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Finetuning xArm parameters

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Nicolas Hiillos
2023-03-10 14:58:04 +02:00
parent e64aa4fbae
commit 6a2c84ccc4
3 changed files with 13 additions and 7 deletions
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3
src/drawing_controller/drawing_controller/svg_processor.py
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@@ -434,7 +434,8 @@ 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 = 0.001 #epsilon = 0.009
epsilon = 0.005
tmp = [] tmp = []
out = [] out = []

4
src/lite6_controller/launch/lite6_real.launch.py
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@@ -188,7 +188,9 @@ def launch_setup(context, *args, **kwargs):
# FIX acceleration limits # FIX acceleration limits
for i in range(1,7): 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)]['has_acceleration_limits'] = True
joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0 #joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.5
#joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 2.5
joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 3.0
add_prefix_to_moveit_params = getattr(mod, 'add_prefix_to_moveit_params') add_prefix_to_moveit_params = getattr(mod, 'add_prefix_to_moveit_params')
add_prefix_to_moveit_params( add_prefix_to_moveit_params(

13
src/lite6_controller/src/lite6_controller.cpp
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@@ -219,9 +219,10 @@ public:
planning_interface::MotionPlanRequest mpr = planning_interface::MotionPlanRequest(); planning_interface::MotionPlanRequest mpr = planning_interface::MotionPlanRequest();
mpr.planner_id = "PTP"; mpr.planner_id = "PTP";
//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_acceleration_scaling_factor = 1.0; mpr.max_acceleration_scaling_factor = 0.98;
mpr.allowed_planning_time = 10; mpr.allowed_planning_time = 10;
mpr.max_cartesian_speed = 2; // 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";
@@ -252,11 +253,12 @@ public:
mpr.goal_constraints.push_back(pose_goal); mpr.goal_constraints.push_back(pose_goal);
msi.req = mpr; msi.req = mpr;
//msi.blend_radius = 0.0; //TODO make configurable //msi.blend_radius = 6e-7; //TODO make configurable
msi.blend_radius = 1e-15; //TODO make configurable //msi.blend_radius = 0.000001; //TODO make configurable
if (coincidentPoints(&pose.pose.position, &previous_point, msi.blend_radius * 1e12)) msi.blend_radius = 0.0; //TODO make configurable
if (coincidentPoints(&pose.pose.position, &previous_point, msi.blend_radius + 1e-5))
{ {
RCLCPP_INFO(this->get_logger(), "Detected coincident points, setting blend radius to 0.0"); RCLCPP_ERROR(this->get_logger(), "Detected coincident points, setting blend radius to 0.0");
// if points are too close, set blend radius to zero. // if points are too close, set blend radius to zero.
msi.blend_radius = 0.0; msi.blend_radius = 0.0;
// also set previous to 0 // also set previous to 0
@@ -265,6 +267,7 @@ public:
} }
previous_point = pose.pose.position; previous_point = pose.pose.position;
//RCLCPP_ERROR(this->get_logger(), "Appending point with blend_radius:%f", msi.blend_radius);
msr.items.push_back(msi); msr.items.push_back(msi);
} }
msr.items.back().blend_radius = 0.0; // Last element blend must be 0 msr.items.back().blend_radius = 0.0; // Last element blend must be 0