parent_frame="world" type="floating" />
 
+    <group name="hand">
+        <link name="link_6"/>
+    </group>
+
+    <end_effector group="hand" name="hand" parent_group="ar3_arm" parent_link="link_6"/>
+    <disable_collisions link1="link_1" link2="link_2" reason="Adjacent"/>
+    <disable_collisions link1="link_2" link2="link_3" reason="Adjacent"/>
+    <disable_collisions link1="link_3" link2="link_4" reason="Adjacent"/>
+    <disable_collisions link1="link_4" link2="link_5" reason="Adjacent"/>
+    <disable_collisions link1="link_5" link2="link_6" reason="Adjacent"/>
 </robot>