Compare commits

..

No commits in common. "056fa3de682697648b3ebab3176a940330440458" and "8527b2411e6c3c8f4a53b29983482114dc9a7e85" have entirely different histories.

6 changed files with 184 additions and 198 deletions

View file

@ -1,7 +1,6 @@
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
moveit_simple_controller_manager:
controller_names: controller_names:
- joint_trajectory_controller - joint_trajectory_controller
joint_trajectory_controller: joint_trajectory_controller:
action_ns: follow_joint_trajectory action_ns: follow_joint_trajectory
type: FollowJointTrajectory type: FollowJointTrajectory

View file

@ -1,9 +1,3 @@
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: planner_configs:
SBLkConfigDefault: SBLkConfigDefault:
type: geometric::SBL type: geometric::SBL
@ -153,4 +147,3 @@ move_group:
- LazyPRMstarkConfigDefault - LazyPRMstarkConfigDefault
- SPARSkConfigDefault - SPARSkConfigDefault
- SPARStwokConfigDefault - SPARStwokConfigDefault

View file

@ -1,4 +0,0 @@
publish_planning_scene: true
publish_geometry_updates: true
publish_state_updates: true
publish_transforms_updates: true

View file

@ -1,4 +0,0 @@
moveit_manage_controllers: true
trajectory_execution.allowed_execution_duration_scaling: 1.2
trajectory_execution.allowed_goal_duration_margin: 0.5
trajectory_execution.allowed_start_tolerance: 0.1

View file

@ -1,7 +1,8 @@
from os.path import join from os.path import join
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription from launch import LaunchDescription
from launch_ros.actions import Node from launch_ros.actions import Node, ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch.actions import ExecuteProcess from launch.actions import ExecuteProcess
import yaml import yaml
@ -30,7 +31,7 @@ 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, robot_description_kinematics] parameters=[robot_description, robot_description_semantic, robot_description_kinematics],
), ),
# Attatch robot to map # Attatch robot to map
@ -38,7 +39,7 @@ def generate_launch_description():
package='tf2_ros', package='tf2_ros',
executable='static_transform_publisher', executable='static_transform_publisher',
output='screen', output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'world', 'base_link'] arguments=['0', '0', '0', '0', '0', '0', 'world', 'base_link'],
), ),
Node( Node(
@ -73,30 +74,25 @@ def generate_launch_description():
) )
], ],
output="screen", output="screen",
) ),
# Controller # Controller
Node( Node(
package='controller_manager', package='controller_manager',
executable='ros2_control_node', executable='ros2_control_node',
output='screen', output='screen',
parameters=[robot_description, join(config_root, 'controller_manager.yaml')] parameters=[robot_description, join(config_root, 'controller_manager.yaml')],
), ),
# Start controllers # Start controllers
ExecuteProcess( ExecuteProcess(
cmd=['ros2 run controller_manager spawner.py joint_trajectory_controller'], cmd=['ros2 run controller_manager spawner.py joint_trajectory_controller'],
shell=True, shell=True,
output='screen'), output='screen',
),
ExecuteProcess( ExecuteProcess(
cmd=['ros2 run controller_manager spawner.py joint_state_controller'], cmd=['ros2 run controller_manager spawner.py joint_state_controller'],
shell=True, shell=True,
output='screen'),
# Run platform
Node(
package='cobot_platform',
executable='move',
output='screen', output='screen',
), ),
@ -109,11 +105,9 @@ def generate_launch_description():
robot_description, robot_description,
robot_description_semantic, robot_description_semantic,
robot_description_kinematics, robot_description_kinematics,
get_yaml(join(config_root, 'ompl_planning.yaml')), {'move_group': join(config_root, 'ompl_planning.yaml')},
get_yaml(join(config_root, 'trajectory.yaml')), {'moveit_simple_controller_manager': join(config_root, "ar3_controllers.yaml")},
get_yaml(join(config_root, 'planning_scene.yaml')), ]
get_yaml(join(config_root, "ar3_controllers.yaml")),
],
), ),
# Robot state publisher # Robot state publisher
@ -121,5 +115,14 @@ def generate_launch_description():
package='robot_state_publisher', package='robot_state_publisher',
executable='robot_state_publisher', executable='robot_state_publisher',
output='screen', output='screen',
parameters=[robot_description]), parameters=[robot_description],
),
# Interface with arduino
Node(
package='cobot_platform',
executable='move',
output='screen',
),
]) ])

View file

@ -46,11 +46,11 @@ class CobotMove(Node):
print(self._serial.readline()) print(self._serial.readline())
def _move_j1_cb(self, msg): def _move_j1_cb(self, msg):
self._cur[0] = int(msg.data / pi / 2. * 8000) self._cur[0] = int(msg.data / pi / 2. * 2000)
self._move_servo() self._move_servo()
def _move_j2_cb(self, msg): def _move_j2_cb(self, msg):
self._cur[1] = int(msg.data / pi / 2. * 10000) self._cur[1] = int(msg.data / pi / 2. * 3840.64)
self._move_servo() self._move_servo()
def _move_j3_cb(self, msg): def _move_j3_cb(self, msg):
@ -105,4 +105,3 @@ def main(args=None):
if __name__ == '__main__': if __name__ == '__main__':
main() main()