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056fa3de68
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056fa3de68 | |||
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919b8c203c | ||
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724839cf19 |
6 changed files with 198 additions and 184 deletions
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@ -1,7 +1,8 @@
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controller_names:
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moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
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moveit_simple_controller_manager:
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controller_names:
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- joint_trajectory_controller
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- joint_trajectory_controller
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joint_trajectory_controller:
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joint_trajectory_controller:
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action_ns: follow_joint_trajectory
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action_ns: follow_joint_trajectory
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type: FollowJointTrajectory
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type: FollowJointTrajectory
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default: true
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default: true
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@ -1,4 +1,10 @@
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planner_configs:
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move_group:
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planning_plugin: ompl_interface/OMPLPlanner
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request_adapters:
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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
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start_state_max_bounds_error: 0.1
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planner_configs:
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SBLkConfigDefault:
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SBLkConfigDefault:
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type: geometric::SBL
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type: geometric::SBL
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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@ -121,7 +127,7 @@ planner_configs:
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dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
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dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
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max_failures: 5000 # maximum consecutive failure limit. default: 5000
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max_failures: 5000 # maximum consecutive failure limit. default: 5000
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ar3_arm:
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ar3_arm:
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default_planner_config: RRTConnectkConfigDefault
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default_planner_config: RRTConnectkConfigDefault
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planner_configs:
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planner_configs:
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- SBLkConfigDefault
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- SBLkConfigDefault
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@ -147,3 +153,4 @@ ar3_arm:
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- LazyPRMstarkConfigDefault
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- LazyPRMstarkConfigDefault
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- SPARSkConfigDefault
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- SPARSkConfigDefault
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- SPARStwokConfigDefault
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- SPARStwokConfigDefault
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4
src/ar3_config/config/planning_scene.yaml
Normal file
4
src/ar3_config/config/planning_scene.yaml
Normal file
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@ -0,0 +1,4 @@
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publish_planning_scene: true
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publish_geometry_updates: true
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publish_state_updates: true
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publish_transforms_updates: true
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4
src/ar3_config/config/trajectory.yaml
Normal file
4
src/ar3_config/config/trajectory.yaml
Normal file
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@ -0,0 +1,4 @@
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moveit_manage_controllers: true
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trajectory_execution.allowed_execution_duration_scaling: 1.2
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trajectory_execution.allowed_goal_duration_margin: 0.5
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trajectory_execution.allowed_start_tolerance: 0.1
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@ -1,8 +1,7 @@
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from os.path import join
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from os.path import join
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from ament_index_python.packages import get_package_share_directory
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch import LaunchDescription
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from launch_ros.actions import Node, ComposableNodeContainer
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from launch_ros.actions import Node
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from launch_ros.descriptions import ComposableNode
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from launch.actions import ExecuteProcess
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from launch.actions import ExecuteProcess
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import yaml
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import yaml
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@ -31,7 +30,7 @@ def generate_launch_description():
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executable='rviz2',
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executable='rviz2',
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output='log',
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output='log',
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arguments=['-d', join(launch_root, 'rviz', 'ar3.rviz')],
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arguments=['-d', join(launch_root, 'rviz', 'ar3.rviz')],
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parameters=[robot_description, robot_description_semantic, robot_description_kinematics],
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parameters=[robot_description, robot_description_semantic, robot_description_kinematics]
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),
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),
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# Attatch robot to map
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# Attatch robot to map
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@ -39,7 +38,7 @@ def generate_launch_description():
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package='tf2_ros',
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package='tf2_ros',
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executable='static_transform_publisher',
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executable='static_transform_publisher',
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output='screen',
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output='screen',
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arguments=['0', '0', '0', '0', '0', '0', 'world', 'base_link'],
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arguments=['0', '0', '0', '0', '0', '0', 'world', 'base_link']
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),
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),
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Node(
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Node(
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@ -74,25 +73,30 @@ def generate_launch_description():
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)
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)
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],
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],
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output="screen",
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output="screen",
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),
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)
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# Controller
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# Controller
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Node(
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Node(
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package='controller_manager',
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package='controller_manager',
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executable='ros2_control_node',
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executable='ros2_control_node',
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output='screen',
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output='screen',
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parameters=[robot_description, join(config_root, 'controller_manager.yaml')],
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parameters=[robot_description, join(config_root, 'controller_manager.yaml')]
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),
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),
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# Start controllers
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# Start controllers
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ExecuteProcess(
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ExecuteProcess(
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cmd=['ros2 run controller_manager spawner.py joint_trajectory_controller'],
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cmd=['ros2 run controller_manager spawner.py joint_trajectory_controller'],
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shell=True,
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shell=True,
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output='screen',
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output='screen'),
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),
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ExecuteProcess(
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ExecuteProcess(
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cmd=['ros2 run controller_manager spawner.py joint_state_controller'],
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cmd=['ros2 run controller_manager spawner.py joint_state_controller'],
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shell=True,
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shell=True,
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output='screen'),
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# Run platform
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Node(
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package='cobot_platform',
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executable='move',
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output='screen',
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output='screen',
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),
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),
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@ -105,9 +109,11 @@ def generate_launch_description():
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robot_description,
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robot_description,
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robot_description_semantic,
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robot_description_semantic,
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robot_description_kinematics,
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robot_description_kinematics,
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{'move_group': join(config_root, 'ompl_planning.yaml')},
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get_yaml(join(config_root, 'ompl_planning.yaml')),
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{'moveit_simple_controller_manager': join(config_root, "ar3_controllers.yaml")},
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get_yaml(join(config_root, 'trajectory.yaml')),
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]
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get_yaml(join(config_root, 'planning_scene.yaml')),
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get_yaml(join(config_root, "ar3_controllers.yaml")),
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],
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),
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),
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# Robot state publisher
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# Robot state publisher
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@ -115,14 +121,5 @@ def generate_launch_description():
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package='robot_state_publisher',
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package='robot_state_publisher',
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executable='robot_state_publisher',
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executable='robot_state_publisher',
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output='screen',
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output='screen',
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parameters=[robot_description],
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parameters=[robot_description]),
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),
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# Interface with arduino
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Node(
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package='cobot_platform',
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executable='move',
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output='screen',
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),
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])
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])
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@ -46,11 +46,11 @@ class CobotMove(Node):
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print(self._serial.readline())
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print(self._serial.readline())
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def _move_j1_cb(self, msg):
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def _move_j1_cb(self, msg):
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self._cur[0] = int(msg.data / pi / 2. * 2000)
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self._cur[0] = int(msg.data / pi / 2. * 8000)
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self._move_servo()
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self._move_servo()
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def _move_j2_cb(self, msg):
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def _move_j2_cb(self, msg):
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self._cur[1] = int(msg.data / pi / 2. * 3840.64)
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self._cur[1] = int(msg.data / pi / 2. * 10000)
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self._move_servo()
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self._move_servo()
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def _move_j3_cb(self, msg):
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def _move_j3_cb(self, msg):
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@ -105,3 +105,4 @@ def main(args=None):
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if __name__ == '__main__':
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if __name__ == '__main__':
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main()
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main()
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