Fixed configs and added real ratios for J1 and J2

src/ar3_config/config/ar3_controllers.yaml

@@ -1,7 +1,9 @@
-controller_names:
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+moveit_simple_controller_manager:
+  controller_names:
     - joint_trajectory_controller
 
-joint_trajectory_controller:
+  joint_trajectory_controller:
     action_ns: follow_joint_trajectory
     type: FollowJointTrajectory
     default: true

src/ar3_config/config/ompl_planning.yaml

@@ -1,4 +1,10 @@
-planner_configs:
+move_group:
+  planning_plugin: ompl_interface/OMPLPlanner
+  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
+
+  planner_configs:
     SBLkConfigDefault:
       type: geometric::SBL
       range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
@@ -121,7 +127,7 @@ planner_configs:
       dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
       max_failures: 5000  # maximum consecutive failure limit. default: 5000
 
-ar3_arm:
+  ar3_arm:
     default_planner_config: RRTConnectkConfigDefault
     planner_configs:
       - SBLkConfigDefault

src/ar3_config/launch/dev.launch.py

@@ -72,8 +72,10 @@ 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")),
             ],
         ),
 

src/cobot_platform/cobot_platform/move.py

@@ -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):