nic/drawing-robot-ros2
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Add kinematics plugin settings

Browse Source
This commit is contained in:
Nicolas Hiillos
2023-03-02 17:52:23 +02:00
parent 7802cc9241
commit 0f5826893c
2 changed files with 15 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
src/lite6_controller/launch/lite6_gazebo.launch.py
View File

@@ -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)]['has_acceleration_limits'] = True
joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 0.5 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) #print(joint_limits_yaml)
#quit() #quit()
@@ -422,6 +428,7 @@ def launch_setup(context, *args, **kwargs):
package='moveit_ros_move_group', package='moveit_ros_move_group',
executable='move_group', executable='move_group',
output='screen', output='screen',
arguments=['--log-level', 'debug'],
parameters=[ parameters=[
robot_description_parameters, robot_description_parameters,
#ompl_planning_pipeline_config, #ompl_planning_pipeline_config,

8
src/lite6_controller/launch/lite6_real.launch.py
View File

@@ -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))) 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') 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 = 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) joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
if add_gripper.perform(context) in ('True', 'true'): if add_gripper.perform(context) in ('True', 'true'):