nic/drawing-robot-ros2
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Fix virtual pen, make moveit aware of pen

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This commit is contained in:
Nicolas Hiillos
2023-03-23 09:36:49 +02:00
parent 7b99e220f5
commit 53c46c11c0
9 changed files with 472 additions and 67 deletions
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7
src/draw_svg/launch/robots/lite6_table.launch.py
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@@ -54,12 +54,12 @@ def launch_setup(context, *args, **kwargs):
# robot_description
# xarm_description/launch/lib/robot_description_lib.py
mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('xarm_description'), 'launch', 'lib', 'robot_description_lib.py'))
mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('custom_xarm_description'), 'launch', 'lib', 'robot_description_lib.py'))
#mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory('draw_svg'), 'launch', 'robots', 'xarm_with_pen.py'))
get_xacro_file_content = getattr(mod, 'get_xacro_file_content')
robot_description = {
'robot_description': get_xacro_file_content(
xacro_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
xacro_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
#xacro_file=PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']),
arguments={
'prefix': prefix,
@@ -105,6 +105,7 @@ def launch_setup(context, *args, **kwargs):
# gazebo_ros/launch/gazebo.launch.py
#xarm_gazebo_world = PathJoinSubstitution([FindPackageShare('xarm_gazebo'), 'worlds', 'table.world'])
xarm_gazebo_world = PathJoinSubstitution([FindPackageShare('draw_svg'), 'worlds', 'draw_svg_world.sdf'])
#xarm_gazebo_world = PathJoinSubstitution([FindPackageShare('custom_xarm_gazebo'), 'worlds', 'table.world'])
gazebo_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('gazebo_ros'), 'launch', 'gazebo.launch.py'])),
launch_arguments={
@@ -143,6 +144,8 @@ def launch_setup(context, *args, **kwargs):
load_controllers = []
if load_controller.perform(context) in ('True', 'true'):
for controller in controllers:
#print("Attempting to load: ", controller)
#input()
load_controllers.append(Node(
package='controller_manager',
#executable='spawner.py',