nic/drawing-robot-ros2
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge branch 'config_yaml' into dev

Browse Source
This commit is contained in:
Nicolas Hiillos
2023-04-28 11:19:16 +03:00
parent c421ef4482 cdef55b647
commit bdcccdc06e
7 changed files with 66 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
src/axidraw_controller/CMakeLists.txt
View File

@@ -40,6 +40,11 @@ install(PROGRAMS
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY
config
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights

5
src/lite6_controller/CMakeLists.txt
View File

@@ -72,4 +72,9 @@ install(TARGETS
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
install(DIRECTORY
config
DESTINATION share/${PROJECT_NAME}
)
ament_package()

4
src/lite6_controller/launch/lite6_gazebo.launch.py
View File

@@ -19,6 +19,7 @@ def launch_setup(context, *args, **kwargs):
log_level = LaunchConfiguration("log_level", default='info')
rviz_config = LaunchConfiguration('rviz_config', default=os.path.join(get_package_share_directory("custom_xarm_description"), "rviz", "display.rviz"))
prefix = LaunchConfiguration('prefix', default='')
hw_ns = LaunchConfiguration('hw_ns', default='xarm')
limited = LaunchConfiguration('limited', default=False)
@@ -189,6 +190,7 @@ def launch_setup(context, *args, **kwargs):
robot_description,
robot_description_semantic,
{"use_sim_time": use_sim_time},
lite6_config,
],
),
Node(
@@ -263,6 +265,8 @@ def launch_setup(context, *args, **kwargs):
kinematics_yaml = robot_description_parameters['robot_description_kinematics']
joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
lite6_config = load_yaml('lite6_controller', 'config', 'config.yaml')
#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']
#input(joint_limits_yaml)

10
src/lite6_controller/launch/lite6_real.launch.py
View File

@@ -1,4 +1,5 @@
import os
import yaml
from launch import LaunchDescription
from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -15,6 +16,7 @@ from launch.events import Shutdown
def launch_setup(context, *args, **kwargs):
robot_ip = LaunchConfiguration('robot_ip', default='192.168.1.150')
report_type = LaunchConfiguration('report_type', default='normal')
prefix = LaunchConfiguration('prefix', default='')
@@ -55,6 +57,8 @@ def launch_setup(context, *args, **kwargs):
use_sim_time = LaunchConfiguration('use_sim_time', default=False)
log_level = LaunchConfiguration("log_level", default='warn')
config = LaunchConfiguration("config", default=PathJoinSubstitution([FindPackageShare('lite6_controller'), 'config', 'config.yaml']))
# # robot driver launch
# # xarm_api/launch/_robot_driver.launch.py
# robot_driver_launch = IncludeLaunchDescription(
@@ -164,6 +168,12 @@ def launch_setup(context, *args, **kwargs):
joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
robotcontroller_config = config.perform(context)
with open(robotcontroller_config, 'r') as f:
lite6_config = yaml.safe_load(f)
print(f'Loaded configuration: {lite6_config}')
robot_description_parameters.update(lite6_config['/robot_controller']['ros__parameters'])
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_ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'ompl_planning.yaml')

5
src/lite6_controller/launch/lite6_real_no_gui.launch.py
View File

@@ -15,6 +15,7 @@ from launch.events import Shutdown
def launch_setup(context, *args, **kwargs):
robot_ip = LaunchConfiguration('robot_ip', default='192.168.1.150')
report_type = LaunchConfiguration('report_type', default='normal')
prefix = LaunchConfiguration('prefix', default='')
@@ -155,6 +156,9 @@ def launch_setup(context, *args, **kwargs):
kinematics_yaml = robot_description_parameters['robot_description_kinematics']
joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
#lite6_config = load_yaml('lite6_controller', 'config', 'config.yaml')
lite6_config = os.path.join('lite6_controller', 'config', 'config.yaml')
# FIX acceleration limits
#for i in range(1,7):
# joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
@@ -342,6 +346,7 @@ def launch_setup(context, *args, **kwargs):
#robot_description_parameters['robot_description_kinematics'],
robot_description_parameters,
{"use_sim_time": use_sim_time},
lite6_config,
],
),
]

31
src/lite6_controller/src/lite6_controller.cpp
View File

@@ -80,8 +80,7 @@ public:
float xlim_upper = 0.305;
float ylim_lower = -0.1475;
float ylim_upper = 0.1475;
//float zlim_lower = 0.1945;
float zlim_lower = 0.188611;
float zlim_lower = 0.141087;
float zlim_upper = zlim_lower + 0.01;
@@ -92,6 +91,24 @@ public:
: RobotController(options),
move_group(std::shared_ptr<rclcpp::Node>(std::move(this)), MOVE_GROUP)
{
// Declare parameters
this->declare_parameter("lite6_x_limit_lower", 0.1);
this->declare_parameter("lite6_x_limit_upper", 0.305);
this->declare_parameter("lite6_y_limit_lower", -0.1475);
this->declare_parameter("lite6_y_limit_upper", 0.1475);
this->declare_parameter("lite6_z_offset", 0.141087);
this->declare_parameter("lite6_z_lift_amount", 0.01);
this->declare_parameter("lite6_max_velocity_scaling_factor", 1.0);
this->declare_parameter("lite6_max_acceleration_scaling_factor", 0.6);
this->declare_parameter("lite6_blend_radius", 0.0);
xlim_lower = this->get_parameter("lite6_x_limit_lower").as_double();
xlim_upper = this->get_parameter("lite6_x_limit_upper").as_double();
ylim_lower = this->get_parameter("lite6_y_limit_lower").as_double();
ylim_upper = this->get_parameter("lite6_y_limit_upper").as_double();
zlim_lower = this->get_parameter("lite6_z_offset").as_double();
zlim_upper = zlim_lower + this->get_parameter("lite6_z_lift_amount").as_double();
this->move_group.setMaxAccelerationScalingFactor(1.0);
this->move_group.setMaxVelocityScalingFactor(1.0);
//this->move_group.setMaxVelocityScalingFactor(0.8);
@@ -199,8 +216,9 @@ public:
//mpr.planner_id = "LIN";
mpr.group_name = move_group.getName();
//mpr.max_velocity_scaling_factor = 1.0;
mpr.max_velocity_scaling_factor = 0.8;
mpr.max_acceleration_scaling_factor = 0.9;
mpr.max_velocity_scaling_factor = this->get_parameter("lite6_max_velocity_scaling_factor").as_double();
mpr.max_acceleration_scaling_factor = this->get_parameter("lite6_max_acceleration_scaling_factor").as_double();
//mpr.max_acceleration_scaling_factor = 0.1;
mpr.allowed_planning_time = 20;
//mpr.max_cartesian_speed = 2; // m/s
@@ -232,9 +250,7 @@ public:
mpr.goal_constraints.push_back(pose_goal);
msi.req = mpr;
//msi.blend_radius = 6e-7; //TODO make configurable
//msi.blend_radius = 0.000001; //TODO make configurable
msi.blend_radius = 0.0; //TODO make configurable
msi.blend_radius = this->get_parameter("lite6_blend_radius").as_double();
if (coincidentPoints(&pose.pose.position, &previous_point, msi.blend_radius + 1e-5))
{
RCLCPP_ERROR(this->get_logger(), "Detected coincident points, setting blend radius to 0.0");
@@ -250,6 +266,7 @@ public:
msr.items.push_back(msi);
}
msr.items.back().blend_radius = 0.0; // Last element blend must be 0
moveit_msgs::msg::RobotState state_msg;
if (move_group_state == NULL)
{