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Set up pilz

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This commit is contained in:
Nicolas Hiillos
2023-01-26 10:23:09 +02:00
parent 554d099280
commit 4146a5b269
1 changed files with 17 additions and 1 deletions
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18
src/lite6_controller/launch/lite6_real_no_gui.launch.py
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@@ -155,6 +155,11 @@ def launch_setup(context, *args, **kwargs):
kinematics_yaml = robot_description_parameters['robot_description_kinematics'] kinematics_yaml = robot_description_parameters['robot_description_kinematics']
joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None) 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'] = 0.5
if add_gripper.perform(context) in ('True', 'true'): 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))) gripper_controllers_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), '{}.yaml'.format(controllers_name.perform(context)))
gripper_ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'ompl_planning.yaml') gripper_ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'ompl_planning.yaml')
@@ -187,6 +192,16 @@ def launch_setup(context, *args, **kwargs):
} }
ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml) ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
pilz_planning_pipeline_config = {
'move_group': {
'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner',
'request_adapters': """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""",
"default_planner_config": "PTP",
"capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService",
}
}
# Moveit controllers Configuration # Moveit controllers Configuration
moveit_controllers = { moveit_controllers = {
moveit_controller_manager_key.perform(context): controllers_yaml, moveit_controller_manager_key.perform(context): controllers_yaml,
@@ -229,7 +244,8 @@ def launch_setup(context, *args, **kwargs):
output='screen', output='screen',
parameters=[ parameters=[
robot_description_parameters, robot_description_parameters,
ompl_planning_pipeline_config, #ompl_planning_pipeline_config,
pilz_planning_pipeline_config,
trajectory_execution, trajectory_execution,
plan_execution, plan_execution,
moveit_controllers, moveit_controllers,