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Add custom xarm packages

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This commit is contained in:
Nicolas Hiillos
2023-03-21 13:33:51 +02:00
parent 1763aee9ca
commit e42e0fea90
176 changed files with 13024 additions and 6 deletions
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10
src/lite6_controller/launch/lite6_gazebo.launch.py
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@@ -57,7 +57,7 @@ def launch_setup(context, *args, **kwargs):
# robot moveit common launch
# xarm_moveit_config/launch/_robot_moveit_common.launch.py
robot_moveit_common_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'launch', '_robot_moveit_common.launch.py'])),
PythonLaunchDescriptionSource(PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'launch', '_robot_moveit_common.launch.py'])),
launch_arguments={
'prefix': prefix,
'hw_ns': hw_ns,
@@ -171,7 +171,7 @@ def launch_setup(context, *args, **kwargs):
" ",
PathJoinSubstitution(
[
FindPackageShare('xarm_moveit_config'),
FindPackageShare('custom_xarm_moveit_config'),
"srdf",
#"_lite6_macro.srdf.xacro",
"xarm.srdf.xacro",
@@ -244,7 +244,7 @@ def launch_setup(context, *args, **kwargs):
add_realsense_d435i = LaunchConfiguration('add_realsense_d435i', default=False)
moveit_config_package_name = 'xarm_moveit_config'
moveit_config_package_name = 'custom_xarm_moveit_config'
xarm_type = '{}{}'.format(robot_type.perform(context), dof.perform(context))
# robot_description_parameters
@@ -252,8 +252,8 @@ def launch_setup(context, *args, **kwargs):
mod = load_python_launch_file_as_module(os.path.join(get_package_share_directory(moveit_config_package_name), 'launch', 'lib', 'robot_moveit_config_lib.py'))
get_xarm_robot_description_parameters = getattr(mod, 'get_xarm_robot_description_parameters')
robot_description_parameters = get_xarm_robot_description_parameters(
xacro_urdf_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
xacro_srdf_file=PathJoinSubstitution([FindPackageShare('xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
xacro_urdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_description'), 'urdf', 'xarm_device.urdf.xacro']),
xacro_srdf_file=PathJoinSubstitution([FindPackageShare('custom_xarm_moveit_config'), 'srdf', 'xarm.srdf.xacro']),
urdf_arguments={
'prefix': prefix,
'hw_ns': hw_ns.perform(context).strip('/'),