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Robot dragging go brrrr

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added kinematics to rvis node
fixed collisions and added end effector
This commit is contained in:
John Farrell 2021-09-08 18:35:29 -04:00
parent 9cc4ad82f5
commit aaaf8577d0
Signed by: john
GPG key ID: 10543A0DA2EC1E12
2 changed files with 6 additions and 17 deletions
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2
src/ar3_config/launch/dev.launch.py
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@ -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, robot_description_semantic]), parameters=[robot_description, robot_description_semantic, robot_description_kinematics]),
# Attatch robot to map # Attatch robot to map
Node( Node(

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

@ -5,25 +5,14 @@
<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"/> <group name="hand">
<disable_collisions link1="base_link" link2="link_2" reason="Never"/> <link name="link_6"/>
<disable_collisions link1="base_link" link2="link_3" reason="Never"/> </group>
<disable_collisions link1="base_link" link2="link_4" reason="Never"/>
<disable_collisions link1="base_link" link2="link_5" reason="Never"/> <end_effector group="hand" name="hand" parent_group="ar3_arm" parent_link="link_6"/>
<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_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_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_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_5" reason="Adjacent"/>
<disable_collisions link1="link_4" link2="link_6" reason="Never"/>
<disable_collisions link1="link_5" link2="link_6" reason="Adjacent"/> <disable_collisions link1="link_5" link2="link_6" reason="Adjacent"/>
</robot> </robot>