From 9cc4ad82f51912b8b1738b1fca0d749c401f2069 Mon Sep 17 00:00:00 2001 From: ValsCSGO Date: Wed, 8 Sep 2021 15:15:09 -0400 Subject: [PATCH 1/2] Planning actually works renamed joints in controller added semantic robot definition to rviz set default robot state back to static (no more spinny) added collision detection --- src/ar3_config/config/ar3_controllers.yaml | 13 ++++++------ src/ar3_config/launch/dev.launch.py | 2 +- .../ar3_description/state_publisher.py | 2 +- src/ar3_description/urdf/ar3.srdf | 21 +++++++++++++++++++ 4 files changed, 29 insertions(+), 9 deletions(-) diff --git a/src/ar3_config/config/ar3_controllers.yaml b/src/ar3_config/config/ar3_controllers.yaml index 80522ca..348d188 100644 --- a/src/ar3_config/config/ar3_controllers.yaml +++ b/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 diff --git a/src/ar3_config/launch/dev.launch.py b/src/ar3_config/launch/dev.launch.py index 4d9b2a4..be5594d 100644 --- a/src/ar3_config/launch/dev.launch.py +++ b/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]), # Attatch robot to map Node( diff --git a/src/ar3_description/ar3_description/state_publisher.py b/src/ar3_description/ar3_description/state_publisher.py index 5fb602d..88b9136 100644 --- a/src/ar3_description/ar3_description/state_publisher.py +++ b/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) diff --git a/src/ar3_description/urdf/ar3.srdf b/src/ar3_description/urdf/ar3.srdf index ab900e2..b700265 100644 --- a/src/ar3_description/urdf/ar3.srdf +++ b/src/ar3_description/urdf/ar3.srdf @@ -5,4 +5,25 @@ + + + + + + + + + + + + + + + + + + + + + From aaaf8577d067786974ceb73a01e4c5255e5eab9b Mon Sep 17 00:00:00 2001 From: ValsCSGO Date: Wed, 8 Sep 2021 18:35:29 -0400 Subject: [PATCH 2/2] Robot dragging go brrrr added kinematics to rvis node fixed collisions and added end effector --- src/ar3_config/launch/dev.launch.py | 2 +- src/ar3_description/urdf/ar3.srdf | 21 +++++---------------- 2 files changed, 6 insertions(+), 17 deletions(-) diff --git a/src/ar3_config/launch/dev.launch.py b/src/ar3_config/launch/dev.launch.py index be5594d..512db52 100644 --- a/src/ar3_config/launch/dev.launch.py +++ b/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, robot_description_semantic]), + parameters=[robot_description, robot_description_semantic, robot_description_kinematics]), # Attatch robot to map Node( diff --git a/src/ar3_description/urdf/ar3.srdf b/src/ar3_description/urdf/ar3.srdf index b700265..30a6c64 100644 --- a/src/ar3_description/urdf/ar3.srdf +++ b/src/ar3_description/urdf/ar3.srdf @@ -5,25 +5,14 @@ - - - - - - + + + + + - - - - - - - - - -