From 0f5826893cf43eae63f8ef3d9f4f7bf243ee4ca8 Mon Sep 17 00:00:00 2001 From: Nicolas Hiillos Date: Thu, 2 Mar 2023 17:52:23 +0200 Subject: [PATCH] Add kinematics plugin settings --- src/lite6_controller/launch/lite6_gazebo.launch.py | 7 +++++++ src/lite6_controller/launch/lite6_real.launch.py | 8 ++++++++ 2 files changed, 15 insertions(+) diff --git a/src/lite6_controller/launch/lite6_gazebo.launch.py b/src/lite6_controller/launch/lite6_gazebo.launch.py index 23bf040..91087a1 100644 --- a/src/lite6_controller/launch/lite6_gazebo.launch.py +++ b/src/lite6_controller/launch/lite6_gazebo.launch.py @@ -304,6 +304,12 @@ def launch_setup(context, *args, **kwargs): joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 0.5 + kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin' + #kinematics_yaml['kinematics_solver'] = 'lma_kinematics_plugin/LMAKinematicsPlugin' + #kinematics_yaml['kinematics_solver_search_resolution'] = 0.005 + kinematics_yaml['kinematics_solver_timeout'] = 10.0 + kinematics_yaml['kinematics_solver_attempts'] = 10 + #print(joint_limits_yaml) #quit() @@ -422,6 +428,7 @@ def launch_setup(context, *args, **kwargs): package='moveit_ros_move_group', executable='move_group', output='screen', + arguments=['--log-level', 'debug'], parameters=[ robot_description_parameters, #ompl_planning_pipeline_config, diff --git a/src/lite6_controller/launch/lite6_real.launch.py b/src/lite6_controller/launch/lite6_real.launch.py index e1d09e4..d8ec192 100644 --- a/src/lite6_controller/launch/lite6_real.launch.py +++ b/src/lite6_controller/launch/lite6_real.launch.py @@ -153,6 +153,14 @@ def launch_setup(context, *args, **kwargs): controllers_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, '{}.yaml'.format(controllers_name.perform(context))) ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', xarm_type, 'ompl_planning.yaml') kinematics_yaml = robot_description_parameters['robot_description_kinematics'] + + #kinematics_yaml['kinematics_solver'] = 'kdl_kinematics_plugin/KDLKinematicsPlugin' + #kinematics_yaml['kinematics_solver_search_resolution'] = 0.005 + #kinematics_yaml['kinematics_solver_timeout'] = 0.005 + #kinematics_yaml['kinematics_solver_attempts'] = 3 + kinematics_yaml['kinematics_solver_timeout'] = 10.0 + kinematics_yaml['kinematics_solver_attempts'] = 10 + joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None) if add_gripper.perform(context) in ('True', 'true'):