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Fix robot limit loading and LIN planner

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This commit is contained in:
Nicolas Hiillos
2023-03-27 17:22:23 +03:00
parent ef994440f4
commit 1d11b96b49
7 changed files with 49 additions and 43 deletions
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10
src/lite6_controller/launch/lite6_real_no_gui.launch.py
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@@ -156,9 +156,9 @@ def launch_setup(context, *args, **kwargs):
joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
# FIX acceleration limits
for i in range(1,7):
joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0
#for i in range(1,7):
# joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
# joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0
if add_gripper.perform(context) in ('True', 'true'):
gripper_controllers_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), '{}.yaml'.format(controllers_name.perform(context)))
@@ -182,8 +182,8 @@ def launch_setup(context, *args, **kwargs):
kinematics_yaml=kinematics_yaml, joint_limits_yaml=joint_limits_yaml,
prefix=prefix.perform(context))
cartesian_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'cartesian_limits.yaml')
robot_description_parameters['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits']
#cartesian_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'cartesian_limits.yaml')
#robot_description_parameters['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits']
# Planning Configuration
ompl_planning_pipeline_config = {