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

Setup coordinate transform and pilz

Browse Source
This commit is contained in:
Nicolas Hiillos
2023-01-24 20:48:52 +02:00
parent d7e1e57fa0
commit e9cc39d155
3 changed files with 187 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
src/lite6_controller/launch/lite6_gazebo.launch.py
View File

@@ -16,7 +16,7 @@ from launch.actions import OpaqueFunction
def launch_setup(context, *args, **kwargs):
use_sim_time = LaunchConfiguration("use_sim_time", default=True)
log_level = LaunchConfiguration("log_level", default='warn')
log_level = LaunchConfiguration("log_level", default='info')
rviz_config = LaunchConfiguration('rviz_config', default=os.path.join(get_package_share_directory("draw_svg"), "rviz", "ign_moveit2_examples.rviz"))
prefix = LaunchConfiguration('prefix', default='')
@@ -299,6 +299,14 @@ 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)
# FIX acceleration limits
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)]['max_acceleration'] = 1.0
#print(joint_limits_yaml)
#quit()
#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')
@@ -349,14 +357,14 @@ def launch_setup(context, *args, **kwargs):
# Planning Configuration
#ompl_planning_pipeline_config = {
# 'move_group': {
# 'planning_plugin': 'ompl_interface/OMPLPlanner',
# 'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
# 'start_state_max_bounds_error': 0.1,
# }
#}
#ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
ompl_planning_pipeline_config = {
'move_group': {
'planning_plugin': 'ompl_interface/OMPLPlanner',
'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
'start_state_max_bounds_error': 0.1,
}
}
ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
pilz_planning_pipeline_config = {
'move_group': {
@@ -456,7 +464,7 @@ def launch_setup(context, *args, **kwargs):
# target_action=rviz2_node,
# on_exit=[EmitEvent(event=Shutdown())]
#)),
rviz2_node,
#rviz2_node,
static_tf,
move_group_node,
robot_gazebo_launch,