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Planning actually works

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renamed joints in controller
added semantic robot definition to rviz
set default robot state back to static (no more spinny)
added collision detection
This commit is contained in:
John Farrell 2021-09-08 15:15:09 -04:00
parent 754d5d5d4c
commit 9cc4ad82f5
Signed by: john
GPG key ID: 10543A0DA2EC1E12
4 changed files with 29 additions and 9 deletions
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13
src/ar3_config/config/ar3_controllers.yaml
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@ -6,10 +6,9 @@ joint_trajectory_controller:
type: FollowJointTrajectory type: FollowJointTrajectory
default: true default: true
joints: joints:
- joint1 - joint_1
- joint2 - joint_2
- joint3 - joint_3
- joint4 - joint_4
- joint5 - joint_5
- joint6 - joint_6
- joint7

2
src/ar3_config/launch/dev.launch.py
View file

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

2
src/ar3_description/ar3_description/state_publisher.py
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@ -47,7 +47,7 @@ class StatePublisher(Node):
# joint_state.position = [random.random() * pi / 2] * 6 # 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 * 16, pi/2., -25 / 180 * pi, 0., 0., 0.]
# joint_state.position = [angle * 0.01 * random.random()] * 6 # 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 # update transform
# (moving in a circle with radius=2) # (moving in a circle with radius=2)

21
src/ar3_description/urdf/ar3.srdf
View file

@ -5,4 +5,25 @@
<virtual_joint child_link="base_link" name="virtual_joint" parent_frame="world" type="floating" /> <virtual_joint child_link="base_link" name="virtual_joint" parent_frame="world" type="floating" />
<disable_collisions link1="base_link" link2="link_1" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="link_2" reason="Never"/>
<disable_collisions link1="base_link" link2="link_3" reason="Never"/>
<disable_collisions link1="base_link" link2="link_4" reason="Never"/>
<disable_collisions link1="base_link" link2="link_5" reason="Never"/>
<disable_collisions link1="base_link" link2="link_6" reason="Never"/>
<disable_collisions link1="link_1" link2="link_2" reason="Adjacent"/>
<disable_collisions link1="link_1" link2="link_3" reason="Never"/>
<disable_collisions link1="link_1" link2="link_4" reason="Never"/>
<disable_collisions link1="link_1" link2="link_5" reason="Never"/>
<disable_collisions link1="link_1" link2="link_6" reason="Never"/>
<disable_collisions link1="link_2" link2="link_3" reason="Adjacent"/>
<disable_collisions link1="link_2" link2="link_4" reason="Never"/>
<disable_collisions link1="link_2" link2="link_5" reason="Never"/>
<disable_collisions link1="link_2" link2="link_6" reason="Never"/>
<disable_collisions link1="link_3" link2="link_4" reason="Adjacent"/>
<disable_collisions link1="link_3" link2="link_5" reason="Never"/>
<disable_collisions link1="link_3" link2="link_6" reason="Never"/>
<disable_collisions link1="link_4" link2="link_5" reason="Adjacent"/>
<disable_collisions link1="link_4" link2="link_6" reason="Never"/>
<disable_collisions link1="link_5" link2="link_6" reason="Adjacent"/>
</robot> </robot>