Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix moveit setup #232

Open
wants to merge 4 commits into
base: master
Choose a base branch
from
Open

Fix moveit setup #232

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
d81ed0c
automatically generating *.urdf files from xacro descriptions
exo-core Oct 18, 2019
753a399
fixed MoveIt! setup files compatability
exo-core Oct 18, 2019
2bf194e
boosting version numbers
exo-core Oct 18, 2019
0a21602
merged with ifl/master
exo-core Oct 18, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 7 additions & 0 deletions iiwa_description/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,3 +3,10 @@ project(iiwa_description)

find_package(catkin REQUIRED)
catkin_package()

# Generate urdfs from xacro data that are required for the MoveIt! setup assistant
message(STATUS "Generating ${PROJECT_SOURCE_DIR}/urdf/generated/iiwa7.urdf ...")
execute_process(COMMAND rosrun xacro xacro ${PROJECT_SOURCE_DIR}/urdf/iiwa7.urdf.xacro --inorder -o ${PROJECT_SOURCE_DIR}/urdf/generated/iiwa7.urdf OUTPUT_QUIET)

message(STATUS "Generating ${PROJECT_SOURCE_DIR}/urdf/generated/iiwa14.urdf ...")
execute_process(COMMAND rosrun xacro xacro ${PROJECT_SOURCE_DIR}/urdf/iiwa14.urdf.xacro --inorder -o ${PROJECT_SOURCE_DIR}/urdf/generated/iiwa14.urdf OUTPUT_QUIET)
3 changes: 2 additions & 1 deletion iiwa_description/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>iiwa_description</name>
<version>1.4.0</version>
<version>1.4.1</version>
<description>This package contains the URDF of the KUKA LBR IIWA robot</description>
<author email="salvo.virga@tum.de">Salvo Virga</author>
<maintainer email="salvo.virga@tum.de">Salvo Virga</maintainer>
Expand All @@ -10,5 +10,6 @@

<buildtool_depend>catkin</buildtool_depend>
<depend>force_torque_sensor_controller</depend>
<depend>xacro</depend>

</package>
4 changes: 4 additions & 0 deletions iiwa_description/urdf/generated/.gitignore
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
# ignore all files in this dir...
*
# ... except for this one.
!.gitignore
2 changes: 1 addition & 1 deletion iiwa_moveit/.setup_assistant
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
moveit_setup_assistant_config:
URDF:
package: iiwa_description
relative_path: urdf/iiwa14.urdf
relative_path: urdf/generated/iiwa14.urdf
SRDF:
relative_path: config/iiwa14.srdf
CONFIG:
Expand Down
4 changes: 1 addition & 3 deletions iiwa_moveit/launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,14 +43,12 @@

<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include if="$(arg rviz)" file="$(find iiwa_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="rviz_config" value="$(find iiwa_moveit)/launch/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>

<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find iiwa_moveit)/launch/default_warehouse_db.launch" if="$(arg db)"/>
</group>



</launch>
2 changes: 1 addition & 1 deletion iiwa_moveit/launch/moveit_planning_execution.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@
</include>

<include if="$(arg rviz)" file="$(find iiwa_moveit)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="rviz_config" value="$(find iiwa_moveit)/launch/moveit.rviz"/>
</include>
</group>

Expand Down
9 changes: 4 additions & 5 deletions iiwa_moveit/launch/moveit_rviz.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,14 +1,13 @@
<?xml version="1.0"?>
<launch>

<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

<arg name="config" default="false" />
<arg unless="$(arg config)" name="command_args" value="" />
<arg if="$(arg config)" name="command_args" value="-d $(find iiwa_moveit)/launch/moveit.rviz" />
<arg name="rviz_config" default="" />
<arg if="$(eval rviz_config=='')" name="command_args" value="" />
<arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />

<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
<rosparam command="load" file="$(find iiwa_moveit)/config/kinematics.yaml"/>
Expand Down
2 changes: 1 addition & 1 deletion iiwa_moveit/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>iiwa_moveit</name>
<version>1.4.0</version>
<version>1.4.1</version>
<description>
A package with all the configuration and launch files for using the KUKA LBR IIWA with the MoveIt Motion Planning Framework
</description>
Expand Down