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Set new parameters for xArm

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This commit is contained in:
Nicolas Hiillos
2023-04-03 15:02:13 +03:00
parent d58b968536
commit 2372404732
5 changed files with 31 additions and 22 deletions
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4
src/custom_xarm_moveit_config/config/lite6/cartesian_limits.yaml
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@@ -1,5 +1,5 @@
cartesian_limits: cartesian_limits:
max_trans_vel: 2.0 max_trans_vel: 0.4
max_trans_acc: 3.00 max_trans_acc: 4.00
max_trans_dec: -5.0 max_trans_dec: -5.0
max_rot_vel: 1.57 max_rot_vel: 1.57

24
src/custom_xarm_moveit_config/config/lite6/joint_limits.yaml
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@@ -4,31 +4,31 @@
joint_limits: joint_limits:
joint1: joint1:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 10.14 max_velocity: 4.14
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 20.0 max_acceleration: 30.0
joint2: joint2:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 10.14 max_velocity: 4.14
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 20.0 max_acceleration: 30.0
joint3: joint3:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 10.14 max_velocity: 4.14
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 20.0 max_acceleration: 30.0
joint4: joint4:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 10.14 max_velocity: 4.14
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 20.0 max_acceleration: 30.0
joint5: joint5:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 10.14 max_velocity: 4.14
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 20.0 max_acceleration: 30.0
joint6: joint6:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 10.14 max_velocity: 4.14
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 20.0 max_acceleration: 30.0

4
src/drawing_controller/drawing_controller/svg_path_parser.py
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@@ -115,7 +115,7 @@ class SVGPathParser():
maxval = np.amax(np.absolute(control_points)) maxval = np.amax(np.absolute(control_points))
#print('maxxv', maxval) #print('maxxv', maxval)
#control_points = control_points / maxval #normalize values #control_points = control_points / maxval #normalize values
n = 1000 n = 100
curve = cf.bezier(control_points) curve = cf.bezier(control_points)
lin = np.linspace(curve.start(0), curve.end(0), n) lin = np.linspace(curve.start(0), curve.end(0), n)
coordinates = curve(lin) coordinates = curve(lin)
@@ -140,7 +140,7 @@ class SVGPathParser():
nonlocal x nonlocal x
nonlocal y nonlocal y
control_points = np.array(control_points) control_points = np.array(control_points)
n = 1000 n = 100
curve = cf.bezier(control_points, quadratic=True) curve = cf.bezier(control_points, quadratic=True)
lin = np.linspace(curve.start(0), curve.end(0), n) lin = np.linspace(curve.start(0), curve.end(0), n)
coordinates = curve(lin) coordinates = curve(lin)

4
src/drawing_controller/drawing_controller/svg_processor.py
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@@ -197,8 +197,8 @@ class SVGProcessor():
Simplify line with https://pypi.org/project/simplification/ Simplify line with https://pypi.org/project/simplification/
""" """
# For RDP, Try an epsilon of 1.0 to start with. Other sensible values include 0.01, 0.001 # For RDP, Try an epsilon of 1.0 to start with. Other sensible values include 0.01, 0.001
#epsilon = 0.009 #epsilon = 0.00005
epsilon = 0.00005 epsilon = 0.0008
tmp = [] tmp = []
out = [] out = []

17
src/lite6_controller/src/lite6_controller.cpp
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@@ -198,11 +198,11 @@ public:
//mpr.planner_id = "LIN"; //mpr.planner_id = "LIN";
mpr.group_name = move_group.getName(); mpr.group_name = move_group.getName();
//mpr.max_velocity_scaling_factor = 1.0; //mpr.max_velocity_scaling_factor = 1.0;
mpr.max_velocity_scaling_factor = 0.3; mpr.max_velocity_scaling_factor = 1.0;
mpr.max_acceleration_scaling_factor = 0.3; mpr.max_acceleration_scaling_factor = 1.0;
//mpr.max_acceleration_scaling_factor = 0.1; //mpr.max_acceleration_scaling_factor = 0.1;
mpr.allowed_planning_time = 20; mpr.allowed_planning_time = 20;
mpr.max_cartesian_speed = 3; // m/s //mpr.max_cartesian_speed = 2; // m/s
//mpr.goal_constraints.position_constraints.header.frame_id = "world"; //mpr.goal_constraints.position_constraints.header.frame_id = "world";
// A tolerance of 0.01 m is specified in position // A tolerance of 0.01 m is specified in position
@@ -368,8 +368,17 @@ public:
void executeTrajectoryFromQueue() void executeTrajectoryFromQueue()
{ {
if (busy || trajectory_queue.empty()) if (trajectory_queue.empty())
{
if (busy)
return;
busy = true;
//RCLCPP_INFO(this->get_logger(), "Getting robot state");
//move_group_state = move_group.getCurrentState(10);
busy = false;
return; return;
}
busy = true; busy = true;
RCLCPP_INFO(this->get_logger(), "Executing next trajectory from queue"); RCLCPP_INFO(this->get_logger(), "Executing next trajectory from queue");
move_group.execute(trajectory_queue.front()); move_group.execute(trajectory_queue.front());