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Add pilz

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This commit is contained in:
Nicolas Hiillos
2023-01-11 11:12:18 +02:00
parent 04317c5608
commit e3a68e95c3
2 changed files with 16 additions and 1 deletions
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2
src/lite6_controller/CMakeLists.txt
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@@ -13,6 +13,7 @@ find_package(rclcpp_action REQUIRED)
find_package(robot_interfaces REQUIRED) find_package(robot_interfaces REQUIRED)
find_package(robot_controller REQUIRED) find_package(robot_controller REQUIRED)
find_package(moveit REQUIRED) find_package(moveit REQUIRED)
find_package(pilz_industrial_motion_planner REQUIRED)
find_package(moveit_msgs REQUIRED) find_package(moveit_msgs REQUIRED)
find_package(geometry_msgs REQUIRED) find_package(geometry_msgs REQUIRED)
@@ -38,6 +39,7 @@ ament_target_dependencies(lite6_controller
"rclcpp" "rclcpp"
"rclcpp_action" "rclcpp_action"
"Eigen3" "Eigen3"
"pilz_industrial_motion_planner"
"robot_controller" "robot_controller"
"moveit_ros_planning_interface" "moveit_ros_planning_interface"
"robot_interfaces") "robot_interfaces")

15
src/lite6_controller/src/lite6_controller.cpp
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@@ -8,6 +8,8 @@
#include <moveit/planning_scene_interface/planning_scene_interface.h> #include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit_msgs/msg/collision_object.hpp> #include <moveit_msgs/msg/collision_object.hpp>
#include <pilz_industrial_motion_planner/command_list_manager.h>
const std::string MOVE_GROUP = "lite6"; const std::string MOVE_GROUP = "lite6";
// //
@@ -18,11 +20,21 @@ public:
moveit::planning_interface::MoveGroupInterface move_group; moveit::planning_interface::MoveGroupInterface move_group;
//bool moved = false; //bool moved = false;
//
// TODO get pilz working
//std::unique_ptr<pilz_industrial_motion_planner::CommandListManager> command_list_manager_;
// command_list_manager_ = std::make_unique<pilz_industrial_motion_planner::CommandListManager>(this->move_group.getNodeHandle(), this->move_group.getRobotModel());
pilz_industrial_motion_planner::CommandListManager command_list_manager;
//pilz_industrial_motion_planner::CommandListManager command_list_manager(*std::shared_ptr<rclcpp::Node>(std::move(this)), this->move_group.getRobotModel());
Lite6Controller(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()) Lite6Controller(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
: RobotController(options), : RobotController(options),
move_group(std::shared_ptr<rclcpp::Node>(std::move(this)), MOVE_GROUP) move_group(std::shared_ptr<rclcpp::Node>(std::move(this)), MOVE_GROUP),
command_list_manager(std::shared_ptr<rclcpp::Node>(std::move(this)), this->move_group.getRobotModel())
{ {
//command_list_manager = new pilz_industrial_motion_planner::CommandListManager(this->move_group.getNodeHandle(), this->move_group.getRobotModel());
//command_list_manager = new pilz_industrial_motion_planner::CommandListManager(std::shared_ptr<rclcpp::Node>(std::move(this)), this->move_group.getRobotModel());
// Use upper joint velocity and acceleration limits // Use upper joint velocity and acceleration limits
//this->move_group.setMaxAccelerationScalingFactor(1.0); //this->move_group.setMaxAccelerationScalingFactor(1.0);
//this->move_group.setMaxVelocityScalingFactor(1.0); //this->move_group.setMaxVelocityScalingFactor(1.0);
@@ -46,6 +58,7 @@ public:
/// Callback that executes path on robot /// Callback that executes path on robot
virtual void executePath(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteMotion>> goal_handle) virtual void executePath(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteMotion>> goal_handle)
{ {
RCLCPP_INFO(this->get_logger(), "Executing goal"); RCLCPP_INFO(this->get_logger(), "Executing goal");
rclcpp::Rate loop_rate(20); rclcpp::Rate loop_rate(20);
const auto goal = goal_handle->get_goal(); const auto goal = goal_handle->get_goal();